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VitalSignIWR1642.py
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VitalSignIWR1642.py
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#
# File: 通过串口读取IWR1642平台的处理得到的心跳与呼吸的波形速率
# Author: UESTC Yu Xuyao
# Email: yxy19991102@163.com
# Acknowledge: 串口读取以及缓冲区的维护数据解析由github用户 Yi Zhang (zhangyibupt@163.com) 完成,感谢!!!
#
import serial
import time
import numpy as np
import struct
import ProtocolBase as PB
import logging
import threading
import socket
class TwoRate(threading.Thread):
test_count_dataok = 0
test_count_try = 0
if_Screen = True
CLIport = None
Dataport = None
Screenport = None
outHeartNew_CM = 0
def __init__(self, addr_2Rate=("127.0.0.1", 12003), addr_server=("127.0.0.1", 12000),
CLIPortID=10, DataPortID=9, SCID=13, system="Linux", logger=logging,
configFileName='xwr1642_profile_VitalSigns_20fps_Front.cfg'):
super().__init__(daemon=True)
# 传入变量的初始化
self.logger = logger
self.system = system
self.SCID = SCID
# socket
self.addr_2Rate = addr_2Rate
self.addr_server = addr_server
self.socket_Rate = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.socket_Rate.bind(self.addr_2Rate)
self.socket_Rate.setblocking(False)
self._init_data()
# start the port
self.ComportOK = False
self.start_conf = [configFileName, CLIPortID, DataPortID]
self._auto_start(*self.start_conf)
def _init_data(self):
self.byteBuffer = np.zeros(2 ** 15, dtype='uint8')
self.byteBufferLength = 0
self.configParameters = {}
self.detObj = {}
self.breathOK = True
print("init data successful")
# self.ComportOK = False
def _auto_start(self, configFileName, CLIPortID, DataPortID):
system = self.system
if system != "Linux" and system != "Windows":
raise SystemExit("only support Linux and Windows Com")
try:
self.serialConfig(configFileName, CLIPortID, DataPortID, system) # Open the serial ports
except Exception as err:
self.logger.error("Open Com Fail...\nThere is the error report:\n{}\n*********************************".format(err))
return
try:
self.parseConfigFile(configFileName)
except Exception as err:
self.logger.error("something wrong in config file please check '{}'\nThere is the error report:\n{}\n"
"*********************************".format(configFileName, err))
# print("something wrong in config file please check '{}'".format(configFileName))
# print("There is the error report:\n{}\n****************************".format(err))
return
else:
self.logger.info("Com open success")
self.logger.info("Open TrackModule module successfully")
self.ComportOK = True
self._init_data()
self.logger.debug("breathOK:{} ComportOK:{}".format(self.breathOK,self.ComportOK))
def _auto_close(self):
if self.CLIport:
self.CLIport.write(('sensorStop\n').encode())
print('sensorStop\n')
self.CLIport.close()
if self.Dataport:
self.Dataport.close()
self.ComportOK = False
def serialConfig(self, configFileName, CPID, DPID, system="Linux"):
# Raspberry Linux
if system == "Linux":
self.CLIport = serial.Serial('/dev/My_Serial%d' % CPID, 115200)
self.Dataport = serial.Serial('/dev/My_Serial%d' % DPID, 921600)
if self.if_Screen:
self.Screenport=serial.Serial('/dev/My_Serial%d' % self.SCID, 9600)
# Windows
elif system == "Windows":
self.CLIport = serial.Serial('COM%d' % CPID, 115200)
self.Dataport = serial.Serial('COM%d' % DPID, 921600)
if self.if_Screen:
self.Screenport=serial.Serial('COM%d' % self.SCID, 9600)
# Read the configuration file and send it to the board
config = [line.rstrip('\r\n') for line in open(configFileName)]
for i in config:
print(i)
self.logger.debug("Comsend:\n{}".format(str(i)))
# if i[0] != '%':
self.CLIport.write((i + '\n').encode())
time.sleep(1)
print("serial config finish")
self.logger.info("serial config finish")
def parseConfigFile(self, configFileName):
configParameters = {} # Initialize an empty dictionary to store the configuration parameters
# Read the configuration file and send it to the board
config = [line.rstrip('\r\n') for line in open(configFileName)]
