def setup(self):
libmetawear.mbl_mw_settings_set_connection_parameters(
self.device.board, 7.5, 7.5, 0, 6000)
sleep(1.5)
e = Event()
def processor_created(context, pointer):
self.processor = pointer
e.set()
fn_wrapper = cbindings.FnVoid_VoidP_VoidP(processor_created)
acc = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
self.device.board)
gyro = libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(
self.device.board)
signals = (c_void_p * 1)()
signals[0] = gyro
libmetawear.mbl_mw_dataprocessor_fuser_create(acc, signals, 1, None,
fn_wrapper)
e.wait()
libmetawear.mbl_mw_datasignal_subscribe(self.processor, None,
self.callback)
def start(self):
if self.device == None:
self.log("ERROR", "Device not available")
return False
dev_board = self.device.board
self.log("INFO", "Configuring device")
lmw.mbl_mw_settings_set_connection_parameters(dev_board, 7.5, 7.5, 0,
6000)
time.sleep(1.5)
# Subscribe to accelerometer data
acc = lmw.mbl_mw_acc_get_acceleration_data_signal(dev_board)
lmw.mbl_mw_datasignal_subscribe(acc, None, self.callback_acc)
# Subscribe to gyro data
gyro = lmw.mbl_mw_gyro_bmi160_get_rotation_data_signal(dev_board)
lmw.mbl_mw_datasignal_subscribe(gyro, None, self.callback_gyr)
self.log("INFO", "Starting device...")
# Enable accelerometer sampling
lmw.mbl_mw_acc_enable_acceleration_sampling(dev_board)
lmw.mbl_mw_acc_start(dev_board)
# Enable gyrp sampling
lmw.mbl_mw_gyro_bmi160_enable_rotation_sampling(dev_board)
lmw.mbl_mw_gyro_bmi160_start(dev_board)
self.log("INFO", "Device started.")
return True
def setup(self):
# setup ble
libmetawear.mbl_mw_settings_set_connection_parameters(
self.device.board, 7.5, 7.5, 0, 6000)
sleep(1.5)
# setup event
e = Event()
# processor callback fxn
def processor_created(context, pointer):
self.processor = pointer
e.set()
fn_wrapper = cbindings.FnVoid_VoidP_VoidP(processor_created)
# get acc signal
acc = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
self.device.board)
# create acc averager (averages 4 consecutive acc data entriess)
libmetawear.mbl_mw_dataprocessor_average_create(
acc, 4, None, fn_wrapper)
# wait for averager to be created
e.wait()
# subscribe to signal
libmetawear.mbl_mw_datasignal_subscribe(self.processor, None,
self.callback)
def setup(self):
libmetawear.mbl_mw_settings_set_connection_parameters(self.device.board, 7.5, 7.5, 0, 600)
sleep(1.5)
e = Event()
def processor_created(context, pointer):
self.processor = pointer
e.set()
fn_wrapper = cbindings.FnVoid_VoidP_VoidP(processor_created)
# set accelerometer to 100Hz sampling rate and range to +/- 16 g's
libmetawear.mbl_mw_acc_set_odr(s.device.board, 100.0)
libmetawear.mbl_mw_acc_set_range(s.device.board, 16.0)
libmetawear.mbl_mw_acc_write_acceleration_config(s.device.board)
