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bitalino.py
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bitalino.py
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# -*- coding: utf-8 -*-
"""
.. module:: bitalino
:synopsis: BITalino API
*Created on Fri Jun 20 2014*
*Last Modified on Thur Jun 25 2015*
"""
import platform
import math
import numpy
import re
import serial
import struct
import time
import select
def find():
"""
:returns: list of (tuples) with name and MAC address of each device found
Searches for bluetooth devices nearby.
"""
if platform.system() == 'Windows' or platform.system() == 'Linux':
import bluetooth
nearby_devices = bluetooth.discover_devices(lookup_names=True)
return nearby_devices
else:
raise Exception(ExceptionCode.INVALID_PLATFORM)
INVALID_ADDRESS = "The specified address is invalid."
INVALID_PLATFORM= "This platform does not support bluetooth connection."
CONTACTING_DEVICE = "The computer lost communication with the device."
DEVICE_NOT_IDLE = "The device is not idle."
DEVICE_NOT_IN_ACQUISITION = "The device is not in acquisition mode."
INVALID_PARAMETER = "Invalid parameter."
INVALID_VERSION = "Only available for Bitalino 2.0."
class BITalino(object):
"""
:param macAddress: MAC address or serial port for the bluetooth device
:type macAddress: str
:param timeout: maximum amount of time (seconds) elapsed while waiting for the device to respond
:type timeout: int, float or None
:raises Exception: invalid MAC address or serial port
:raises Exception: invalid timeout value
Connects to the bluetooth device with the MAC address or serial port provided.
Possible values for parameter *macAddress*:
* MAC address: e.g. ``00:0a:95:9d:68:16``
* Serial port - device name: depending on the operating system. e.g. ``COM3`` on Windows; ``/dev/tty.bitalino-DevB`` on Mac OS X; ``/dev/ttyUSB0`` on GNU/Linux.
Possible values for *timeout*:
=============== ================================================================
Value Result
=============== ================================================================
None Wait forever
X Wait X seconds for a response and raises a connection Exception
=============== ================================================================
"""
def __init__(self, macAddress, timeout = None):
regCompiled = re.compile('^([0-9A-Fa-f]{2}[:-]){5}([0-9A-Fa-f]{2})$');
checkMatch = re.match(regCompiled, macAddress);
self.blocking = True if timeout == None else False
if not self.blocking:
try:
self.timeout = float(timeout)
except Exception:
raise Exception(ExceptionCode.INVALID_PARAMETER)
if (checkMatch):
if platform.system() == 'Windows' or platform.system() == 'Linux':
import bluetooth
self.socket = bluetooth.BluetoothSocket(bluetooth.RFCOMM)
self.socket.connect((macAddress, 1))
self.socket.setblocking(True)
self.serial = False
else:
raise Exception(ExceptionCode.INVALID_PLATFORM)
elif (macAddress[0:3] == 'COM' and platform.system() == 'Windows') or (macAddress[0:5] == '/dev/' and platform.system() != 'Windows'):
self.socket = serial.Serial(macAddress, 115200)
self.serial = True
else:
raise Exception(ExceptionCode.INVALID_ADDRESS)
self.started = False
self.macAddress = macAddress
self.isBitalino2 = True if float(self.version().split('_v')[1][:3]) >= 4.2 else False
def start(self, SamplingRate = 1000, analogChannels = [0, 1, 2, 3, 4, 5]):
"""
:param SamplingRate: sampling frequency (Hz)
:type SamplingRate: int
:param analogChannels: channels to be acquired
:type analogChannels: array, tuple or list of int
:raises Exception: device already in acquisition (not IDLE)
:raises Exception: sampling rate not valid
:raises Exception: list of analog channels not valid
Sets the sampling rate and starts acquisition in the analog channels set.
Setting the sampling rate and starting the acquisition implies the use of the method :meth:`send`.
Possible values for parameter *SamplingRate*:
* 1
* 10
* 100
* 1000
Possible values, types, configurations and examples for parameter *analogChannels*:
=============== ====================================
Values 0, 1, 2, 3, 4, 5
Types list ``[]``, tuple ``()``, array ``[[]]``
Configurations Any number of channels, identified by their value
Examples ``[0, 3, 4]``, ``(1, 2, 3, 5)``
=============== ====================================
.. note:: To obtain the samples, use the method :meth:`read`.