chirpEndIdx = None
chirpStartIdx = None
numLoops = None
numTxAnt = None
numAdcSamplesRoundTo2 = None
digOutSampleRate = None
freqSlopeConst = None
numAdcSamples = None
startFreq = None
idleTime = None
rampEndTime = None
for i in config:
# Split the line
splitWords = i.split(" ")
# Hard code the number of antennas, change if other configuration is used
numRxAnt = 4
numTxAnt = 3
# Get the information about the profile configuration
if "profileCfg" in splitWords[0]:
startFreq = int(float(splitWords[2]))
idleTime = int(splitWords[3])
rampEndTime = float(splitWords[5])
freqSlopeConst = float(splitWords[8])
numAdcSamples = int(splitWords[10])
numAdcSamplesRoundTo2 = 1
while numAdcSamples > numAdcSamplesRoundTo2:
numAdcSamplesRoundTo2 = numAdcSamplesRoundTo2 * 2
digOutSampleRate = int(splitWords[11])
# Get the information about the frame configuration
elif "frameCfg" in splitWords[0]:
chirpStartIdx = int(splitWords[1])
chirpEndIdx = int(splitWords[2])
numLoops = int(splitWords[3])
numFrames = int(splitWords[4])
framePeriodicity = float(splitWords[5])
# Combine the read data to obtain the configuration parameters
numChirpsPerFrame = (chirpEndIdx - chirpStartIdx + 1) * numLoops
configParameters["numDopplerBins"] = numChirpsPerFrame / numTxAnt
configParameters["numRangeBins"] = numAdcSamplesRoundTo2
configParameters["rangeResolutionMeters"] = (3e8 * digOutSampleRate * 1e3) / (
2 * freqSlopeConst * 1e12 * numAdcSamples)
configParameters["rangeIdxToMeters"] = (3e8 * digOutSampleRate * 1e3) / (
2 * freqSlopeConst * 1e12 * configParameters["numRangeBins"])
configParameters["dopplerResolutionMps"] = 3e8 / (
2 * startFreq * 1e9 * (idleTime + rampEndTime) * 1e-6 * configParameters["numDopplerBins"] * numTxAnt)
configParameters["maxRange"] = (300 * 0.9 * digOutSampleRate) / (2 * freqSlopeConst * 1e3)
configParameters["maxVelocity"] = 3e8 / (4 * startFreq * 1e9 * (idleTime + rampEndTime) * 1e-6 * numTxAnt)
self.configParameters = configParameters
def ParseCmdFrame(self, data, so):
if data == b'Exit\x00': # 完全退出 包括套接字等
raise KeyboardInterrupt('服务器指令退出')
elif data == b'Close\x00':
if self.ComportOK:
self._auto_close()
elif data == b"Start\x00":
if not self.ComportOK:
self._auto_start(*self.start_conf)
elif data == b"dataclear\x00":
self._init_data()
else:
print('unknown cmd...')
self.logger.warning("unknown cmd...")
def readAndParseData(self, Dataport, configParameters):
# global byteBuffer, byteBufferLength
# Constants
OBJ_STRUCT_SIZE_BYTES = 12
BYTE_VEC_ACC_MAX_SIZE = 2 ** 15
MMWDEMO_UART_MSG_DETECTED_POINTS = 1
MMWDEMO_UART_MSG_RANGE_PROFILE = 2
MMWDEMO_UART_MSG_VITALSIGN = 6
maxBufferSize = 2 ** 15
tlvHeaderLengthInBytes = 8
pointLengthInBytes = 16
magicWord = [2, 1, 4, 3, 6, 5, 8, 7]
# Initialize variables
magicOK = 0 # Checks if magic number has been read
dataOK = 0 # Checks if the data has been read correctly
frameNumber = 0
vitalsign = {}
self.logger.debug("reading data")
readBuffer = Dataport.read(Dataport.in_waiting)
self.logger.debug("read data")
byteVec = np.frombuffer(readBuffer, dtype='uint8')
self.logger.debug("byteVec:{}".format(byteVec))
byteCount = len(byteVec)
# Check that the buffer is not full, and then add the data to the buffer
if (self.byteBufferLength + byteCount) < maxBufferSize:
self.byteBuffer[self.byteBufferLength:(self.byteBufferLength + byteCount)] = byteVec[0:byteCount]
self.byteBufferLength = self.byteBufferLength + byteCount
# Check that the buffer has some data
self.logger.debug("byteBUfferlength>16?{}".format(self.byteBufferLength))
if self.byteBufferLength > 16:
# Check for all possible locations of the magic word
possibleLocs = np.where(self.byteBuffer == magicWord[0])[0]
# Confirm that is the beginning of the magic word and store the index in startIdx
startIdx = []
for loc in possibleLocs:
check = self.byteBuffer[loc:loc + 8]
if np.all(check == magicWord):
startIdx.append(loc)
# Check that startIdx is not empty
self.logger.debug("startIdX?")