# set gyro to 100Hz sampling rate and +/- 1000 deg/sec.
libmetawear.mbl_mw_gyro_bmi160_set_odr(s.device.board, MBL_MW_GYRO_BMI160_ODR_100Hz)
libmetawear.mbl_mw_gyro_bmi160_set_range(s.device.board, MBL_MW_GYRO_BMI160_RANGE_1000dps)
libmetawear.mbl_mw_gyro_bmi160_write_config(s.device.board)
acc = libmetawear.mbl_mw_acc_get_acceleration_data_signal(self.device.board)
gyro = libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(self.device.board)
signals = (c_void_p * 1)()
signals[0] = gyro
# libmetawear.mbl_mw_dataprocessor_accounter_create(signals, None, fn_wrapper)
fuser = create_voidp(lambda fn: libmetawear.mbl_mw_dataprocessor_fuser_create(acc, signals, 1, None, fn), resource = "fuser", event = e)
accounter = create_voidp(lambda fn: libmetawear.mbl_mw_dataprocessor_accounter_create(fuser, None, fn), resource = "accounter", event = e)
# libmetawear.mbl_mw_datasignal_subscribe(self.processor, None, self.callback)
libmetawear.mbl_mw_datasignal_subscribe(accounter, None, self.callback)
def btn_start_shot_click(self):
self.mw_states = []
self.xyz_shots = []
for device in self.mw_devices:
# try:
# device.connect()
# except:
# print 'connection to %s failed (the device might be already connected)' % device.address
self.mw_states.append(
MetaWearState(device, self.mw_positions[device.address], self))
for s in self.mw_states:
libmetawear.mbl_mw_settings_set_connection_parameters(
s.device.board, 7.5, 7.5, 0, 6000)
sleep(1.5)
libmetawear.mbl_mw_acc_set_odr(s.device.board, 100.0)
libmetawear.mbl_mw_acc_set_range(s.device.board, 16.0)
libmetawear.mbl_mw_acc_write_acceleration_config(s.device.board)
signal = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
s.device.board)
libmetawear.mbl_mw_datasignal_subscribe(signal, None, s.callback)
libmetawear.mbl_mw_acc_enable_acceleration_sampling(s.device.board)
libmetawear.mbl_mw_acc_start(s.device.board)
# t = Timer(15, self.time_elapsed)
# t.start()
print 'shot has started'
return
def setup(self):
# ble settings
libmetawear.mbl_mw_settings_set_connection_parameters(
self.device.board, 7.5, 7.5, 0, 6000)
sleep(1.5)
# events
e = Event()
# processor callback fxn
def processor_created(context, pointer):
self.processor = pointer
e.set()
# processor fxn ptr
fn_wrapper = cbindings.FnVoid_VoidP_VoidP(processor_created)
# get acc signal
acc = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
self.device.board)
# get gyro signal - MMRl, MMR, MMc ONLY
#gyro = libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(self.device.board)
# get gyro signal - MMRS ONLY
gyro = libmetawear.mbl_mw_gyro_bmi270_get_rotation_data_signal(
self.device.board)
# create signals variable
signals = (c_void_p * 1)()
signals[0] = gyro
# create acc + gyro signal fuser
libmetawear.mbl_mw_dataprocessor_fuser_create(acc, signals, 1, None,
fn_wrapper)
# wait for fuser to be created
e.wait()
# subscribe to the fused signal
libmetawear.mbl_mw_datasignal_subscribe(self.processor, None,
self.callback)
def setup(self):
# set BLE connection params (min connect interval, max interval,
# latency, timeout) all in milliseconds
libmetawear.mbl_mw_settings_set_connection_parameters(
self.device.board, 7.5, 7.5, 0, 6000)
# set BLE advertising strength (higher strength = higher power consumption
# but theoretically better connectivity)
libmetawear.mbl_mw_settings_set_tx_power(self.device.board, 4)
sleep(1.5)
e = Event()
def processor_created(context, pointer):
self.processor = pointer
e.set()
fn_wrapper = metacbindings.FnVoid_VoidP_VoidP(processor_created)
# set accelerometer to 100Hz sampling rate and range to +/- 16 g's
libmetawear.mbl_mw_acc_set_odr(s.device.board, 100.0)
libmetawear.mbl_mw_acc_set_range(s.device.board, 16.0)
libmetawear.mbl_mw_acc_write_acceleration_config(s.device.board)
