if debug > 0:
print("fsample", fsample)
print("channels", channels)
print("nchans", nchans)
print("blocksize", blocksize)
# switch from one-offset to zero-offset
for i in range(nchans):
channels[i]-=1;
datatype = FieldTrip.DATATYPE_FLOAT32
ft_output.putHeader(nchans, float(fsample), datatype)
try:
# Connect to BITalino
device = BITalino(device)
except:
print("Error: cannot connect to BITalino")
exit()
# Read BITalino version
print((device.version()))
# Set battery threshold
device.battery(batterythreshold)
# Start Acquisition
device.start(fsample, channels)
# Turn BITalino led on
digitalOutput = [1,1]
def _start():
"""Start the module
This uses the global variables from setup and adds a set of global variables
"""
global parser, args, config, r, response, patch, name
global monitor, debug, device, fsample, blocksize, channels, batterythreshold, nchans, startfeedback, countfeedback, ft_host, ft_port, ft_output, datatype, digitalOutput
# this can be used to show parameters that have changed
monitor = EEGsynth.monitor(name=name,
debug=patch.getint("general", "debug"))
# get the options from the configuration file
debug = patch.getint("general", "debug")
device = patch.getstring("bitalino", "device")
fsample = patch.getfloat("bitalino", "fsample", default=1000)
blocksize = patch.getint("bitalino", "blocksize", default=10)
channels = patch.getint("bitalino", "channels",
multiple=True) # these should be one-offset
batterythreshold = patch.getint("bitalino", "batterythreshold", default=30)
# switch from one-offset to zero-offset
nchans = len(channels)
for i in range(nchans):
channels[i] -= 1
monitor.info("fsample = " + str(fsample))
monitor.info("channels = " + str(channels))
monitor.info("nchans = " + str(nchans))
monitor.info("blocksize = " + str(blocksize))
try:
ft_host = patch.getstring("fieldtrip", "hostname")
ft_port = patch.getint("fieldtrip", "port")
monitor.success("Trying to connect to buffer on %s:%i ..." %
(ft_host, ft_port))
ft_output = FieldTrip.Client()
ft_output.connect(ft_host, ft_port)
monitor.success("Connected to output FieldTrip buffer")
except:
raise RuntimeError("cannot connect to output FieldTrip buffer")
datatype = FieldTrip.DATATYPE_FLOAT32
ft_output.putHeader(nchans, float(fsample), datatype)
try:
# Connect to BITalino
device = BITalino(device)
monitor.success((device.version()))
except:
raise RuntimeError("cannot connect to BITalino")
# Set battery threshold
device.battery(batterythreshold)
# Start Acquisition
device.start(fsample, channels)
# Turn BITalino led on
digitalOutput = [1, 1]
device.trigger(digitalOutput)
startfeedback = time.time()
countfeedback = 0
# there should not be any local variables in this function, they should all be global
if len(locals()):
print("LOCALS: " + ", ".join(locals().keys()))
from bitalino import BITalino
import pygame
import pygame.mixer
from pygame.locals import *
import sys
# ----------------------------------------
# デバイスの初期化
macAddress = "20:16:12:21:35:82" # MACアドレス
samplingRate = 1000 # サンプリングレート
acqChannels = [0] # 取得チャネル（A1）
nSamples = 100 # 取得サンプル数
device = BITalino(macAddress) # デバイスの取得
print(device.version())
device.start(samplingRate, acqChannels) # データ取得開始
# ----------------------------------------
# ----------------------------------------
# 信号の取得
def selected():
BITS = 10 # 信号のビット幅
VCC = 3.3 # 操作電圧
GAIN = 1009 # センサーゲイン
THRESHOLD = 0.3 # 閾値
data = device.read(nSamples)
emg = (((((data[:,5] / 2**BITS) - 1/2) * VCC) / GAIN) * 1000) # 単位変換（mV）
def __init__(self,
port,
rate=1000,
channels=("A1", "A2", "A3", "A4", "A5", "A6")):
# Check port
if not port.startswith("/dev/") and not port.startswith("COM"):
raise ValueError(f"Invalid serial port: {port}")
# Check rate
if rate not in (1, 10, 100, 1000):
raise ValueError(f"Invalid rate: {rate}")
# Check channels
unique_channels = set(channels)
analog_channels = ["A1", "A2", "A3", "A4", "A5", "A6"]
channels = []
for channel_num, channel_name in enumerate(analog_channels):
if channel_name in unique_channels:
channels.append(channel_num)
# Set column names
# Sequence number and numeric channels are always present
self.columns = ["SEQ", "I1", "I2", "O1", "O2"]
# Add required analog channels
for channel in channels:
self.columns.append(analog_channels[channel])
# Compute the sample size in bytes
self.channel_count = len(channels)
if self.channel_count <= 4:
self.sample_size = int(
np.ceil((12.0 + 10.0 * self.channel_count) / 8.0))
else:
self.sample_size = int(
np.ceil((52.0 + 6.0 * (self.channel_count - 4)) / 8.0))
# Connect to BITalino
try:
self.device = BITalino(port)
except UnicodeDecodeError:
# This can happen after an internal buffer overflow.
# The solution seems to power off the device and repair.
raise WorkerInterrupt("Unstable state. Could not connect.")
except Exception as e:
raise WorkerInterrupt(e)
# Set battery threshold
# The red led will light up at 5-10%
self.device.battery(30)
# Read BITalino version
self.logger.info(self.device.version())
# Read state and show battery level
# http://forum.bitalino.com/viewtopic.php?t=448
state = self.device.state()
battery = round(
1 + (state["battery"] - 511) * ((99 - 1) / (645 - 511)), 2)
self.logger.info("Battery: %.2f%%", battery)
# Start Acquisition
self.device.start(rate, channels)
# Initialize counters for timestamp indices and continuity checks
self.last_sample_counter = 15
self.time_device = np.datetime64(int(time.time() * 1e6), "us")
self.time_local = self.time_device
self.time_delta = np.timedelta64(int(1000 / rate), "ms")
# Set meta
self.meta = {"rate": rate}
class Bitalino(Node):
"""BITalino driver.
This node connects to a BITalino device and streams data at a provided rate.
It is based on the original BITalino Python library, with some performance
improvements and careful timestamping.
Two output streams are provided. The default output is the data read from the
analog and digital channels. The ``o_offsets`` output provides continuous offsets
between the local time and the estimated device time. This enables drift correction
to be performed during post-processing, although no significant drift has been
observed during testing.
Attributes:
o (Port): BITalino data, provides DataFrame.
o_offsets (Port): Time offsets, provide DataFrame.
Args:
port (string): The serial port.
e.g. ``COM3`` on Windows; ``/dev/tty.bitalino-DevB`` on MacOS;
``/dev/ttyUSB0`` on GNU/Linux.
rate (int): The device rate in Hz.
Possible values: ``1``, ``10``, ``100``, ``1000``. Default: ``1000``.
channels (tupple): The analog channels to read from.
Default: ``('A1', 'A2', 'A3', 'A4', 'A5', 'A6')``.
Example:
.. literalinclude:: /../examples/bitalino.yaml
:language: yaml
Notes:
.. attention::
Make sure to set your graph rate to an high-enough value, otherwise the device
internal buffer may saturate, and data may be lost. A 30Hz graph rate is
recommended for a 1000Hz device rate.
"""
def __init__(self,
port,
rate=1000,
channels=("A1", "A2", "A3", "A4", "A5", "A6")):
# Check port
if not port.startswith("/dev/") and not port.startswith("COM"):
raise ValueError(f"Invalid serial port: {port}")
# Check rate
if rate not in (1, 10, 100, 1000):
raise ValueError(f"Invalid rate: {rate}")
# Check channels
unique_channels = set(channels)
analog_channels = ["A1", "A2", "A3", "A4", "A5", "A6"]
channels = []
for channel_num, channel_name in enumerate(analog_channels):
if channel_name in unique_channels:
channels.append(channel_num)
# Set column names
# Sequence number and numeric channels are always present
self.columns = ["SEQ", "I1", "I2", "O1", "O2"]
# Add required analog channels
for channel in channels:
self.columns.append(analog_channels[channel])
# Compute the sample size in bytes
self.channel_count = len(channels)
if self.channel_count <= 4:
self.sample_size = int(
np.ceil((12.0 + 10.0 * self.channel_count) / 8.0))
else:
self.sample_size = int(
np.ceil((52.0 + 6.0 * (self.channel_count - 4)) / 8.0))
# Connect to BITalino
try:
self.device = BITalino(port)
except UnicodeDecodeError:
# This can happen after an internal buffer overflow.
# The solution seems to power off the device and repair.
raise WorkerInterrupt("Unstable state. Could not connect.")
