def __init__(self, address):
cmd.Cmd.__init__(self)
self.signalKiller = GracefulKiller()
self.bigLine = '-------------------------------------------------------------------\n'
self.prompt = '>>'
self.intro = "Welcome to the Neblina Streaming Menu!"
self.api = NeblinaAPI(Interface.UART)
print(
"Setting up the connection..."
) # initial delay needed for the device to synchronize its processors
time.sleep(1)
print('.')
time.sleep(1)
print('.')
time.sleep(1)
print('.')
self.api.open(address)
global initialmotionstate # the global variable that stores the initial motion engine state
initialmotionstate = self.api.getMotionStatus(
) # get the initial motion engine state
self.api.streamDisableAll(
) # disable all streaming options after storing the initial state
self.api.setDataPortState(
Interface.BLE,
False) # Close BLE streaming to prevent slowed streaming
self.api.setDataPortState(Interface.UART, True) # Open UART streaming
def setUp(self):
if not self.comPort:
raise unittest.SkipTest("No COM port specified.")
# Give it a break between each test
time.sleep(1)
if not self.setupHasAlreadyRun:
self.api = NeblinaAPI(Interface.UART)
self.api.open(self.comPort)
if not self.api.isOpened():
self.fail("Unable to connect to COM port.")
self.api.streamDisableAll()
self.api.sessionRecord(False)
self.api.setDataPortState(Interface.UART, True)
def setUp(self):
if not self.deviceAddress:
logging.warn("No Device Address specified. Skipping.")
raise unittest.SkipTest
# Give it a break between each test
time.sleep(2)
self.api = NeblinaAPI(Interface.BLE)
self.api.open(self.deviceAddress)
if not self.api.isOpened():
self.fail("Unable to connect to BLE device.")
self.api.streamDisableAll()
self.api.sessionRecord(False)
self.api.setDataPortState(Interface.BLE, True)
def setUp(self):
if not self.deviceAddress:
logging.warn("No Device Address specified. Skipping.")
raise unittest.SkipTest
# Give it a break between each test
time.sleep(2)
self.api = NeblinaAPI(Interface.BLE)
self.api.open(self.deviceAddress)
if not self.api.isOpened():
self.fail("Unable to connect to BLE device.")
self.api.streamDisableAll()
self.api.sessionRecord(False)
self.api.setDataPortState(Interface.BLE, True)
def __init__(self, address):
cmd.Cmd.__init__(self)
self.signalKiller = GracefulKiller()
self.bigLine = '-------------------------------------------------------------------\n'
self.prompt = '>>'
self.intro = "Welcome to the Neblina Streaming Menu!"
self.api = NeblinaAPI(Interface.UART)
print("Setting up the connection...") # initial delay needed for the device to synchronize its processors
time.sleep(1)
print('.')
time.sleep(1)
print('.')
time.sleep(1)
print('.')
self.api.open(address)
global initialmotionstate # the global variable that stores the initial motion engine state
initialmotionstate = self.api.getMotionStatus() # get the initial motion engine state
self.api.streamDisableAll() # disable all streaming options after storing the initial state
self.api.setDataPortState(Interface.BLE, False) # Close BLE streaming to prevent slowed streaming
self.api.setDataPortState(Interface.UART, True) # Open UART streaming
class StreamMenu(cmd.Cmd):
"""docstring for StreamMenu"""
def __init__(self, address):
cmd.Cmd.__init__(self)
self.signalKiller = GracefulKiller()
self.bigLine = '-------------------------------------------------------------------\n'
self.prompt = '>>'
self.intro = "Welcome to the Neblina Streaming Menu!"
self.api = NeblinaAPI(Interface.UART)
print(
"Setting up the connection..."
) # initial delay needed for the device to synchronize its processors
time.sleep(1)
print('.')
time.sleep(1)
print('.')
time.sleep(1)
print('.')
self.api.open(address)
global initialmotionstate # the global variable that stores the initial motion engine state
initialmotionstate = self.api.getMotionStatus(
) # get the initial motion engine state
self.api.streamDisableAll(
) # disable all streaming options after storing the initial state
self.api.setDataPortState(
Interface.BLE,
False) # Close BLE streaming to prevent slowed streaming
self.api.setDataPortState(Interface.UART, True) # Open UART streaming
# If the user exits with Ctrl-C, try switching the interface back to BLE
def cmdloop(self, intro=None):
try:
cmd.Cmd.cmdloop(self)
except KeyboardInterrupt as e:
self.api.setDataPortState(Interface.BLE, True)
## Command definitions ##
def do_hist(self, args):
"""Print a list of commands that have been entered"""
print(self._hist)
def do_exit(self, args):
"""Exits from the console"""
# Set the motion engine state back to its initial state by enabling the appropriate streaming features
print('Switching back to the BLE interface...')