# set gyro to 100Hz sampling rate and +/- 1000 deg/sec.
libmetawear.mbl_mw_gyro_bmi160_set_odr(s.device.board,
MBL_MW_GYRO_BMI160_ODR_100Hz)
libmetawear.mbl_mw_gyro_bmi160_set_range(
s.device.board, MBL_MW_GYRO_BMI160_RANGE_1000dps)
libmetawear.mbl_mw_gyro_bmi160_write_config(s.device.board)
# get pointers referencing the acc and gyro data signals
acc = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
self.device.board)
gyro = libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(
self.device.board)
signals = (c_void_p * 1)()
signals[0] = gyro
# //libmetawear.mbl_mw_dataprocessor_accounter_create(signals, None, fn_wrapper)
# chain two processors together (fuser and accounter) to get timestamped acc+gyro data
# create a fuser "data processor" which packages the acc and gyro signals into same packets before sending
fuser = create_voidp(
lambda fn: libmetawear.mbl_mw_dataprocessor_fuser_create(
acc, signals, 1, None, fn),
resource="fuser",
event=e)
# accounter processor adds correct epoch data to BLE packets, necessary for timestamping stream-mode data
accounter = create_voidp(
lambda fn: libmetawear.mbl_mw_dataprocessor_accounter_create(
fuser, None, fn),
resource="accounter",
event=e)
# //libmetawear.mbl_mw_datasignal_subscribe(self.processor, None, self.callback)
libmetawear.mbl_mw_datasignal_subscribe(accounter, None, self.callback)
def init_device(self, device):
print(f"Configuring device: {device.device.address}")
# reset(device.device)
libmetawear.mbl_mw_settings_set_connection_parameters(
device.device.board, 7.5, 7.5, 0, 6000)
sleep(1.5)
libmetawear.mbl_mw_acc_set_odr(device.device.board, 25.0)
libmetawear.mbl_mw_acc_set_range(device.device.board, 8.0)
libmetawear.mbl_mw_acc_write_acceleration_config(device.device.board)
def setup(self):
#Set up file
self.file.write(
"Time, Time from start (s), Acc x, Acc y, Acc z, Gyro x, Gyro y, Gyro z, Mag x, Mag y, Mag z \n"
)
#Set up board
libmetawear.mbl_mw_settings_set_connection_parameters(
self.device.board, 7.5, 7.5, 0, 6000)
#Acceleration sampling frequency
libmetawear.mbl_mw_acc_set_odr(s.device.board,
100.0) #fastest frequency is 400 Hz
#range of acceleration
libmetawear.mbl_mw_acc_set_range(s.device.board, 16.0)
#write acceleration config
libmetawear.mbl_mw_acc_write_acceleration_config(s.device.board)
#Gyro sampling frequency
libmetawear.mbl_mw_gyro_bmi160_set_odr(self.device.board,
8) #9 = 200Hz, 8 = 100Hz
#Gyro range
libmetawear.mbl_mw_gyro_bmi160_set_range(
self.device.board, 0) #0 = 2000 dps, 1 = 1000 dps
#Write gyro config
libmetawear.mbl_mw_gyro_bmi160_write_config(self.device.board)
libmetawear.mbl_mw_mag_bmm150_set_preset(self.device.board, 3)
sleep(1.5)
e = Event()
def processor_created(context, pointer):
self.processor = pointer
e.set()
fn_wrapper = cbindings.FnVoid_VoidP_VoidP(processor_created)
acc = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
self.device.board)
gyro = libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(
self.device.board)
mag = libmetawear.mbl_mw_mag_bmm150_get_b_field_data_signal(
self.device.board)
signals = (c_void_p * 2)()
signals[0] = gyro
signals[1] = mag
libmetawear.mbl_mw_dataprocessor_fuser_create(acc, signals, 2, None,
fn_wrapper)
e.wait()
libmetawear.mbl_mw_datasignal_subscribe(self.processor, None,
self.callback)
def setup(self):
# s represents a device's MAC address
for s in self.states:
# Device configuration
print("Configuring device...")
# Not sure what these parameters are for, but they're synchronized with the rest of the settings.
libmetawear.mbl_mw_settings_set_connection_parameters(
s.device.board, 7.5, 7.5, 0, 6000)
# Acceleration
libmetawear.mbl_mw_acc_set_odr(s.device.board,
25.0) # 25 Hz data collection rate
libmetawear.mbl_mw_acc_set_range(s.device.board, 16.0) # Unsure
libmetawear.mbl_mw_acc_write_acceleration_config(
s.device.board) # Save to the board's configuration
signal_acceleration = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
s.device.board)
libmetawear.mbl_mw_datasignal_subscribe(signal_acceleration,
s.callback_accel)
libmetawear.mbl_mw_acc_enable_acceleration_sampling(s.device.board)
# Gyrometer
libmetawear.mbl_mw_gyro_bmi160_set_odr(s.device.board,
6) # 6 is index for 25 Hz
libmetawear.mbl_mw_gyro_bmi160_write_config(s.device.board)
signal_gyro = libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(