if startIdx:
# Remove the data before the first start index
if 0 < startIdx[0] < self.byteBufferLength:
self.byteBuffer[:self.byteBufferLength - startIdx[0]] = self.byteBuffer[startIdx[0]:self.byteBufferLength]
self.byteBuffer[self.byteBufferLength - startIdx[0]:] = np.zeros(
len(self.byteBuffer[self.byteBufferLength - startIdx[0]:]),
dtype='uint8')
self.byteBufferLength = self.byteBufferLength - startIdx[0]
# Check that there have no errors with the byte buffer length
if self.byteBufferLength < 0:
print('byteBufferLength')
self.byteBufferLength = 0
if self.byteBufferLength < 16:
return dataOK,None,None
# Read the total packet length
totalPacketLen = int.from_bytes(self.byteBuffer[12:12 + 4], byteorder='little')
# Check that all the packet has been read
if (self.byteBufferLength >= totalPacketLen) and (self.byteBufferLength != 0):
magicOK = 1
# If magicOK is equal to 1 then process the message
if magicOK:
self.logger.debug("magicOK?{}\n totalPacketLen{}\nbyteBUfferlength{}\n"
"byteBuffer{}".format(magicOK, totalPacketLen, self.byteBufferLength,
self.byteBuffer[0:max(self.byteBufferLength, 0)]))
# Initialize the pointer index
idX = 0
# Read the header
magicNumber = self.byteBuffer[idX:idX + 8]
idX += 8
version = format(int.from_bytes(self.byteBuffer[idX:idX + 4], byteorder='little'), 'x')
idX += 4
totalPacketLen = int.from_bytes(self.byteBuffer[idX:idX + 4], byteorder='little')
idX += 4
platform = format(int.from_bytes(self.byteBuffer[idX:idX + 4], byteorder='little'), 'x')
idX += 4
frameNumber = int.from_bytes(self.byteBuffer[idX:idX + 4], byteorder='little')
idX += 4
timeCpuCycles = int.from_bytes(self.byteBuffer[idX:idX + 4], byteorder='little')
idX += 4
numDetectedObj = int.from_bytes(self.byteBuffer[idX:idX + 4], byteorder='little')
idX += 4
numTLVs = int.from_bytes(self.byteBuffer[idX:idX + 4], byteorder='little')
idX += 4
reserved = int.from_bytes(self.byteBuffer[idX:idX + 4], byteorder='little')
idX += 4
# Read the TLV messages
self.logger.debug("numTLVS:{}".format(numTLVs))
if numTLVs > 2:
numTLVs = 2
self.logger.warning("numTLVs Error! value:{}".format(numTLVs))
# tmplist = self.byteBuffer.tolist()
self.logger.warning("{}".format(self.byteBuffer))
for tlvIdx in range(numTLVs):
# Check the header of the TLV message
tlv_type = int.from_bytes(self.byteBuffer[idX:idX + 4], byteorder='little')
idX += 4
tlv_length = int.from_bytes(self.byteBuffer[idX:idX + 4], byteorder='little')
idX += 4
# Read the data depending on the TLV message
if tlv_type == MMWDEMO_UART_MSG_VITALSIGN:
# vitalsign["rangeBinIndexMax"] = int.from_bytes(self.byteBuffer[idX:idX + 2], byteorder='little')
idX += 2
# vitalsign["rangeBinIndexPhase"] = int.from_bytes(self.byteBuffer[idX:idX + 2], byteorder='little')
idX += 2
# vitalsign["maxVal"] = struct.unpack('<f', self.byteBuffer[idX:idX + 4])[0]
idX += 4
# vitalsign["processingCyclesOut"] = int.from_bytes(self.byteBuffer[idX:idX + 4], byteorder='little')
idX += 4
# vitalsign["rangeBinStartIndex"] = int.from_bytes(self.byteBuffer[idX:idX + 2], byteorder='little')
idX += 2