self.api.setDataPortState(Interface.UART, False)
print('Setting the motion engine back to its initial state...')
if initialmotionstate.distance:
self.api.streamTrajectoryInfo(True)
if initialmotionstate.force:
self.api.streamExternalForce(True)
if initialmotionstate.euler:
self.api.streamEulerAngle(True)
if initialmotionstate.quaternion:
self.api.streamQuaternion(True)
if initialmotionstate.imuData:
self.api.streamIMU(True)
if initialmotionstate.motion:
self.api.streamMotionState(True)
if initialmotionstate.steps:
self.api.streamPedometer(True)
if initialmotionstate.magData:
self.api.streamMAG(True)
if initialmotionstate.sitStand:
self.api.streamSittingStanding(True)
# Make the module stream back towards its default interface (BLE)
self.api.setDataPortState(Interface.BLE, True)
return -1
## Command definitions to support Cmd object functionality ##
def do_EOF(self, args):
"""Exit on system end of file character"""
return self.do_exit(args)
def do_shell(self, args):
"""Pass command to a system shell when line begins with '!'"""
os.system(args)
def do_help(self, args):
"""Get help on commands
'help' or '?' with no arguments prints a list of commands for which help is available
'help <command>' or '? <command>' gives help on <command>
"""
## The only reason to define this method is for the help text in the doc string
cmd.Cmd.do_help(self, args)
def do_eepromWrite(self, args):
"""
Write 8-byte string to EEPROM
Usage: >>eepromWrite <pageNumber> <string>
:param pageNumber: EEPROM page number (Range: 0-255)
:param string: 8-byte string (Example: 01234567)
"""
arguments = args.split(' ')
if len(arguments) < 2:
print('EEPROMWrite <pageNumber> <8-byte string>')
return
if len(arguments[1]) > 8:
print('The data string must less than 8 bytes')
return
arguments[1] = arguments[1].rjust(8) # Pad the string to 8 bytes
writeBytes = arguments[1].encode('utf-8')
writePageNumber = int(arguments[0])
if writePageNumber < 0 or writePageNumber > 255:
print('Page number must be between 0 and 255 inclusively')
return
self.api.eepromWrite(writePageNumber, writeBytes)
print('Write to page #{0} of dataBytes {1} was successful.'\
.format(writePageNumber, writeBytes))
def do_eepromRead(self, args):
"""
Read 8-byte string from EEPROM
Usage: >>eepromRead <pageNumber>
:param pageNumber: EEPROM page number (Range: 0-255)
"""
arguments = args.split(' ')
if (arguments[0]) == '' or len(arguments) != 1:
print('EEPROMRead <pageNumber>')
return
readPageNumber = int(arguments[0])
if readPageNumber < 0 or readPageNumber > 255:
print('Page number must be between 0 and 255 inclusively')
return
dataBytes = self.api.eepromRead(readPageNumber)
try:
print('Got \'{0}\' at page #{1}'.format(dataBytes.decode('utf-8'),
readPageNumber))
except UnicodeDecodeError as ude:
print('Got {0} at page #{1}'.format(dataBytes, readPageNumber))
def do_getMotionStatus(self, args):
"""
Retrieve motion streaming state
Usage: >>getMotionStatus
"""
states = self.api.getMotionStatus()
print("Distance: {0}\nForce:{1}\nEuler:{2}\nQuaternion:{3}\nIMUData:{4}\nMotion:{5}\nSteps:{6}\nMAGData:{7}\nSitStand:{8}"\
.format(states.distance, states.force, states.euler, states.quaternion,\
states.imuData, states.motion, states.steps, states.magData, states.sitStand))
def do_getBatteryLevel(self, args):
"""
Retrieve battery level
Usage: >>getBatteryLevel
"""
batteryLevel = self.api.getBatteryLevel()
print('Battery Level: {0}%'.format(batteryLevel))
def do_getTemperature(self, args):
"""
Retrieve board temperature
Usage: >>getTemperature
"""
temp = self.api.getTemperature()
print('Board Temperature: {0} degrees (Celsius)'.format(temp))