"""
if (self.started == False):
if int(SamplingRate) not in [1, 10, 100, 1000]:
raise Exception(ExceptionCode.INVALID_PARAMETER)
# CommandSRate: <Fs> 0 0 0 0 1 1
if int(SamplingRate) == 1000:
commandSRate = 3
elif int(SamplingRate) == 100:
commandSRate = 2
elif int(SamplingRate) == 10:
commandSRate = 1
elif int(SamplingRate) == 1:
commandSRate = 0
if isinstance(analogChannels, list):
analogChannels = analogChannels
elif isinstance(analogChannels, tuple):
analogChannels = list(analogChannels)
elif isinstance(analogChannels, numpy.ndarray):
analogChannels = analogChannels.astype('int').tolist()
else:
raise Exception(ExceptionCode.INVALID_PARAMETER)
analogChannels = list(set(analogChannels))
if len(analogChannels) == 0 or len(analogChannels) > 6 or any([item not in range(6) or type(item)!=int for item in analogChannels]):
raise Exception(ExceptionCode.INVALID_PARAMETER)
self.send((commandSRate << 6)| 0x03)
# CommandStart: A6 A5 A4 A3 A2 A1 0 1
commandStart = 1
for i in analogChannels:
commandStart = commandStart | 1<<(2+i)
self.send(commandStart)
self.started = True
self.analogChannels = analogChannels
else:
raise Exception(ExceptionCode.DEVICE_NOT_IDLE)
def stop(self):
"""
:raises Exception: device not in acquisition (IDLE)
Stops the acquisition. Stoping the acquisition implies the use of the method :meth:`send`.
"""
if (self.started):
self.send(0)
else:
if self.isBitalino2:
# Command: 1 1 1 1 1 1 1 1 - Go to idle mode from all modes.
self.send(255)
else:
raise Exception(ExceptionCode.DEVICE_NOT_IN_ACQUISITION)
self.started = False
self.version()
def close(self):
"""
Closes the bluetooth or serial port socket.
"""
self.socket.close()
def send(self, data):
"""
Sends a command to the BITalino device.
"""
time.sleep(0.1)
if self.serial:
self.socket.write(chr(data))
else:
self.socket.send(chr(data))
def battery(self, value=0):
"""
:param value: threshold value
:type value: int
:raises Exception: device in acquisition (not IDLE)
:raises Exception: threshold value is invalid
Sets the battery threshold for the BITalino device. Setting the battery threshold implies the use of the method :meth:`send`.
Possible values for parameter *value*:
=============== ======= =====================
Range *value* Corresponding threshold (Volts)
=============== ======= =====================
Minimum *value* 0 3.4 Volts
Maximum *value* 63 3.8 Volts
=============== ======= =====================
"""
if (self.started == False):
if 0 <= int(value) <= 63:
# CommandBattery: <bat threshold> 0 0
commandBattery = int(value) << 2
self.send(commandBattery)
else:
raise Exception(ExceptionCode.INVALID_PARAMETER)
else:
raise Exception(ExceptionCode.DEVICE_NOT_IDLE)
def pwm(self, pwmOutput = 100):
"""
:param pwmOutput: value for the pwm output
:type pwmOutput: int
:raises Exception: invalid pwm output value
:raises Exception: device is not a BITalino 2.0
Sets the pwm output for the BITalino 2.0 device. Implies the use of the method :meth:`send`.
Possible values for parameter *pwmOutput*: 0 - 255.
"""
if (self.isBitalino2):
if 0 <= int(pwmOutput) <= 255:
self.send(163)
self.send(pwmOutput)
else:
raise Exception(ExceptionCode.INVALID_PARAMETER)
else:
raise Exception(ExceptionCode.INVALID_VERSION)
def state(self):
"""
:returns: dictionary with the state of all channels
:raises Exception: device is not a BITalino version 2.0
:raises Exception: device in acquisition (not IDLE)
:raises Exception: lost communication with the device when data is corrupted
Returns the state of all analog and digital channels. Reading channel State from BITalino implies the use of the method :meth:`send` and :meth:`receive`.