# vitalsign["rangeBinEndIndex"] = int.from_bytes(self.byteBuffer[idX:idX + 2], byteorder='little')
idX += 2
# vitalsign["unwrapPhasePeak_mm"] = self.byteBuffer[idX:idX + 4].view(dtype=np.float32)
idX += 4
vitalsign["outputFilterBreathOut"] = struct.unpack('<f', self.byteBuffer[idX:idX + 4])[0]
idX += 4
vitalsign["outputFilterHeartOut"] = struct.unpack('<f', self.byteBuffer[idX:idX + 4])[0]
idX += 4
vitalsign["heartRateEst_FFT"] = struct.unpack('<f', self.byteBuffer[idX:idX + 4])[0]
idX += 4
vitalsign["heartRateEst_FFT_4Hz"] = struct.unpack('<f', self.byteBuffer[idX:idX + 4])[0] / 2
idX += 4
vitalsign["heartRateEst_xCorr"] = struct.unpack('<f', self.byteBuffer[idX:idX + 4])[0]
idX += 4
vitalsign["heartRateEst_peakCount"] = struct.unpack('<f', self.byteBuffer[idX:idX + 4])[0]
idX += 4
vitalsign["breathingRateEst_FFT"] = struct.unpack('<f', self.byteBuffer[idX:idX + 4])[0]
idX += 4
# vitalsign["breathingRateEst_xCorr"] = struct.unpack('<f', self.byteBuffer[idX:idX + 4])[0]
idX += 4
# vitalsign["breathingRateEst_peakCount"] = struct.unpack('<f', self.byteBuffer[idX:idX + 4])[0]
idX += 4
# vitalsign["confidenceMetricBreathOut"] = struct.unpack('<f', self.byteBuffer[idX:idX + 4])[0]
idX += 4
# vitalsign["confidenceMetricBreathOut_xCorr"] = struct.unpack('<f', self.byteBuffer[idX:idX + 4])[0]
idX += 4
vitalsign["confidenceMetricHeartOut"] = struct.unpack('<f', self.byteBuffer[idX:idX + 4])[0]
idX += 4
vitalsign["confidenceMetricHeartOut_4Hz"] = struct.unpack('<f', self.byteBuffer[idX:idX + 4])[0]
idX += 4
vitalsign["confidenceMetricHeartOut_xCorr"] = struct.unpack('<f', self.byteBuffer[idX:idX + 4])[0]
idX += 4
# vitalsign["sumEnergyBreathWfm"] = struct.unpack('<f', self.byteBuffer[idX:idX + 4])[0]
idX += 4
# vitalsign["sumEnergyHeartWfm"] = struct.unpack('<f', self.byteBuffer[idX:idX + 4])[0]
idX += 4
vitalsign["motionDetectedFlag"] = struct.unpack('<f', self.byteBuffer[idX:idX + 4])[0]
# if vitalsign["motionDetectedFlag"] == 0:
# vitalsign["heartRateEst_FFT"] = vitalsign["breathingRateEst_FFT"] = 0
idX += 44
dataOK = 1
# define
ALPHA_HEARTRATE_CM = 0.6
THRESH_HEART_CM = 0.25
THRESH_DIFF_EST = 20
MIN_HEARTRATE = 75
BACK_THRESH_BPM = 4
heartRate_CM = vitalsign["confidenceMetricHeartOut"]
heartRate_FFT = vitalsign["heartRateEst_FFT"]
heartRate_Pk = vitalsign["heartRateEst_peakCount"]
# heartRate_xCorr = vitalsign["heartRateEst_xCorr"]
# BreathingRate_FFT = vitalsign["breathingRateEst_FFT"]
# # new means to get heartrate
outHeartPrev_CM = self.outHeartNew_CM
self.outHeartNew_CM = ALPHA_HEARTRATE_CM*(heartRate_CM) + (1-ALPHA_HEARTRATE_CM)*outHeartPrev_CM
diffEst_heartRate = abs(heartRate_FFT - heartRate_Pk)
if self.outHeartNew_CM > THRESH_HEART_CM or diffEst_heartRate < THRESH_DIFF_EST :
heartRateEstDisplay = heartRate_FFT
else:
heartRateEstDisplay =heartRate_Pk
print([self.outHeartNew_CM, diffEst_heartRate])
print(vitalsign["heartRateEst_FFT"],
vitalsign["heartRateEst_peakCount"], "==>",
heartRateEstDisplay)
vitalsign["heartRateEst_FFT"] = heartRateEstDisplay
if vitalsign["heartRateEst_FFT"] < MIN_HEARTRATE:
vitalsign["heartRateEst_FFT"] = max(heartRate_FFT, heartRate_Pk)
