446 lines
16 KiB
Python
446 lines
16 KiB
Python
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import numpy as np
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import zmq
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import threading
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import json
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import queue
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import time
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from Device.SunnyLinker import SunnyLinker64, RingBuffer
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from collections import deque
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class zmqServer(threading.Thread):
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def __init__(self, host='0.0.0.0', cmd_port=8099, data_port=8100):
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threading.Thread.__init__(self)
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self.host = host
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self.cmd_port = cmd_port
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self.data_port = data_port
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self.running = False
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self.get_Impedance = False
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self.open_Impedance = None
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self.StartDecode = False
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self.StartTrain = False
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self.state_mode = None
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self.currentLabel = -1
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self.IsExitApp = False
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self.getReport = False
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self.daemon = True
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# ZMQ Context
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self.context = zmq.Context()
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# 指令通道 (8099) - ROUTER
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self.cmd_socket = self.context.socket(zmq.ROUTER)
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self.cmd_socket.setsockopt(zmq.RCVHWM, 1000)
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self.cmd_socket.setsockopt(zmq.SNDHWM, 1000)
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self.cmd_socket.bind(f"tcp://{self.host}:{cmd_port}")
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# 数据通道 (8100)) - ROUTER
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self.data_socket = self.context.socket(zmq.ROUTER)
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self.data_socket.setsockopt(zmq.RCVHWM, 1000)
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self.data_socket.setsockopt(zmq.RCVTIMEO, 50)
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self.data_socket.bind(f"tcp://{self.host}:{data_port}")
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self.targetFreqs = []
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self.changeTarget = False
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self.sunnyLinker = SunnyLinker64(None, None, None, None, None)
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self.labels = [0x01, 0x02, 0x03]
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self.decoder_switch = False
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self.decoder_class = None
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self.cmd_clients = set()
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self.data_clients = set()
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self.send_queue = queue.Queue()
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# ========== 数据缓冲区 (RingBuffer) ==========
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# 与 SunnyLinker 保持一致，使用 RingBuffer
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# 66 = 64 EEG通道 + 1 事件通道(第65) + 1 标签序号通道(第66)
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# 缓存约 10 秒数据 (250Hz * 10s = 2500 点)
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self.n_chan = 66
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self.t_buffer = 10.0 # 缓冲区时长(秒)
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self.__ringBuffer = RingBuffer(self.n_chan, int(self.t_buffer * 250))
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# 事件检测相关
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self._event_lock = threading.Lock()
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self._epoch_finished = False
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self._event_inner_idx = -1
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self.pack_contain_event = False
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self.predict_event = 99
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self.events = [1, 2, self.predict_event]
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self.count_events = {}
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self.latency = 50
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self.train_latency = 50
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# 当前事件标签序号 (从第66通道获取)
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self.current_label_index = 0
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# 初始化标志
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self._interval_inited = False
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self._currentLabel = -1
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# 注册的客户端（兼容旧接口）
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self.clients = set()
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# ========== 事件属性：线程安全访问 ==========
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@property
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def epoch_finished(self):
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with self._event_lock:
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return self._epoch_finished
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@epoch_finished.setter
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def epoch_finished(self, value):
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with self._event_lock:
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self._epoch_finished = value
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@property
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def event_inner_idx(self):
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with self._event_lock:
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return self._event_inner_idx
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@event_inner_idx.setter
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def event_inner_idx(self, value):