def do_streamEulerAngle(self, args):
"""
Stream EulerAngle until stopped with Ctrl+C
Usage: >>streamEulerAngle
"""
self.api.streamEulerAngle(True)
while not self.signalKiller.isKilled:
print(self.api.getEulerAngle())
self.api.streamEulerAngle(False)
def do_streamIMU(self, args):
"""
Stream 6-axis IMU (Inertial Measurement Unit) until stopped with Ctrl+C
Usage: >>streamIMU
"""
self.api.streamIMU(True)
while not self.signalKiller.isKilled:
print(self.api.getIMU())
self.api.streamIMU(False)
def do_streamQuaternion(self, args):
"""
Stream Quaternion until stopped with Ctrl+C
Usage: >>streamQuaternion
"""
self.api.streamQuaternion(True)
while not self.signalKiller.isKilled:
print(self.api.getQuaternion())
self.api.streamQuaternion(False)
def do_streamMAG(self, args):
"""
Stream MAG (Magnetometer) until stopped with Ctrl+C
Usage: >>streamMAG
"""
self.api.streamMAG(True)
while not self.signalKiller.isKilled:
print(self.api.getMAG())
self.api.streamMAG(False)
def do_streamExternalForce(self, args):
"""
Stream External Force until stopped with Ctrl+C
Usage: >>streamExternalForce
"""
self.api.streamExternalForce(True)
while not self.signalKiller.isKilled:
print(self.api.getExternalForce())
self.api.streamExternalForce(False)
def do_streamRotationInfo(self, args):
"""
Stream RotationInfo until stopped with Ctrl+C
Usage: >>streamRotationInfo
"""
self.api.streamRotationInfo(True)
while not self.signalKiller.isKilled:
print(self.api.getRotationInfo())
self.api.streamRotationInfo(False)
def do_streamPedometer(self, args):
"""
Stream Pedometer until stopped with Ctrl+C
Usage: >>streamPedometer
"""
self.api.streamPedometer(True)
while not self.signalKiller.isKilled:
print(self.api.getPedometer())
self.api.streamPedometer(False)
def do_streamFingerGesture(self, args):
"""
Stream Finger Gesture until stopped with Ctrl+C
Usage: >>streamFingerGesture
"""
self.api.streamFingerGesture(True)
while not self.signalKiller.isKilled:
print(self.api.getFingerGesture())
self.api.streamFingerGesture(False)
def do_streamTrajectoryInfo(self, args):
"""
Stream TrajectoryInfo until stopped with Ctrl+C
Usage: >>streamTrajectoryInfo
"""
self.api.recordTrajectory(True)
self.api.streamTrajectoryInfo(True)
while not self.signalKiller.isKilled:
print(self.api.getTrajectoryInfo())
self.api.streamTrajectoryInfo(False)
self.api.recordTrajectory(False)
def do_streamDisableAll(self, args):
"""
Disable all streams
Usage: >>streamDisableAll
"""
self.api.streamDisableAll()
def do_resetTimestamp(self, args):
"""
Reset motion timestamp
Usage: >>resetTimestamp
"""
self.api.resetTimestamp()
def do_setDownsample(self, args):
"""
Set downsample rate of motion streaming
Usage: >>setDownsample <factor>
:param factor: Downsampling factor (Range: [20, 40, 60, ..., 980, 1000])
"""
if (len(args) <= 0):
print(
'The argument should be a multiplicand of 20, i.e., 20, 40, 60, etc!'
)
return
n = int(args)
if ((n % 20) != 0):
print(
'The argument should be a multiplicand of 20, i.e., 20, 40, 60, etc!'
)
return
self.api.setDownsample(n)
def do_setAccelerometerRange(self, args):
"""
Set accelerometer range
Usage: >>setAccelerometerRange <range>
:param range: Accelerometer range (Possible values: [2, 4, 8, 16])
"""
possibleFactors = [2, 4, 8, 16]
if (len(args) <= 0):
print(
'The argument should be 2, 4, 8, or 16, representing the accelerometer range in g'
)
return
factor = int(args)
if (factor not in possibleFactors):
print(
'The argument should be 2, 4, 8, or 16, representing the accelerometer range in g'
)
return
self.api.setAccelerometerRange(factor)
def do_setLED(self, args):
"""
Change a LED state.
