# BDSim Realtime
Real-time execution and remote monitoring and tuning of BDSim Block-Diagrams for modelling and control of Dynamical Systems.
See https://github.com/petercorke/bdsim for the base framework and simulation package.
TODO: more docs
## BDSim Web-Tuner
Web-based telemetry and parameter tuning interface for BDSim
Note: Screen-recording lead to low FPS - usual FPS was around 30 on the laptop used (max for webcam).
Note: under heavy development (pre-alpha). These instructions will not fully work at the time of writing, but is supposed to give an idea of the usage once released.
## Installation
```bash
pip install "bdsim_realtime[opencv]" # opencv optional
```
## Usage
First, start the server and keep it running:
```bash
python -m bdsim_realtime.webapp
```
Then, add and run your bdsim script,
```python
import bdsim, numpy as np
import bdsim_realtime
# setup block-diagram and tuner client
bd = bdsim.BDSim(packages="bdsim_realtime").blockdiagram()
# All TunableBlocks within this context manager will register their parameters swith the Tuner
with bdsim_realtime.tuning.tuners.TcpClientTuner() as tuner:
# use first local camera available
clock = bd.clock(24, unit='Hz')
bgr = bd.CAMERA(0, clock=clock)
# display in web stream
bd.DISPLAY(bgr, name="BGR Stream", web_stream_host=tuner, show_fps=True)
# tune system parameters in the web editor
gain = tuner.param(1, min=0, max=100)
# stream some telemetry data (random for demo)
data = bd.FUNCTION(
lambda _: (gain.val * np.random.rand(3)).tolist(),
nin=1, # unused import required here to use function as a Clocked Source Block
nout=3
)
bd.connect(bgr, data)
bd.TUNERSCOPE(
data[0], data[1], data[2],
nin=3,
labels=['x', 'y', 'z'],
name='Random Data',
tuner=tuner)
bd.compile() # perform verification
bdsim_realtime.run(bd, tuner=tuner) # run forever
```
Now access the tuner at [http://localhost:8080](http://localhost:8080)
## Development
### Setup
```bash
python -m venv .venv # create venv
source .venv/bin/activate # activate venv
pip install -e ".[opencv]" # install in editable symlink mode
npm i # install JS deps
```
#### Frontend
```
npm run dev # run hot-reloaded app
```
#### Backend
Same as non-development version. Run:
```
python -m bdsim_realtime.webapp
```
And then run your example / test script:
```
python examples/blob_detector_tuner.py
```
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"description": "# BDSim Realtime\n\nReal-time execution and remote monitoring and tuning of BDSim Block-Diagrams for modelling and control of Dynamical Systems.\nSee https://github.com/petercorke/bdsim for the base framework and simulation package.\n\nTODO: more docs\n\n## BDSim Web-Tuner\n\nWeb-based telemetry and parameter tuning interface for BDSim\n\n\n\nNote: Screen-recording lead to low FPS - usual FPS was around 30 on the laptop used (max for webcam).\n\nNote: under heavy development (pre-alpha). These instructions will not fully work at the time of writing, but is supposed to give an idea of the usage once released.\n\n## Installation\n\n```bash\npip install \"bdsim_realtime[opencv]\" # opencv optional\n```\n\n\n## Usage\n\nFirst, start the server and keep it running:\n\n```bash\npython -m bdsim_realtime.webapp\n```\n\nThen, add and run your bdsim script, \n\n```python\nimport bdsim, numpy as np\nimport bdsim_realtime\n\n# setup block-diagram and tuner client\nbd = bdsim.BDSim(packages=\"bdsim_realtime\").blockdiagram()\n\n# All TunableBlocks within this context manager will register their parameters swith the Tuner\nwith bdsim_realtime.tuning.tuners.TcpClientTuner() as tuner:\n # use first local camera available\n clock = bd.clock(24, unit='Hz')\n bgr = bd.CAMERA(0, clock=clock)\n\n # display in web stream\n bd.DISPLAY(bgr, name=\"BGR Stream\", web_stream_host=tuner, show_fps=True)\n\n # tune system parameters in the web editor\n gain = tuner.param(1, min=0, max=100)\n\n # stream some telemetry data (random for demo)\n data = bd.FUNCTION(\n lambda _: (gain.val * np.random.rand(3)).tolist(),\n nin=1, # unused import required here to use function as a Clocked Source Block\n nout=3\n )\n bd.connect(bgr, data)\n\n bd.TUNERSCOPE(\n data[0], data[1], data[2],\n nin=3,\n labels=['x', 'y', 'z'],\n name='Random Data',\n tuner=tuner)\n\nbd.compile() # perform verification\nbdsim_realtime.run(bd, tuner=tuner) # run forever\n```\n\nNow access the tuner at [http://localhost:8080](http://localhost:8080)\n\n\n## Development\n\n### Setup\n\n\n```bash\npython -m venv .venv # create venv\nsource .venv/bin/activate # activate venv\n\npip install -e \".[opencv]\" # install in editable symlink mode\nnpm i # install JS deps\n```\n\n#### Frontend\n\n```\nnpm run dev # run hot-reloaded app\n```\n\n#### Backend\n\nSame as non-development version. Run:\n\n```\npython -m bdsim_realtime.webapp\n```\n\nAnd then run your example / test script:\n\n```\npython examples/blob_detector_tuner.py\n```\n",
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