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with self._event_lock:
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self._event_inner_idx = value
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@property
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def interval_inited(self):
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return self._interval_inited
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@interval_inited.setter
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def interval_inited(self, value):
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self._interval_inited = value
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@property
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def currentLabel(self):
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return self._currentLabel
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@currentLabel.setter
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def currentLabel(self, value):
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self._currentLabel = value
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def broadcast_message(self, method, params):
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"""Put message into queue to be sent to all connected clients"""
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self.send_queue.put((method, params))
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# ========== 数据缓冲区操作接口 ==========
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def GetDataLenCount(self):
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"""返回缓冲区当前数据点数"""
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return self.__ringBuffer.nUpdate
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def getData(self, count):
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"""获取最新count个数据点，不消费（只读）"""
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with self.__ringBuffer.RingBufferLock:
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count = min(count, self.__ringBuffer.nUpdate)
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if count == 0:
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return np.zeros((self.n_chan, 0))
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# 计算读取范围（从尾部取最新数据）
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read_end = (self.__ringBuffer.currentPtr - 1) % self.__ringBuffer.n_points
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read_start = (read_end - count + 1) % self.__ringBuffer.n_points
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if self.__ringBuffer.currentPtr == 0:
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read_start = self.__ringBuffer.n_points - count
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read_end = self.__ringBuffer.n_points - 1
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if read_start <= read_end:
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data = self.__ringBuffer.buffer[:, read_start:read_end + 1]
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else:
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part1 = self.__ringBuffer.buffer[:, read_start:]
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part2 = self.__ringBuffer.buffer[:, :read_end + 1]
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data = np.concatenate((part1, part2), axis=1)
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return data
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def consumeData(self, count):
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"""消费(丢弃)指定数量的数据点，从头部移除"""
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with self.__ringBuffer.RingBufferLock:
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count = min(count, self.__ringBuffer.nUpdate)
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self.__ringBuffer.readPtr = (self.__ringBuffer.readPtr + count) % self.__ringBuffer.n_points
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self.__ringBuffer.nUpdate -= count
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def ResetAll(self):
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"""重置缓冲区"""
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with self.__ringBuffer.RingBufferLock:
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self.__ringBuffer.resetAllPara()
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with self._event_lock:
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self._epoch_finished = False
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self._event_inner_idx = -1
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self.pack_contain_event = False
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self.count_events.clear()
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self.current_label_index = 0
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def reset_data_buffer(self):
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self.ResetAll()
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def reset_state(self):
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self.ResetAll()
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def interval_init(self, decoder_class):
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"""初始化事件检测参数"""
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import ast
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from PubLibrary.InifileHelper import IniRead
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if decoder_class == 'ssmvep':
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interval_epoch = ast.literal_eval(IniRead('system', 'SSMVEP_IntervalEpoch'))
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self.interval_epoch = [int(i * 250) for i in interval_epoch]
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self.train_epoch = [int(self.interval_epoch[0]),
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int(self.interval_epoch[1] + 0.1 * 250)]
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self.latency = (self.interval_epoch[1] + 0.1 * 250) // 5
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self.train_latency = (self.train_epoch[1] + 0.1 * 250) // 5
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elif decoder_class == 'mi':
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interval_epoch = ast.literal_eval(IniRead('system', 'MI_IntervalEpoch'))
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self.interval_epoch = [int(i * 250) for i in interval_epoch]
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self.train_epoch = self.interval_epoch.copy()
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self.latency = self.interval_epoch[1] // 5
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self.train_latency = self.latency
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self.count_events = {}
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self._event_inner_idx = -1