Usage: >>setLED <number> <value>
:param number: LED number (Range: [0, 1])
:param value: LED state (0: close, 1: open)
"""
arguments = args.split(' ')
if len(arguments) != 2:
print('setled <ledNumber> <value>')
return
ledIndex = int(arguments[0])
ledValue = int(arguments[1])
if (ledIndex < 0 or ledIndex > 1):
print('Only led indices 0 or 1 are valid')
return
self.api.setLED(ledIndex, ledValue)
def do_getSessionCount(self, args):
"""
Retrieve number of stored session
Usage: >>getSessionCount
"""
sessions = self.api.getSessionCount()
print('Num of sessions: {0}'.format(sessions))
def do_getSessionInfo(self, args):
"""
Retrieve a session information
Usage: >>getSessionInfo <sessionId>
:param sessionId: Session identifier (Range: 0-65535)
"""
sessionID = 65535
if (len(args) <= 0):
sessionID = 65535
elif (len(args) > 0):
sessionID = int(args)
packet = self.api.getSessionInfo(sessionID)
if (packet == None):
print('Session {0} does not exist on the flash'\
.format(sessionID))
else:
print( "Session %d: %d packets (%d bytes)"\
%(packet.sessionID, packet.sessionLength, packet.sessionLengthBytes) )
def do_eraseStorage(self, args):
"""
Erase storage
Usage: >>eraseStorage <type>
:note This can take up to 3 minutes. Do not power down the device during erasing.
:param type: Type of erasing (0: Quick, 1: Full)
"""
self.api.eraseStorage(int(args))
print('Flash erase has completed successfully!')
def do_sessionRecordIMU(self, args):
"""
Record an IMU session for a number of sample
Usage: >>sessionRecordIMU <count>
:param count: Number of sample to record
"""
if (len(args) <= 0):
numSamples = 1000
else:
numSamples = int(args)
sessionId = self.api.sessionRecord(True)
print("Recording session {0}.".format(sessionId))
self.api.streamIMU(True)
sampleCount = 0
while not self.signalKiller.isKilled and sampleCount < numSamples:
self.api.getIMU()
sampleCount += 1
print('Received {0} packets'.format(sampleCount),
end="\r",
flush=True)
print("\r\n")
self.api.streamIMU(False)
self.api.sessionRecord(False)
def do_sessionRecordEuler(self, args):
"""
Record an EulerAngle session for a number of sample
Usage: >>sessionRecordEuler <count>
:param count: Number of sample to record
"""
if (len(args) <= 0):
numSamples = 1000
else:
numSamples = int(args)
sessionId = self.api.sessionRecord(True)
print("Recording session {0}.".format(sessionId))
self.api.streamEulerAngle(True)
sampleCount = 0
while not self.signalKiller.isKilled and sampleCount < numSamples:
self.api.getEulerAngle()
sampleCount += 1
print('Received {0} packets'.format(sampleCount),
end="\r",
flush=True)
print("\r\n")
self.api.streamEulerAngle(False)
self.api.sessionRecord(False)
def do_sessionRecordQuaternion(self, args):
"""
Record a Quaternion session for a number of sample
Usage: >>sessionRecordQuaternion <count>
:param count: Number of sample to record
"""
if (len(args) <= 0):
numSamples = 1000
else:
numSamples = int(args)
sessionId = self.api.sessionRecord(True)
print("Recording session {0}.".format(sessionId))
self.api.streamQuaternion(True)
sampleCount = 0
while not self.signalKiller.isKilled and sampleCount < numSamples:
self.api.getQuaternion()
sampleCount += 1
print('Received {0} packets'.format(sampleCount),
end="\r",
flush=True)
print("\r\n")
self.api.streamQuaternion(False)
self.api.sessionRecord(False)
def do_sessionPlayback(self, args):
"""
Playback a recorded session
Usage: >>sessionPlayback <sessionId> <dump>
:param sessionId: Session identifier (Range: 0-65535)
:param dump: Dump packet to file ? (True or False)
"""
arguments = args.split(' ')
dump = False
mySessionID = 65535
if (len(args) <= 0):
mySessionID = 65535
dump = False
elif (len(arguments) == 1):
mySessionID = int(arguments[0])
dump = False
elif (len(arguments) >= 2):
mySessionID = int(arguments[0])
if arguments[1] == 'True' or arguments[1] == '1':
dump = True
else:
dump = False
self.api.sessionPlayback(mySessionID, dump)
print("sessionPlayback completed")
def do_getFirmwareVersions(self, args):
"""
Retrieve firmware versions
Usage: >>getFirmwareVersions
"""
packet = self.api.getFirmwareVersions()
apiRelease = packet.apiRelease
mcuFWVersion = packet.mcuFWVersion
bleFWVersion = packet.bleFWVersion
deviceID = packet.deviceID
print(packet)
## Override methods in Cmd object ##
def preloop(self):
"""Initialization before prompting user for commands.
Despite the claims in the Cmd documentaion, Cmd.preloop() is not a stub.
"""
cmd.Cmd.preloop(self) ## sets up command completion
self._hist = [] ## No history yet
self._locals = {} ## Initialize execution namespace for user
self._globals = {}
def postloop(self):
"""Take care of any unfinished business.
