def start_test(self, time_tests):
for device in self.device_list:
logger.info_log(f"Start device: {device.device.address}")
signal = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
device.device.board)
libmetawear.mbl_mw_datasignal_subscribe(signal, None,
device.callback)
libmetawear.mbl_mw_acc_enable_acceleration_sampling(
device.device.board)
libmetawear.mbl_mw_acc_start(device.device.board)
sleep(5.0)
sleep(time_tests)
for device in self.device_list:
libmetawear.mbl_mw_acc_stop(device.device.board)
libmetawear.mbl_mw_acc_disable_acceleration_sampling(
device.device.board)
signal = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
device.device.board)
libmetawear.mbl_mw_datasignal_unsubscribe(signal)
libmetawear.mbl_mw_debug_disconnect(device.device.board)
logger.info_log(f"Stop device: {device.device.address}")
if DEBUG_STREAM_ACC:
start_debug()
for s in self.device_list:
if BATCH_STORE:
self.strage.store(s.data)
print("%s -> %d" % (s.device.address, s.samples))
end_debug()
def stop(self):
for s in self.states:
# Disable acceleration
libmetawear.mbl_mw_acc_stop(s.device.board)
libmetawear.mbl_mw_acc_disable_acceleration_sampling(
s.device.board)
signal_acceleration = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
s.device.board)
libmetawear.mbl_mw_datasignal_unsubscribe(signal_acceleration)
# Disable gyro
libmetawear.mbl_mw_gyro_bmi160_stop(s.device.board)
libmetawear.mbl_mw_gyro_bmi160_disable_rotation_sampling(
s.device.board)
signal_gyro = libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(
s.device.board)
libmetawear.mbl_mw_datasignal_unsubscribe(signal_gyro)
# Disable magnometer
libmetawear.mbl_mw_mag_bmm150_stop(s.device.board)
libmetawear.mbl_mw_mag_bmm150_disable_b_field_sampling(
s.device.board)
# Disconnect board and turn off LED
libmetawear.mbl_mw_debug_disconnect(s.device.board)
return
def reset(device):
libmetawear.mbl_mw_logging_stop(device.board)
libmetawear.mbl_mw_logging_clear_entries(device.board)
libmetawear.mbl_mw_macro_erase_all(device.board)
libmetawear.mbl_mw_debug_reset_after_gc(device.board)
print("Erase logger and clear all entries")
sleep(1.0)
libmetawear.mbl_mw_debug_disconnect(device.board)
sleep(1.0)
def cleanup(self):
if self.device == None:
self.log("ERROR", "Device not available")
return False
# Attempt to connect
self.log("INFO", "Disconnecting from device...")
lmw.mbl_mw_debug_disconnect(self.device.board)
self.log("INFO", "Disconnected.")
return True
def run(self):
loop_rate = rospy.Rate(100)
while not rospy.is_shutdown():
loop_rate.sleep()
print("Disconnect")
libmetawear.mbl_mw_sensor_fusion_stop(self.device.board)
#libmetawear.mbl_mw_datasignal_unsubscribe(self.gyro_signal)
#libmetawear.mbl_mw_datasignal_unsubscribe(self.acc_signal)
libmetawear.mbl_mw_datasignal_unsubscribe(self.rot_signal)
#libmetawear.mbl_mw_datasignal_unsubscribe(self.acc_lin_signal)
#libmetawear.mbl_mw_datasignal_unsubscribe(self.g_signal)
libmetawear.mbl_mw_debug_disconnect(self.device.board)
def reset(device) -> None:
"""
This function resets your device if its stuck in a bad state
:param device:
:return None:
"""
# Stops data logging
libmetawear.mbl_mw_logging_stop(device.board)
# Clear the logger of saved entries
libmetawear.mbl_mw_logging_clear_entries(device.board)
# Remove all macros on the flash memory
libmetawear.mbl_mw_macro_erase_all(device.board)
# Restarts the board after performing garbage collection
libmetawear.mbl_mw_debug_reset_after_gc(device.board)
libmetawear.mbl_mw_debug_disconnect(device.board)
device.disconnect()
def stop(self):
libmetawear.mbl_mw_sensor_fusion_stop(self.device.board)
AccSignal = libmetawear.mbl_mw_sensor_fusion_get_data_signal(
self.device.board, SensorFusionData.LINEAR_ACC)
libmetawear.mbl_mw_datasignal_unsubscribe(AccSignal)
gpioSignal = libmetawear.mbl_mw_gpio_get_pin_monitor_data_signal(
self.device.board, 0)
libmetawear.mbl_mw_datasignal_unsubscribe(gpioSignal)
libmetawear.mbl_mw_gpio_stop_pin_monitoring(self.device.board, 0)
resetSignal = libmetawear.mbl_mw_gpio_get_pin_monitor_data_signal(
self.device.board, 1)
libmetawear.mbl_mw_datasignal_unsubscribe(resetSignal)
libmetawear.mbl_mw_gpio_stop_pin_monitoring(self.device.board, 1)
libmetawear.mbl_mw_debug_disconnect(self.device.board)
sleep(5.0)
self.device.disconnect()
sleep(1.0)
print("DISCONNECTED!")