except Exception as e:
raise WorkerInterrupt(e)
# Set battery threshold
# The red led will light up at 5-10%
self.device.battery(30)
# Read BITalino version
self.logger.info(self.device.version())
# Read state and show battery level
# http://forum.bitalino.com/viewtopic.php?t=448
state = self.device.state()
battery = round(
1 + (state["battery"] - 511) * ((99 - 1) / (645 - 511)), 2)
self.logger.info("Battery: %.2f%%", battery)
# Start Acquisition
self.device.start(rate, channels)
# Initialize counters for timestamp indices and continuity checks
self.last_sample_counter = 15
self.time_device = np.datetime64(int(time.time() * 1e6), "us")
self.time_local = self.time_device
self.time_delta = np.timedelta64(int(1000 / rate), "ms")
# Set meta
self.meta = {"rate": rate}
def update(self):
# Send BITalino data
data, timestamps = self._read_all()
self.o.set(data, timestamps, self.columns, self.meta)
# Send time offsets
if len(timestamps) > 0:
offset = (self.time_local - self.time_device).astype(int)
self.o_offsets.set(
[[self.time_device, offset]],
[self.time_local],
["time_device", "time_offset"],
)
def _read_all(self):
"""Read all available data"""
# Make sure the device is in aquisition mode
if not self.device.started:
raise Exception(ExceptionCode.DEVICE_NOT_IN_ACQUISITION)
# We only support serial connections
if not self.device.serial:
raise Exception("Device must be opened in serial mode.")
# Check buffer size and limits
buffer_size = self.device.socket.in_waiting
if buffer_size == 1020:
# The device buffer can hold up to 1020 bytes
self.logger.warn(
"OS serial buffer saturated. Increase graph rate or decrease device rate."
)
# Compute the maximum number of samples we can get
sample_count = int(buffer_size / self.sample_size)
# Infer timestamps from sample count and rate
# Will fail dramatically if too much packets are lost
# Tests show that there is no significant drift during a 2-hour session
start = self.time_device
stop = start + self.time_delta * sample_count
self.time_device = stop
timestamps = np.arange(start, stop, self.time_delta)
self.time_local = np.datetime64(int(time.time() * 1e6), "us")
# Infer timestamps from local time and rate
# /!\ Not monotonic
# stop = np.datetime64(int(time.time() * 1e6), 'us')
# start = stop - (sample_count * self.time_delta)
# timestamps = np.arange(start, stop, self.time_delta)
# Read raw samples from device
raw = self.device.socket.read(sample_count * self.sample_size)
# Initialize the output matrix
data = np.full((sample_count, 5 + self.channel_count), np.nan)
# Parse the raw data
# http://bitalino.com/datasheets/REVOLUTION_MCU_Block_Datasheet.pdf
for sample_number in range(sample_count):
# Extract sample
start = sample_number * self.sample_size
stop = start + self.sample_size
sample = list(
struct.unpack(self.sample_size * "B ", raw[start:stop]))
# Is the sample corrupted?
crc = sample[-1] & 0x0F
sample[-1] = sample[-1] & 0xF0
x = 0
for i in range(self.sample_size):
for bit in range(7, -1, -1):
x = x << 1
if x & 0x10:
x = x ^ 0x03
x = x ^ ((sample[i] >> bit) & 0x01)
if crc != x & 0x0F:
self.logger.warn("Checksum failed.")
continue
# Parse sample
data[sample_number, 0] = sample[-1] >> 4
data[sample_number, 1] = sample[-2] >> 7 & 0x01
data[sample_number, 2] = sample[-2] >> 6 & 0x01
data[sample_number, 3] = sample[-2] >> 5 & 0x01
data[sample_number, 4] = sample[-2] >> 4 & 0x01
if self.channel_count > 0:
data[sample_number,
5] = ((sample[-2] & 0x0F) << 6) | (sample[-3] >> 2)
if self.channel_count > 1:
data[sample_number,
6] = ((sample[-3] & 0x03) << 8) | sample[-4]
if self.channel_count > 2:
data[sample_number, 7] = (sample[-5] << 2) | (sample[-6] >> 6)
if self.channel_count > 3:
data[sample_number,
8] = ((sample[-6] & 0x3F) << 4) | (sample[-7] >> 4)
if self.channel_count > 4:
data[sample_number,
9] = ((sample[-7] & 0x0F) << 2) | (sample[-8] >> 6)
if self.channel_count > 5:
data[sample_number, 10] = sample[-8] & 0x3F
# Did we miss any sample?
# Check for discontinuity in the internal sample counter, encoded to 4 bits.
sample_counter = data[sample_number, 0]
if sample_counter == self.last_sample_counter + 1:
pass
elif sample_counter == 0 and self.last_sample_counter == 15:
pass
else:
self.logger.warn("Missed sample.")