# Remove already processed data
# self.logger.debug("shift!")
if 0 < idX < self.byteBufferLength:
shiftSize = totalPacketLen
self.byteBuffer[:self.byteBufferLength - shiftSize] = self.byteBuffer[shiftSize:self.byteBufferLength]
self.byteBuffer[self.byteBufferLength - shiftSize:] = np.zeros(len(self.byteBuffer[self.byteBufferLength - shiftSize:]),
dtype='uint8')
self.byteBufferLength = self.byteBufferLength - shiftSize
# Check that there are no errors with the buffer length
if self.byteBufferLength < 0:
self.logger.warning("byteBufferLength<0")
self.byteBufferLength = 0
# self.logger.debug("shift finish")
# vitalsign["heartRateEst_FFT"] = struct.unpack('<f', self.byteBuffer[idX:idX + 4])[0]
# vitalsign["heartRateEst_FFT_4Hz"] = struct.unpack('<f', self.byteBuffer[idX:idX + 4])[0] / 2
# vitalsign["heartRateEst_xCorr"] = struct.unpack('<f', self.byteBuffer[idX:idX + 4])[0]
# self.logger.debug("return parse")
return dataOK, frameNumber, vitalsign
def update(self,vitalsign):
# Read and parse the received data
sendbin = PB.Rate_encode(vitalsign)
if self.if_Screen:
FF = b"\xff\xff\xff"
# print(vitalsign)
if not vitalsign['breathingRateEst_FFT']*vitalsign['heartRateEst_FFT']==0:
self.Screenport.write(('t3.txt="%d"' % int(vitalsign['breathingRateEst_FFT'])).encode()+FF)
self.Screenport.write(('t2.txt="%d"' % int(vitalsign['heartRateEst_FFT'])).encode()+FF)
time.sleep(0.01)
self.Screenport.write(('add 2,0,%d' % int(vitalsign["outputFilterBreathOut"]*20+64)).encode()+FF)
self.Screenport.write(('add 1,0,%d' % int(vitalsign['outputFilterHeartOut']*20+64)).encode()+FF)
self.socket_Rate.sendto(sendbin, self.addr_server)
self.logger.debug("send a frame:\n{}".format(str(sendbin)))
self.breathOK = True
def __del__(self):
self._auto_close()
self.socket_Rate.close()
self.logger.info("dataok:{}\ntry:{}\n".format(self.test_count_dataok, self.test_count_try))
def run(self):
self.detObj = {}
# self.frameData = {}
currentIndex = 0
while True:
try:
# try to get instruction from server
try:
self.logger.debug("intorcvcmddata".format())
cmddata_track, addr = self.socket_Rate.recvfrom(1500)
if addr != self.addr_server:
print("rcv cmd from unknown addr:{}".format(addr))
self.logger.warning("rcv cmd from unknown addr".format())
self.logger.debug("get a cmdframe:\n{}".format(str(cmddata_track)))
except Exception:
pass
else:
self.logger.debug("ComportOK:{}breathOK:{}".format(self.ComportOK,self.breathOK))
self.ParseCmdFrame(cmddata_track, self.socket_Rate)
# Update the data and check if the data is okay
self.logger.debug("ComportOK?".format())
if self.ComportOK == False:
self.logger.debug("ComportOK?".format())
time.sleep(0.1)
continue
self.logger.debug("parsedata??".format())
try:
dataOk, frameNumber, vitalsign = self.readAndParseData(self.Dataport, self.configParameters)
except Exception as Z:
self.logger.error("parsedataerr:{}".format(Z))
raise KeyboardInterrupt
self.test_count_try += 1
self.logger.debug("dataOK?".format())
if dataOk:
self.test_count_dataok += 1
self.logger.debug("breathOK?".format())
if self.breathOK:
self.breathOK = False
tmp_thread_rate = threading.Thread(target=self.update, daemon=True,
args=(vitalsign,))
tmp_thread_rate.start()
time.sleep(0.01)
# Stop the program and close everything if Ctrl + c is pressed
except KeyboardInterrupt:
self._auto_close()
break
self.logger.debug("out of while...")
if __name__ == "__main__":
tst = TwoRate(CLIPortID=10 , DataPortID=9 ,system='Windows')
tst.run()