import sys
device = MetaWear('FB:81:71:31:92:7A')
device.connect()
# Callback function to process/parse the battery data
def data_handler(self, ctx, data):
print("%s -> %s" % (self.device.address, parse_value(data)))
callback = FnVoid_VoidP_DataP(data_handler)
print("Configuring device")
libmetawear.mbl_mw_settings_set_connection_parameters(device.board, 7.5, 7.5,
0, 6000)
battery_signal = libmetawear.mbl_mw_settings_get_battery_state_data_signal(
device.board)
libmetawear.mbl_mw_datasignal_subscribe(battery_signal, None, callback)
sleep(1.0)
libmetawear.mbl_mw_datasignal_read(battery_signal)
sleep(5.0)
libmetawear.mbl_mw_datasignal_unsubscribe(battery_signal)
libmetawear.mbl_mw_debug_disconnect(device.board)
device.on_disconnect = lambda status: print("we are disconnected!")
device.disconnect()
libmetawear.mbl_mw_settings_set_connection_parameters(states[0].device.board,
7.5, 7.5, 0, 6000)
sleep(1.5)
# start reading in acc data
libmetawear.mbl_mw_acc_set_odr(states[0].device.board, 100.0)
libmetawear.mbl_mw_acc_set_range(states[0].device.board, 16.0)
libmetawear.mbl_mw_acc_write_acceleration_config(states[0].device.board)
signal = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
states[0].device.board)
libmetawear.mbl_mw_datasignal_subscribe(signal, None, states[0].callback)
libmetawear.mbl_mw_acc_enable_acceleration_sampling(states[0].device.board)
libmetawear.mbl_mw_acc_start(states[0].device.board)
# continue running for number of seconds defined by user when running script
sleep(int(sys.argv[1]))
libmetawear.mbl_mw_acc_stop(states[0].device.board)
libmetawear.mbl_mw_acc_disable_acceleration_sampling(states[0].device.board)
# unsubscribe from stream and disconnect from device
signal = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
states[0].device.board)
libmetawear.mbl_mw_datasignal_unsubscribe(signal)
libmetawear.mbl_mw_debug_disconnect(states[0].device.board)
# print total number of samples received
print("%s -> %d" % (states[0].device.address, states[0].samples))
for x in range(0, result['length']):
wrapper = DataHandler(result['signals'].contents[x])
libmetawear.mbl_mw_anonymous_datasignal_subscribe(
result['signals'].contents[x], wrapper.data_handler_fn)
handlers.append(wrapper)
def progress_update_handler(left, total):
if (left == 0):
dl_event.set()
def unknown_entry_handler(id, epoch, data, length):
print("unknown entry = " + str(id))
print("Downloading log")
progress_update_fn = FnVoid_UInt_UInt(progress_update_handler)
unknown_entry_fn = FnVoid_UByte_Long_UByteP_UByte(unknown_entry_handler)
download_handler = LogDownloadHandler(
received_progress_update=progress_update_fn,
received_unknown_entry=unknown_entry_fn,
received_unhandled_entry=cast(None, FnVoid_DataP))
libmetawear.mbl_mw_logging_download(metawear.board, 10,
byref(download_handler))
dl_event.wait()
print("Download completed")
libmetawear.mbl_mw_macro_erase_all(metawear.board)
libmetawear.mbl_mw_debug_reset_after_gc(metawear.board)
libmetawear.mbl_mw_debug_disconnect(metawear.board)
sleep(1.0)