self.last_sample_counter = sample_counter
return data, timestamps
def terminate(self):
self.device.stop()
self.device.close()
except:
try:
i = sys.argv.index("-o")
filename = sys.argv[i + 1]
except:
filename = "PyBitSignals_" + re.sub(
':', '',
macAddress) + "_" + time.strftime("%Y-%m-%d_%H-%M-%S") + ".txt"
print("Using default filename:\n" + filename)
# Setting other attributes
batteryThreshold = 30
# Connect to BITalino
print("\nConnecting to BITalino using MAC Address: " + macAddress)
device = BITalino(macAddress)
print("\nDevice Connected.\n")
# Set battery threshold
device.battery(batteryThreshold)
# Read BITalino version
print("Device Version: " + str(device.version()))
# Show channels monitored
print("Monitoring channels: " + str(acqChannels))
# Show sampling rate
print("Sampling Rate: " + str(samplingRate) + " Hz.\n")
# Start Acquisition
# 2 - EDA
# 3 - EEG
# 4 - ACC
# 5 - LUX
acqChannels = [1, 2, 4]
columns = [
"seq_num", "digital_0", "digital_1", "digital_2", "digital_3", "ecg",
"eda", "acc"
]
samplingRate = 1000
nSamples = 100
digitalOutput = [1, 1]
# Connect to BITalino
device = BITalino(macAddress)
# Set battery threshold
device.battery(batteryThreshold)
# Read BITalino version
print(device.version())
# Start Acquisition
device.start(samplingRate, acqChannels)
start = time.time()
end = time.time()
collected_data = []
while (end - start) < running_time:
class BITalinoProcess(Process):
"""
BITalino acquisition process.
"""
def __init__(self,
outQueue,
goFlag,
acqFlag,
mac=None,
channels=[0],
step=100,
SamplingRate=1000,
timeout=5,
bitCls=None):
# run parent __init__
super(BITalinoProcess, self).__init__()
# synchronization inputs
self.queue = outQueue
self.go = goFlag
self.acq = acqFlag
# BITalino settings
self.mac = mac
self.channels = channels
self.step = step
self.SamplingRate = int(SamplingRate)
if bitCls is None:
self.device = BITalino()
else:
self.device = bitCls()
# trigger stuff
c1, c2 = Pipe()
self._outerPipe = c1
self._innerPipe = c2
self._trigout = 2 * self.step / float(self.SamplingRate)
# timeout
self.timeout = timeout
@classmethod
def instaStart(cls, *args, **kwargs):
# do some class method magic here to instantiate and start the process
outQueue = Queue()
goFlag = Event()
goFlag.set()
acqFlag = Event()
p = cls(outQueue, goFlag, acqFlag, *args, **kwargs)
p.start()
return p, outQueue, goFlag, acqFlag
def _checkTrigger(self):
# check if there is a trigger to act on
if self._innerPipe.poll():
data = self._innerPipe.recv()
try:
mask = data['Mask']
except KeyError:
# report failure
self._innerPipe.send({'Ack': False})
else:
# trigger
self.device.trigger(mask)
# report success
self._innerPipe.send({'Ack': True})
def trigger(self, data=[0, 0, 0, 0]):
# act on digital outputs
if not self.acq.is_set():
return False
# send mask
self._outerPipe.send({'Mask': data})
# wait for ack
if self._outerPipe.poll(self._trigout):
out = self._outerPipe.recv()
return out['Ack']
else:
return False
def connect(self):
# connect to BITalino
if self.device.open(self.mac, self.SamplingRate):
time.sleep(1.5)
print "successful"
return True
else:
print "failed"
return False
def setup(self):
# setup bitalino
print "connecting to %s: " % self.mac
while self.go.is_set():
if self.connect():
return True
time.sleep(1.5)
return False
def on_start(self):
# run immediately after acquisition starts
pass
def exit(self):
# exit process
self.acq.clear()
self.go.clear()
def processData(self, data):
# process received data
# send data
self.queue.put(data)
def on_stop(self):
# run immediately before acquisition stops
pass
def run(self):
# main loop
# connect to device, proceed if successful
if self.setup():
while self.go.is_set():
# wait for acquisition flag
print "Waiting"
self.acq.wait(timeout=self.timeout)
if self.acq.is_set():
# start acquisition
self.device.start(self.channels)
# time.sleep(1)
print "acquiring"
self.on_start()
while self.acq.is_set():
# read data
data = self.device.read(self.step)
# process data
self.processData(data)
# check trigger
self._checkTrigger()
# clean up
self.on_stop()
self.queue.put('')
# stop acquisition
self.device.stop()
# print "blocked"
print "acquisition stopped"
# disconnect device
self.device.close()
print "disconnected"
# coding: utf_8 from bitalino import BITalino macAddress = "20:16:12:21:35:82" # MACアドレス device = BITalino(macAddress) # デバイスの取得 print(device.version()) # バージョンの表示 samplingRate = 1000 # サンプリングレート acqChannels = [0] # 取得チャネル（A1） nSamples = 10 # 取得サンプル数 device.start(samplingRate, acqChannels) # データ取得開始 data = device.read(nSamples) print(data) device.stop() device.close()
def launch_acquisition(msg):
global isAcquiring, data, npending, stime
isAcquiring = 1
macAddress = msg['payload']['macAddress']
