us4r-api version 0.8.0.

CMakeLists.txt

@@ -87,7 +87,7 @@ set(ARRUS_DOCS_INSTALL_DIR docs)
 ################################################################################
 # Common dependencies
 ################################################################################
-find_package(Us4 0.7.2 EXACT REQUIRED US4OEM HV256 DBARLite)
+find_package(Us4 0.8.0 EXACT REQUIRED US4OEM HV256 DBARLite)
 find_package(Boost REQUIRED)
 set(Boost_USE_STATIC_LIBS ON)
 find_package(Protobuf REQUIRED)

api/python/examples/classical_beamforming.py

@@ -6,48 +6,87 @@
 """
 import numpy as np
 import arrus
-from arrus.ops.us4r import Scheme, Pulse
+from arrus.ops.us4r import Scheme, Pulse, DataBufferSpec
 from arrus.ops.imaging import LinSequence
 from arrus.utils.gui import Display2D
-from arrus.utils.imaging import get_bmode_imaging, get_extent
+from arrus.utils.imaging import *
 
 arrus.set_clog_level(arrus.logging.INFO)
 arrus.add_log_file("test.log", arrus.logging.INFO)
 
+
+last_timestamp = 0.0
+
 # Here starts communication with the device.
-with arrus.Session() as sess:
+with arrus.Session("/home/pjarosik/us4r.prototxt") as sess:
     us4r = sess.get_device("/Us4R:0")
-    us4r.set_hv_voltage(20)
+    us4r.set_hv_voltage(5)
 
     sequence = LinSequence(
-        tx_aperture_center_element=np.arange(0, 128),
+        tx_aperture_center_element=np.arange(8, 183),
         tx_aperture_size=64,
-        tx_focus=24e-3,
+        tx_focus=10e-3,
         pulse=Pulse(center_frequency=6e6, n_periods=2, inverse=False),
-        rx_aperture_center_element=np.arange(0, 128),
+        rx_aperture_center_element=np.arange(8, 183),
         rx_aperture_size=64,
-        rx_sample_range=(0, 2048),
-        pri=200e-6,
+        rx_sample_range=(0, 1024),
+        pri=100e-6,
         tgc_start=14,
         tgc_slope=2e2,
         downsampling_factor=2,
-        speed_of_sound=1450)
+        speed_of_sound=1450,
+        sri=17.5e-3,
+        )
 
     # Imaging output grid.
     x_grid = np.arange(-15, 15, 0.2) * 1e-3
     z_grid = np.arange(5, 45, 0.2) * 1e-3
 
+
+    def lambda_func(data):
+        global last_timestamp
+        t = data[0, 4:8].get().view(np.uint64).item()/65e6
+        print(t-last_timestamp)
+        last_timestamp = t
+        return data
+
     scheme = Scheme(
         tx_rx_sequence=sequence,
-        processing=get_bmode_imaging(sequence=sequence, grid=(x_grid, z_grid)))
+        processing=Pipeline(
+            steps=(
+                # Channel data pre-processing.
+                Lambda(lambda_func),
+                RemapToLogicalOrder(),
+                Transpose(axes=(0, 1, 3, 2)),
+                BandpassFilter(),
+                QuadratureDemodulation(),
+                Decimation(decimation_factor=4,
+                           cic_order=2),
+                # # Data beamforming.
+                RxBeamforming(),
+                # # Post-processing to B-mode image.
+                EnvelopeDetection(),
+                Transpose(axes=(0, 2, 1)),
+                ScanConversion(x_grid, z_grid),
+                LogCompression(),
+                Squeeze()
+            ),
+            placement="/GPU:0"),
+        # get_bmode_imaging(sequence=sequence, grid=(x_grid, z_grid)),
+        rx_buffer_size=15,
+        output_buffer=DataBufferSpec(type="FIFO", n_elements=15),
+        work_mode="ASYNC"
+    )
     # Upload sequence on the us4r-lite device.
     buffer, metadata = sess.upload(scheme)
-    display = Display2D(metadata=metadata, value_range=(20, 80), cmap="gray",
-                        title="B-mode", xlabel="OX (mm)", ylabel="OZ (mm)",
-                        extent=get_extent(x_grid, z_grid)*1e3,
-                        show_colorbar=True)
+    # display = Display2D(metadata=metadata, value_range=(20, 80), cmap="gray",
+    #                     title="B-mode", xlabel="OX (mm)", ylabel="OZ (mm)",
+    #                     extent=get_extent(x_grid, z_grid)*1e3,
+     #                    show_colorbar=True)
     sess.start_scheme()
-    display.start(buffer)
+    []
+    for i in range(100):
+        frame = buffer.get()[0]
 
 # When we exit the above scope, the session and scheme is properly closed.
 print("Stopping the example.")

api/python/examples/plane_wave_imaging.py

@@ -9,13 +9,13 @@
 from arrus.utils.gui import Display2D
 from arrus.utils.imaging import get_bmode_imaging, get_extent
 
-arrus.set_clog_level(arrus.logging.INFO)
-arrus.add_log_file("test.log", arrus.logging.INFO)
+arrus.set_clog_level(arrus.logging.TRACE)
+arrus.add_log_file("test.log", arrus.logging.TRACE)
 
 # Here starts communication with the device.
-with arrus.Session() as sess:
+with arrus.Session("/home/pjarosik/us4r.prototxt") as sess:
     us4r = sess.get_device("/Us4R:0")
-    us4r.set_hv_voltage(40)
+    us4r.set_hv_voltage(20)
 
     sequence = PwiSequence(
         angles=np.linspace(-10, 10, 7)*np.pi/180,
@@ -33,7 +33,9 @@
 
     scheme = Scheme(
         tx_rx_sequence=sequence,
-        processing=get_bmode_imaging(sequence=sequence, grid=(x_grid, z_grid)))
+        processing=get_bmode_imaging(sequence=sequence, grid=(x_grid, z_grid)),
+        # work_mode="ASYNC"
+        )
     # Upload sequence on the us4r-lite device.
     buffer, metadata = sess.upload(scheme)
     display = Display2D(metadata=metadata, value_range=(20, 80), cmap="gray",