The returned dictionary structure contains the following key-value pairs:
================= ================================ ============== =====================
Key Value Type Examples
================= ================================ ============== =====================
analogChannels Value of all analog channels Array of int [A1 A2 A3 A4 A5 A6]
battery Value of the battery channel int
batteryThreshold Value of the battery threshold int :meth:`battery`
digitalChannels Value of all digital channels Array of int [I1 I2 O1 O2]
================= ================================ ============== =====================
"""
if (self.isBitalino2):
if (self.started == False):
# CommandState: 0 0 0 0 1 0 1 1
# Response: <A1 (2 bytes: 0..1023)> <A2 (2 bytes: 0..1023)> <A3 (2 bytes: 0..1023)>
# <A4 (2 bytes: 0..1023)> <A5 (2 bytes: 0..1023)> <A6 (2 bytes: 0..1023)>
# <ABAT (2 bytes: 0..1023)>
# <Battery threshold (1 byte: 0..63)>
# <Digital ports + CRC (1 byte: I1 I2 O1 O2 <CRC 4-bit>)>
self.send(11)
number_bytes = 16
Data = self.receive(number_bytes)
decodedData = list(struct.unpack(number_bytes*"B ", Data))
crc = decodedData[-1] & 0x0F
decodedData[-1] = decodedData[-1] & 0xF0
x = 0
for i in range(number_bytes):
for bit in range(7, -1, -1):
x = x << 1
if (x & 0x10):
x = x ^ 0x03
x = x ^ ((decodedData[i] >> bit) & 0x01)
if (crc == x & 0x0F):
digitalPorts = []
digitalPorts.append(decodedData[-1] >> 7 & 0x01)
digitalPorts.append(decodedData[-1] >> 6 & 0x01)
digitalPorts.append(decodedData[-1] >> 5 & 0x01)
digitalPorts.append(decodedData[-1] >> 4 & 0x01)
batteryThreshold = decodedData[-2]
battery = decodedData[-3] << 8 | decodedData[-4]
A6 = decodedData[-5] << 8 | decodedData[-6]
A5 = decodedData[-7] << 8 | decodedData[-8]
A4 = decodedData[-9] << 8 | decodedData[-10]
A3 = decodedData[-11] << 8 | decodedData[-12]
A2 = decodedData[-13] << 8 | decodedData[-14]
A1 = decodedData[-15] << 8 | decodedData[-16]
acquiredData = {}
acquiredData['analogChannels'] = [A1, A2, A3, A4, A5, A6]
acquiredData['battery'] = battery
acquiredData['batteryThreshold'] = batteryThreshold
acquiredData['digitalChannels'] = digitalPorts
return acquiredData
else:
raise Exception(ExceptionCode.CONTACTING_DEVICE)
else:
raise Exception(ExceptionCode.DEVICE_NOT_IDLE)
else:
raise Exception(ExceptionCode.INVALID_VERSION)
def trigger(self, digitalArray = None):
"""
:param digitalArray: array which acts on digital outputs according to the value: 0 or 1
:type digitalArray: array, tuple or list of int
:raises Exception: list of digital channel output is not valid
:raises Exception: device not in acquisition (IDLE) (for BITalino 1.0)
Acts on digital output channels of the BITalino device. Triggering these digital outputs implies the use of the method :meth:`send`.
Digital Outputs can be set on IDLE or while in acquisition for BITalino 2.0.
Each position of the array *digitalArray* corresponds to a digital output, in ascending order. Possible values, types, configurations and examples for parameter *digitalArray*:
=============== ============================================== ==============================================
Meta BITalino 1.0 BITalino 2.0
=============== ============================================== ==============================================
Values 0 or 1 0 or 1
Types list ``[]``, tuple ``()``, array ``[[]]`` list ``[]``, tuple ``()``, array ``[[]]``
Configurations 4 values, one for each digital channel output 2 values, one for each digital channel output
Examples ``[1, 0, 1, 0]`` ``[1, 0]``
=============== ============================================== ==============================================
"""
arraySize = 2 if self.isBitalino2 else 4
if not self.isBitalino2 and not self.started:
raise Exception(ExceptionCode.DEVICE_NOT_IN_ACQUISITION)
else:
digitalArray = [0 for i in range(arraySize)] if digitalArray == None else digitalArray
if isinstance(digitalArray, list):
digitalArray = digitalArray
elif isinstance(digitalArray, tuple):
digitalArray = list(digitalArray)
elif isinstance(digitalArray, numpy.ndarray):
digitalArray = digitalArray.astype('int').tolist()
else:
raise Exception(ExceptionCode.INVALID_PARAMETER)
pValues = [0, 1]
if len(digitalArray) != arraySize or any([item not in pValues or type(item)!=int for item in digitalArray]):
raise Exception(ExceptionCode.INVALID_PARAMETER)
if self.isBitalino2:
# CommandDigital: 1 0 1 1 O2 O1 1 1 - Set digital outputs
data = 179
else:
# CommandDigital: 1 0 O4 O3 O2 O1 1 1 - Set digital outputs
data = 3
for i,j in enumerate(digitalArray):
data = data | j<<(2+i)
self.send(data)
def read(self, nSamples=100):
"""
:param nSamples: number of samples to acquire
:type nSamples: int
:returns: array with the acquired data
:raises Exception: device not in acquisition (in IDLE)
:raises Exception: lost communication with the device when data is corrupted
Acquires `nSamples` from BITalino. Reading samples from BITalino implies the use of the method :meth:`receive`.
Requiring a low number of samples (e.g. ``nSamples = 1``) may be computationally expensive; it is recommended to acquire batches of samples (e.g. ``nSamples = 100``).
The data acquired is organized in a matrix whose lines correspond to samples and the columns are as follows:
* Sequence Number
* 4 Digital Channels (always present)
* 1-6 Analog Channels (as defined in the :meth:`start` method)
Example matrix for ``analogChannels = [0, 1, 3]`` used in :meth:`start` method:
================== ========= ========= ========= ========= ======== ======== ========
Sequence Number* Digital 0 Digital 1 Digital 2 Digital 3 Analog 0 Analog 1 Analog 3
================== ========= ========= ========= ========= ======== ======== ========
0
1
(...)