# This example will collect data for 5 sec.
running_time = 9
batteryThreshold = 30
acqChannels = [0, 1, 2, 3, 4, 5]
samplingRate = 1000
nSamples = 10
digitalOutput = [1, 1]
# Connect to BITalino
device = BITalino(macAddress)
# Set battery threshold
device.battery(batteryThreshold)
# Read BITalino version
print(device.version())
# ON/OFF
device.trigger([1, 1])
device.trigger([0, 0])
# Start Acquisition
device.start(samplingRate, acqChannels)
start = time.time()
end = time.time()
while (end - start) < running_time and isAcquiring == 1:
# Read samples
data = device.read(nSamples)
print(data)
msg['payload']['val'] = data.tolist()
end = time.time()
# Stop acquisition
device.stop()
# Close connection
device.close()
isAcquiring = 0
return ("success")
macAddress = "98:D3:31:B2:12:01" #macAddress = "98:D3:31:70:3D:CE" batteryThreshold = 30 acqChannels = [0,1,2,3,4,5] defaultChannel=4; samplingRate = 100 nSamples = 1 digitalOutput = [1,1,0,0] # Connect to BITalino connection=0 while connection is 0: try: print "connecting to BITalino(%s)..." %macAddress device = BITalino(macAddress) connection=1; break except TypeError: print "MAC address (%s) is not defined..." %macAddress print "connecting to BITalino(%s)..." except ValueError: print "MAC address (%s) is not defined..." %macAddress print "connecting to BITalino(%s)..." # Set battery threshold device.battery(batteryThreshold) # Read BITalino version print device.version() print "connected to BITalino(%s)" %macAddress print "creating Signal stream..."
ftc_port = patch.getint('fieldtrip', 'port')
if debug > 0:
print('Trying to connect to buffer on %s:%i ...' % (ftc_host, ftc_port))
ft_output = FieldTrip.Client()
ft_output.connect(ftc_host, ftc_port)
if debug > 0:
print("Connected to output FieldTrip buffer")
except:
raise RuntimeError("cannot connect to output FieldTrip buffer")
datatype = FieldTrip.DATATYPE_FLOAT32
ft_output.putHeader(nchans, float(fsample), datatype)
try:
# Connect to BITalino
device = BITalino(device)
except:
raise RuntimeError("cannot connect to BITalino")
# Read BITalino version
print((device.version()))
# Set battery threshold
device.battery(batterythreshold)
# Start Acquisition
device.start(fsample, channels)
# Turn BITalino led on
digitalOutput = [1, 1]
device.trigger(digitalOutput)
def connect(self):
device = BITalino(self.MAC_ADDRESS)
# Read BITalino version
print("Connected to Device")
print(device.version())
return device
rospy.init_node("bitalino")
coco_data_pub = rospy.Publisher("/bitalino/cocontraction",
Float32,
queue_size=10)
dir_data_pub = rospy.Publisher("/bitalino/direction",
Float32,
queue_size=10)
# dir_data_pub = rospy.Publisher("/bitalino/direction", Float32, queue_size=10)
macAddress = "20:16:07:18:15:11"
# Bitalino setup
batteryThreshold = 30
acqChannels = [2, 3]
samplingRate = 1000
nSamples = 50
device = BITalino(macAddress)
device.battery(batteryThreshold)
rospy.loginfo(device.version())
device.start(samplingRate, acqChannels)
msg = Float32()
cocontract_data = 0
direction_data = 0
rospy.on_shutdown(clean_shutdown)
rospy.loginfo("Finding neutral direction signal")
max_cnt = 100
for i in range(0, max_cnt):
# Read samples
data = device.read(nSamples)
# data = data[:]
data = np.transpose(data)