s.device.board)
libmetawear.mbl_mw_datasignal_subscribe(signal_gyro,
s.callback_gyro)
libmetawear.mbl_mw_gyro_bmi160_enable_rotation_sampling(
s.device.board)
# Magnometer
libmetawear.mbl_mw_mag_bmm150_configure(s.device.board, 1, 1,
6) # 6 is index for 25 Hz
signal_mag = libmetawear.mbl_mw_mag_bmm150_get_b_field_data_signal(
s.device.board)
libmetawear.mbl_mw_datasignal_subscribe(signal_mag, s.callback_mag)
# Run LED - Stays green until IMUs / system starts with a pulse
pattern = LedPattern(repeat_count=Const.LED_REPEAT_INDEFINITELY)
libmetawear.mbl_mw_led_load_preset_pattern(byref(pattern),
LedPreset.SOLID)
libmetawear.mbl_mw_led_write_pattern(s.device.board,
byref(pattern),
LedColor.GREEN)
libmetawear.mbl_mw_led_play(s.device.board)
return
def setDevice(mmr):
libmetawear.mbl_mw_settings_set_connection_parameters(
mmr.device.board, 7.5, 7.5, 0, 6000)
sleep(1.5)
# Get the signal from i2c communication
# (device.board address, the size of data(byte), id : Numerical value identifying the data)
mmr.i2c_signal = libmetawear.mbl_mw_i2c_get_data_signal(
mmr.device.board, 3, 0xa)
# Get the signal from Acceleration
acc_signal = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
mmr.device.board)
# get the signal from Gyro
gyro_signal = libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(
mmr.device.board)
# Subscribe the i2c signal
# (i2c signal value, context(Pointer to additional data for the call back function
# , Callback function to handle data received from the signal))
libmetawear.mbl_mw_datasignal_subscribe(mmr.i2c_signal, None,
mmr.callback_i2c)
# Subscribe the acc acc_signal
# libmetawear.mbl_mw_datasignal_subscribe(acc_signal, None, mmr.callback_acc)
# Subscribe the gyro gyro acc_signal
# libmetawear.mbl_mw_datasignal_subscribe(gyro_signal, None, mmr.callback_gyro)
# device_addr = 7bit(the slave device address) + 1bit(W : 0 / R : 1)
# Parameter : (device address, register address : CAP DATA REGISTER(0x01))
# libmetawear.mbl_mw_i2c_write(mmr.device.board, AD7745_ADDR_WRITE, RESET_ADDR, value, 1)
# Setup the configuration for I2C Communication
libmetawear.mbl_mw_i2c_write(mmr.device.board, AD7745_ADDR, REG_CAP_SETUP,
c_uint8(CAP_SETUP_PROP), 1)
sleep(0.5)
libmetawear.mbl_mw_i2c_write(mmr.device.board, AD7745_ADDR, REG_EXC_SETUP,
c_uint8(EXC_SETUP_PROP), 1)
sleep(0.5)
libmetawear.mbl_mw_i2c_write(mmr.device.board,
AD7745_ADDR, REG_CONFIGURATION,
c_uint8(CONFIGURATION_PROP), 1)
sleep(0.5)
libmetawear.mbl_mw_i2c_write(mmr.device.board, AD7745_ADDR, REG_CAP_DAC_A,
c_uint8(CAP_DAC_A_PROP), 1)
sleep(0.5)
def setup(self):
libmetawear.mbl_mw_settings_set_connection_parameters(
self.device.board, 7.5, 7.5, 0, 6000)
sleep(1.5)
e = Event()
def processor_created(context, pointer):
self.processor = pointer
e.set()
fn_wrapper = cbindings.FnVoid_VoidP_VoidP(processor_created)
acc = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
self.device.board)
libmetawear.mbl_mw_dataprocessor_average_create(
acc, 4, None, fn_wrapper)
e.wait()
libmetawear.mbl_mw_datasignal_subscribe(self.processor, None,
self.callback)
def download_data(self, name='blank'):
try:
libmetawear.mbl_mw_settings_set_connection_parameters(
self.device.board, 7.5, 7.5, 0, 6000)
time.sleep(1.0)
e = Event()
def progress_update_handler(context, entries_left, total_entries):
if (entries_left == 0):
e.set()
fn_wrapper = FnVoid_VoidP_UInt_UInt(progress_update_handler)
download_handler = LogDownloadHandler(context = None, \
received_progress_update = fn_wrapper, \
received_unknown_entry = cast(None, FnVoid_VoidP_UByte_Long_UByteP_UByte), \
received_unhandled_entry = cast(None, FnVoid_VoidP_DataP))
# print('Opening log file to write')
f = open(name + self.default_name, 'a')
callback = FnVoid_VoidP_DataP(lambda ctx, p: print(
"{epoch: %d, value: %s}" % (p.contents.epoch, parse_value(p)),
file=f))
libmetawear.mbl_mw_logger_subscribe(self.logger, None, callback)
libmetawear.mbl_mw_logging_download(self.device.board, 0,
byref(download_handler))
e.wait()
# close the file, process the data into a csv, then delete the original file
f.close()
self.process_data(name)
# os.remove(name + self.default_name)
logging.info('data downloaded')
return 1
except RuntimeError as err:
print(err)
logging.info('runtime error in download_data() occurred')
return 0
import platform
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!")