15
0
1
(...)
================== ========= ========= ========= ========= ======== ======== ========
.. note:: *The sequence number overflows at 15
"""
if (self.started):
nChannels = len(self.analogChannels)
if nChannels <=4 :
number_bytes = int(math.ceil((12.+10.*nChannels)/8.))
else:
number_bytes = int(math.ceil((52.+6.*(nChannels-4))/8.))
dataAcquired = numpy.zeros((nSamples, 5 + nChannels))
for sample in range(nSamples):
Data = self.receive(number_bytes)
decodedData = list(struct.unpack(number_bytes*"B ", Data))
crc = decodedData[-1] & 0x0F
decodedData[-1] = decodedData[-1] & 0xF0
x = 0
for i in range(number_bytes):
for bit in range(7, -1, -1):
x = x << 1
if (x & 0x10):
x = x ^ 0x03
x = x ^ ((decodedData[i] >> bit) & 0x01)
if (crc == x & 0x0F):
dataAcquired[sample, 0] = decodedData[-1] >> 4
dataAcquired[sample, 1] = decodedData[-2] >> 7 & 0x01
dataAcquired[sample, 2] = decodedData[-2] >> 6 & 0x01
dataAcquired[sample, 3] = decodedData[-2] >> 5 & 0x01
dataAcquired[sample, 4] = decodedData[-2] >> 4 & 0x01
if nChannels > 0:
dataAcquired[sample, 5] = ((decodedData[-2] & 0x0F) << 6) | (decodedData[-3] >> 2)
if nChannels > 1:
dataAcquired[sample, 6] = ((decodedData[-3] & 0x03) << 8) | decodedData[-4]
if nChannels > 2:
dataAcquired[sample, 7] = (decodedData[-5] << 2) | (decodedData[-6] >> 6)
if nChannels > 3:
dataAcquired[sample, 8] = ((decodedData[-6] & 0x3F) << 4) | (decodedData[-7] >> 4)
if nChannels > 4:
dataAcquired[sample, 9] = ((decodedData[-7] & 0x0F) << 2) | (decodedData[-8] >> 6)
if nChannels > 5:
dataAcquired[sample, 10] = decodedData[-8] & 0x3F
else:
raise Exception(ExceptionCode.CONTACTING_DEVICE)
return dataAcquired
else:
raise Exception(ExceptionCode.DEVICE_NOT_IN_ACQUISITION)
def version(self):
"""
:returns: str with the version of BITalino
:raises Exception: device in acquisition (not IDLE)
Retrieves the BITalino version. Retrieving the version implies the use of the methods :meth:`send` and :meth:`receive`.
"""
if (self.started == False):
# CommandVersion: 0 0 0 0 0 1 1 1
self.send(7)
version_str = ''
while True:
version_str += self.receive(1)
if version_str[-1] == '\n' and 'BITalino' in version_str:
break
return version_str[version_str.index("BITalino"):-1]
else:
raise Exception(ExceptionCode.DEVICE_NOT_IDLE)
def receive(self, nbytes):
"""
:param nbytes: number of bytes to retrieve
:type nbytes: int
:return: string packed binary data
:raises Exception: lost communication with the device when timeout is reached
Retrieves `nbytes` from the BITalino device and returns it as a string pack with length of `nbytes`. The timeout is defined on instantiation.
"""
data = ''
if self.serial:
while len(data) < nbytes:
if not self.blocking:
initTime = time.time()
while self.socket.inWaiting() < 1:
finTime = time.time()
if (finTime - initTime) > self.timeout:
raise Exception(ExceptionCode.CONTACTING_DEVICE)
data += self.socket.read(1)
else:
while len(data) < nbytes:
if not self.blocking:
ready = select.select([self.socket], [], [], self.timeout)
if ready[0]:
pass
else:
raise Exception(ExceptionCode.CONTACTING_DEVICE)
data += self.socket.recv(1)
return data
if __name__ == '__main__':
macAddress = "98:D3:31:80:48:08"
batteryThreshold = 30
acqChannels = [0,3]
samplingRate = 100
nSamples = 16
digitalOutput = [0,0,1,1]
# Connect to BITalino
device = BITalino(macAddress)
# Set battery threshold
print device.battery(batteryThreshold)
# Read BITalino version
device.version()
# Start Acquisition
device.start(samplingRate, acqChannels)
# Read samples
print "Reading samples"
for i in range(60):
print device.read(nSamples)
print "Finished reading samples"
# Turn BITalino led on
device.trigger(digitalOutput)
# Stop acquisition
device.stop()
# Close connection
device.close()