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self._epoch_finished = False
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self.pack_contain_event = False
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self.predict_event = 99
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self.events = [1, 2, self.predict_event]
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self._interval_inited = True
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# ========== 事件检测 ==========
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def detect_event(self, data_matrix):
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"""
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检测事件通道中的触发信号
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@param data_matrix: shape (66, N) - N个采样点的数据
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第65行(索引64) = 事件通道
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第66行(索引65) = 标签通道
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@return: 是否检测到事件
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"""
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if data_matrix.shape[1] == 0:
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return False
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self.pack_contain_event = False
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event_channel = data_matrix[64, :] # 第65通道 = 标签值(event值)
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label_channel = data_matrix[65, :] # 第66通道 = 标签序号(label index)
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events = event_channel.tolist()
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with self._event_lock:
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self._event_inner_idx = -1
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self.current_event_label = 0
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for idx, event in enumerate(events):
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if int(event) in self.events:
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self._event_inner_idx = idx
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self.current_label_index = int(label_channel[idx])
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self.pack_contain_event = True
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new_key = f"{event}_{time.time()}"
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latency = self.latency if event == self.predict_event else self.train_latency
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self.count_events[new_key] = latency + 1
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# 延迟计数递减
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drop_items = []
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for key, value in self.count_events.items():
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value = value - 1
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if value == 0:
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drop_items.append(key)
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self.count_events[key] = value
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for key in drop_items:
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del self.count_events[key]
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if drop_items:
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self._epoch_finished = True
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# 检测到事件时，清除RingBuffer中之前的数据，只保留当前包
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if self.pack_contain_event:
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self.__ringBuffer.resetAllPara()
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return True
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self._epoch_finished = False
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return False
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def run(self):
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self.running = True
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print(f"Server running - CMD: {self.cmd_port}, DATA: {self.data_port}")
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cmd_poller = zmq.Poller()
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cmd_poller.register(self.cmd_socket, zmq.POLLIN)
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data_poller = zmq.Poller()
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data_poller.register(self.data_socket, zmq.POLLIN)
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try:
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while self.running:
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# --- 处理发送队列 (指令通道) ---
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while not self.send_queue.empty():
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method, params = self.send_queue.get()
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if self.cmd_clients:
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try:
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msg = {'method': method, 'params': params}
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msg_bytes = json.dumps(msg).encode('utf-8')
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for client_id in list(self.cmd_clients):
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try:
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self.cmd_socket.send_multipart([client_id, b'', msg_bytes])
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except Exception:
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pass
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except Exception:
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pass
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# --- 处理指令通道 ---
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socks = dict(cmd_poller.poll(10))
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if self.cmd_socket in socks:
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self._handle_cmd_socket()
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# --- 处理数据通道 ---
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socks = dict(data_poller.poll(10))
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if self.data_socket in socks:
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self._handle_data_socket()
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except Exception as e:
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print(f"Server error: {e}")
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finally:
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self.running = False
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self.cmd_socket.close()
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self.data_socket.close()
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self.context.term()
