|
| 1 | +from collections import namedtuple |
| 2 | + |
| 3 | +import flatbuffers |
| 4 | +import numpy as np |
| 5 | + |
| 6 | +import streaming_data_types.fbschemas.eventdata_an44.AN44EventMessage as AN44EventMessage |
| 7 | +from streaming_data_types.utils import check_schema_identifier |
| 8 | + |
| 9 | +FILE_IDENTIFIER = b"an44" |
| 10 | + |
| 11 | + |
| 12 | +EventData = namedtuple( |
| 13 | + "EventData", |
| 14 | + ( |
| 15 | + "source_name", |
| 16 | + "message_id", |
| 17 | + "reference_time", |
| 18 | + "reference_time_index", |
| 19 | + "time_of_flight", |
| 20 | + "pixel_id", |
| 21 | + "weight", |
| 22 | + ), |
| 23 | +) |
| 24 | + |
| 25 | + |
| 26 | +def deserialise_an44(buffer): |
| 27 | + """ |
| 28 | + Deserialise FlatBuffer an44. |
| 29 | +
|
| 30 | + :param buffer: The FlatBuffers buffer. |
| 31 | + :return: The deserialised data. |
| 32 | + """ |
| 33 | + check_schema_identifier(buffer, FILE_IDENTIFIER) |
| 34 | + |
| 35 | + event = AN44EventMessage.AN44EventMessage.GetRootAs(buffer, 0) |
| 36 | + |
| 37 | + return EventData( |
| 38 | + event.SourceName().decode("utf-8"), |
| 39 | + event.MessageId(), |
| 40 | + event.ReferenceTimeAsNumpy(), |
| 41 | + event.ReferenceTimeIndexAsNumpy(), |
| 42 | + event.TimeOfFlightAsNumpy(), |
| 43 | + event.PixelIdAsNumpy(), |
| 44 | + event.WeightAsNumpy(), |
| 45 | + ) |
| 46 | + |
| 47 | + |
| 48 | +def serialise_an44( |
| 49 | + source_name, |
| 50 | + message_id, |
| 51 | + reference_time, |
| 52 | + reference_time_index, |
| 53 | + time_of_flight, |
| 54 | + pixel_id, |
| 55 | + weight, |
| 56 | +): |
| 57 | + """ |
| 58 | + Serialise event data as an an44 FlatBuffers message. |
| 59 | +
|
| 60 | + :param source_name: |
| 61 | + :param message_id: |
| 62 | + :param reference_time: |
| 63 | + :param reference_time_index: |
| 64 | + :param time_of_flight: |
| 65 | + :param pixel_id: |
| 66 | + :param weight: |
| 67 | + :return: |
| 68 | + """ |
| 69 | + builder = flatbuffers.Builder(1024) |
| 70 | + builder.ForceDefaults(True) |
| 71 | + |
| 72 | + source = builder.CreateString(source_name) |
| 73 | + ref_time_data = builder.CreateNumpyVector( |
| 74 | + np.asarray(reference_time).astype(np.int64) |
| 75 | + ) |
| 76 | + ref_time_index_data = builder.CreateNumpyVector( |
| 77 | + np.asarray(reference_time_index).astype(np.int32) |
| 78 | + ) |
| 79 | + tof_data = builder.CreateNumpyVector(np.asarray(time_of_flight).astype(np.int32)) |
| 80 | + pixel_id_data = builder.CreateNumpyVector(np.asarray(pixel_id).astype(np.int32)) |
| 81 | + weight_data = builder.CreateNumpyVector(np.asarray(weight).astype(np.int16)) |
| 82 | + |
| 83 | + AN44EventMessage.AN44EventMessageStart(builder) |
| 84 | + AN44EventMessage.AN44EventMessageAddReferenceTime(builder, ref_time_data) |
| 85 | + AN44EventMessage.AN44EventMessageAddReferenceTimeIndex(builder, ref_time_index_data) |
| 86 | + AN44EventMessage.AN44EventMessageAddTimeOfFlight(builder, tof_data) |
| 87 | + AN44EventMessage.AN44EventMessageAddPixelId(builder, pixel_id_data) |
| 88 | + AN44EventMessage.AN44EventMessageAddWeight(builder, weight_data) |
| 89 | + AN44EventMessage.AN44EventMessageAddMessageId(builder, message_id) |
| 90 | + AN44EventMessage.AN44EventMessageAddSourceName(builder, source) |
| 91 | + |
| 92 | + data = AN44EventMessage.AN44EventMessageEnd(builder) |
| 93 | + builder.Finish(data, file_identifier=FILE_IDENTIFIER) |
| 94 | + |
| 95 | + return bytes(builder.Output()) |
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