def __init__(self, mac_adr):
# Create publisher
self.frame_id = rospy.get_name().split('/')[-1]
self.pub_rotation = rospy.Publisher(self.frame_id + '/rotation',
QuaternionStamped,
queue_size=10)
self.pub_accel = rospy.Publisher(self.frame_id + '/accel',
Vector3Stamped,
queue_size=10)
self.pub_gyro = rospy.Publisher(self.frame_id + '/gyro',
Vector3Stamped,
queue_size=10)
self.pub_g = rospy.Publisher(self.frame_id + '/gravity',
Vector3Stamped,
queue_size=10)
self.pub_acc_lin = rospy.Publisher(self.frame_id + '/lin_acc',
Vector3Stamped,
queue_size=10)
d = MetaWear(mac_adr)
d.connect()
print("Connected to " + d.address)
self.device = d
self.samples_acc = 0
self.samples_rot = 0
self.samples_gyro = 0
self.cb_gyro_cpp = FnVoid_VoidP_DataP(self.gyro_cb)
self.cb_acc_cpp = FnVoid_VoidP_DataP(self.acc_cb)
self.cb_rot_cpp = FnVoid_VoidP_DataP(self.rot_cb)
self.cb_g_cpp = FnVoid_VoidP_DataP(self.g_cb)
self.cb_acc_lin_cpp = FnVoid_VoidP_DataP(self.acc_lin_cb)
print("Configuring device")
libmetawear.mbl_mw_settings_set_connection_parameters(
self.device.board, 10, 20, 0, 6000)
print("Sensor Fusion")
libmetawear.mbl_mw_sensor_fusion_set_mode(self.device.board,
SensorFusionMode.IMU_PLUS)
libmetawear.mbl_mw_sensor_fusion_set_acc_range(
self.device.board, SensorFusionAccRange._8G)
libmetawear.mbl_mw_sensor_fusion_write_config(self.device.board)
rospy.sleep(1)
#self.gyro_signal = libmetawear.mbl_mw_sensor_fusion_get_data_signal(self.device.board, SensorFusionData.CORRECTED_GYRO)
#self.acc_signal = libmetawear.mbl_mw_sensor_fusion_get_data_signal(self.device.board, SensorFusionData.CORRECTED_ACC)
self.rot_signal = libmetawear.mbl_mw_sensor_fusion_get_data_signal(
self.device.board, SensorFusionData.QUATERNION)
#self.g_signal = libmetawear.mbl_mw_sensor_fusion_get_data_signal(self.device.board, SensorFusionData.GRAVITY_VECTOR)
#self.acc_lin_signal = libmetawear.mbl_mw_sensor_fusion_get_data_signal(self.device.board, SensorFusionData.LINEAR_ACC)
rospy.sleep(1)
#libmetawear.mbl_mw_datasignal_subscribe(self.gyro_signal, None, self.cb_gyro_cpp)
#libmetawear.mbl_mw_datasignal_subscribe(self.acc_signal, None, self.cb_acc_cpp)
libmetawear.mbl_mw_datasignal_subscribe(self.rot_signal, None,
self.cb_rot_cpp)
#libmetawear.mbl_mw_datasignal_subscribe(self.g_signal, None, self.cb_g_cpp)
#libmetawear.mbl_mw_datasignal_subscribe(self.acc_lin_signal, None, self.cb_acc_lin_cpp)
rospy.sleep(1)
#libmetawear.mbl_mw_sensor_fusion_enable_data(self.device.board, SensorFusionData.CORRECTED_GYRO)
#libmetawear.mbl_mw_sensor_fusion_enable_data(self.device.board, SensorFusionData.CORRECTED_ACC)
libmetawear.mbl_mw_sensor_fusion_enable_data(
self.device.board, SensorFusionData.QUATERNION)
#libmetawear.mbl_mw_sensor_fusion_enable_data(self.device.board, SensorFusionData.GRAVITY_VECTOR)
#libmetawear.mbl_mw_sensor_fusion_enable_data(self.device.board, SensorFusionData.LINEAR_ACC)
rospy.sleep(1)
libmetawear.mbl_mw_sensor_fusion_start(self.device.board)