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def _handle_cmd_socket(self):
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"""处理指令通道消息"""
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try:
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frames = self.cmd_socket.recv_multipart()
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if len(frames) < 3:
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return
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ident, _, message_bytes = frames[:3]
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self.cmd_clients.add(ident)
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self.clients.add(ident)
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message = json.loads(message_bytes.decode('utf-8'))
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method = message.get("method")
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params = message.get("params")
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print(f"[CMD] {method}: {params}")
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if method == "sync":
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self.state_mode = 'sync'
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elif method == "targetFreqs":
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if isinstance(params, list) and params != self.targetFreqs:
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self.targetFreqs = params
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self.changeTarget = True
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elif method == "decoderClass":
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if isinstance(params, str) and params != self.decoder_class:
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self.decoder_class = params
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self.decoder_switch = True
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elif method == "getReport":
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self.getReport = True
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elif method == "train":
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self.state_mode = 'train'
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self.StartTrain = True
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self.currentLabel = params
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elif method == "predict":
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self.state_mode = 'predict'
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if params == 1:
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self.StartDecode = True
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elif params == 2:
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self.IsExitApp = True
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self.running = False
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elif method == "rest":
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self.state_mode = 'rest'
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elif method == "impedance":
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if params == 1:
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self.open_Impedance = True
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|
self.get_Impedance = True
|
|||
|
|
elif params == 2:
|
|||
|
|
self.open_Impedance = False
|
|||
|
|
self.get_Impedance = False
|
|||
|
|
|
|||
|
|
except Exception as e:
|
|||
|
|
print(f"CMD socket error: {e}")
|
|||
|
|
|
|||
|
|
def _handle_data_socket(self):
|
|||
|
|
"""处理数据通道消息 (EEG数据)
|
|||
|
|
|
|||
|
|
上位机数据格式:
|
|||
|
|
- 数据帧: [identity, '', meta_json, data_buffer]
|
|||
|
|
data_buffer = [N, 66] float32 -> 转置为 [66, N]
|
|||
|
|
"""
|
|||
|
|
try:
|
|||
|
|
frames = self.data_socket.recv_multipart()
|
|||
|
|
if len(frames) < 4:
|
|||
|
|
return
|
|||
|
|
ident, _, message_bytes = frames[:3]
|
|||
|
|
self.data_clients.add(ident)
|
|||
|
|
|
|||
|
|
meta = json.loads(message_bytes.decode('utf-8'))
|
|||
|
|
|
|||
|
|
# data: [N, 66] -> 转置 -> [66, N]
|
|||
|
|
raw_data = np.frombuffer(frames[3], dtype=np.float32)
|
|||
|
|
n_samples, n_channels = meta.get('shape', [5, 66])
|
|||
|
|
data_matrix = raw_data.reshape(n_samples, n_channels).T.astype(np.float32)
|
|||
|
|
|
|||
|
|
# 写入 RingBuffer
|
|||
|
|
with self.__ringBuffer.RingBufferLock:
|
|||
|
|
self.__ringBuffer.appendBuffer(data_matrix)
|
|||
|
|
|
|||
|
|
# 事件检测
|
|||
|
|
self.detect_event(data_matrix)
|
|||
|
|
|
|||
|
|
except Exception as e:
|
|||
|
|
print(f"DATA socket error: {e}")
|
|||
|
|
|
|||
|
|
# ========== 各范式数据访问接口 ==========
|
|||
|
|
def get_MIData(self):
|
|||
|
|
"""获取MI导联数据 (21通道 + 事件)"""
|
|||
|
|
data = self.getData(self.GetDataLenCount())
|
|||
|
|
rows_to_extract = [8, 15, 12, 14, 18, 23, 16, 59, 50, 58, 17, 45, 29, 11, 10, 19, 20, 61, 51, 60, 21, 64, 65]
|
|||
|
|
row_to_select = np.array(rows_to_extract)
|
|||
|
|
if data.shape[1] > 0:
|
|||
|
|
return data[row_to_select, :]
|
|||
|
|
return np.zeros((len(rows_to_extract), 0))
|
|||
|
|
|
|||
|
|
def get_SSMVEPData(self):
|
|||
|
|
"""获取SSMVEP导联数据 (8通道 + 事件)"""
|
|||
|
|
data = self.getData(self.GetDataLenCount())
|
|||
|
|
rows_to_extract = [13, 3, 2, 46, 9, 54, 47, 55, 64, 65]
|
|||
|
|
row_to_select = np.array(rows_to_extract)
|
|||
|
|
if data.shape[1] > 0:
|
|||
|
|
return data[row_to_select, :]
|
|||
|
|
return np.zeros((len(rows_to_extract), 0))
|
|||
|
|
|
|||
|
|
def getDataViaSSVEP(self, count):
|
|||
|
|
"""获取SSVEP数据 (8通道 + 事件)"""
|
|||
|
|
data = self.getData(count)
|
|||
|
|
rows_to_extract = [13, 3, 2, 46, 9, 54, 47, 55, 64]
|
|||
|
|
row_to_select = np.array(rows_to_extract)
|
|||
|
|
if data.shape[1] > 0:
|
|||
|
|
return data[row_to_select, :]
|
|||
|
|
return np.zeros((len(rows_to_extract), 0))
|
|||
|
|
|
|||
|
|
def get_concentrateData(self, count):
|
|||
|
|
"""获取专注力数据 (2通道)"""
|
|||
|
|
data = self.getData(count)
|
|||
|
|
rows_to_extract = [0, 1]
|
|||
|
|
row_to_select = np.array(rows_to_extract)
|
|||
|
|
if data.shape[1] > 0:
|
|||
|
|
return data[row_to_select, :]
|
|||
|
|
return np.zeros((len(rows_to_extract), 0))
|
|||
|
|
|
|||
|
|
def get_blinkData(self, count):
|
|||
|
|
"""获取眨眼数据 (2通道)"""
|
|||
|
|
data = self.getData(count)
|
|||
|
|
rows_to_extract = [0, 1]
|
|||
|
|
row_to_select = np.array(rows_to_extract)
|
|||
|
|
if data.shape[1] > 0:
|
|||
|
|
return data[row_to_select, :]
|
|||
|
|
return np.zeros((len(rows_to_extract), 0))
|
|||
|
|
|
|||
|
|
def getImpedance(self, data, decoder_class):
|
|||
|
|
"""计算阻抗（ZMQ模式下不可用）"""
|
|||
|
|
return np.zeros(8)
|
|||
|
|
|
|||
|
|
def stop(self):
|
|||
|
|
self.running = False
|
|||
|
|
self.cmd_socket.close()
|
|||
|
|
self.data_socket.close()
|
|||
|
|
self.context.term()
|
|||
|
|
|
|||
|
|
|
|||
|
|
if __name__ == '__main__':
|
|||
|
|
server = zmqServer()
|
|||
|
|
server.start()
|