Despite the claims in the Cmd documentaion, Cmd.postloop() is not a stub.
"""
self.api.close()
cmd.Cmd.postloop(self) ## Clean up command completion
print("Exiting...")
def precmd(self, line):
""" This method is called after the line has been input but before
it has been interpreted. If you want to modify the input line
before execution (for example, variable substitution) do it here.
"""
# This is added to ensure that the pending bytes in the COM buffer are discarded for each new command.
# This is crucial to avoid missing Acknowledge packets in the beginning, if Neblina is already streaming.
self._hist += [line.strip()]
return line
def postcmd(self, stop, line):
"""If you want to stop the console, return something that evaluates to true.
If you want to do some post command processing, do it here.
"""
self.signalKiller.isKilled = False
return stop
def emptyline(self):
"""Do nothing on empty input line"""
pass
def default(self, line):
"""Called on an input line when the command prefix is not recognized.
In that case we execute the line as Python code.
"""
try:
exec(line) in self._locals, self._globals
except Exception as e:
print(e.__class__, ":", e)
def main(address):
signalKiller = GracefulKiller()
print("Initialize NeblinaAPI")
api = NeblinaAPI(Interface.BLE)
print("Opening device: {0}".format(address))
api.open(address)
if not api.isOpened():
exit("Unable to connect to device.")
print("Opening BLE streaming port")
api.setDataPortState(Interface.BLE, True)
# It is required to downsample streaming rate to 25Hz (40ms delay) or more to ensure
# reception of all incoming streaming packet and other packet when using BLE on Python.
api.setDownsample(40)
print("Starting EulerAngle Streaming")
api.streamEulerAngle(True)
while not signalKiller.isKilled:
print(api.getEulerAngle())
print("Stopping EulerAngle Streaming")
api.streamEulerAngle(False)
def main(address):
signalKiller = GracefulKiller()
print("Initialize NeblinaAPI")
api = NeblinaAPI(Interface.BLE)
print("Opening device: {0}".format(address))
api.open(address)
if not api.isOpened():
exit("Unable to connect to device.")
print("Opening BLE streaming port")
api.setDataPortState(Interface.BLE, True)
# It is required to downsample streaming rate to 25Hz (40ms delay) or more to ensure
# reception of all incoming streaming packet and other packet when using BLE on Python.
api.setDownsample(40)
print("Starting EulerAngle Streaming")
api.streamEulerAngle(True)
while not signalKiller.isKilled:
print(api.getEulerAngle())
print("Stopping EulerAngle Streaming")
api.streamEulerAngle(False)
class StreamMenu(cmd.Cmd):
"""docstring for StreamMenu"""
def __init__(self, address):
cmd.Cmd.__init__(self)
self.signalKiller = GracefulKiller()
self.bigLine = '-------------------------------------------------------------------\n'
self.prompt = '>>'
self.intro = "Welcome to the Neblina Streaming Menu!"
self.api = NeblinaAPI(Interface.UART)
print("Setting up the connection...") # initial delay needed for the device to synchronize its processors
time.sleep(1)
print('.')
time.sleep(1)
print('.')
time.sleep(1)
print('.')
self.api.open(address)
global initialmotionstate # the global variable that stores the initial motion engine state
initialmotionstate = self.api.getMotionStatus() # get the initial motion engine state
self.api.streamDisableAll() # disable all streaming options after storing the initial state
self.api.setDataPortState(Interface.BLE, False) # Close BLE streaming to prevent slowed streaming
self.api.setDataPortState(Interface.UART, True) # Open UART streaming
# If the user exits with Ctrl-C, try switching the interface back to BLE
def cmdloop(self, intro=None):
try:
cmd.Cmd.cmdloop(self)
except KeyboardInterrupt as e:
self.api.setDataPortState(Interface.BLE, True)
## Command definitions ##
def do_hist(self, args):
"""Print a list of commands that have been entered"""
print(self._hist)
def do_exit(self, args):
"""Exits from the console"""
# Set the motion engine state back to its initial state by enabling the appropriate streaming features
print('Switching back to the BLE interface...')
self.api.setDataPortState(Interface.UART, False)
print('Setting the motion engine back to its initial state...')
if initialmotionstate.distance:
self.api.streamTrajectoryInfo(True)
if initialmotionstate.force:
self.api.streamExternalForce(True)
if initialmotionstate.euler:
self.api.streamEulerAngle(True)
if initialmotionstate.quaternion:
self.api.streamQuaternion(True)
if initialmotionstate.imuData:
self.api.streamIMU(True)
if initialmotionstate.motion:
self.api.streamMotionState(True)
if initialmotionstate.steps:
self.api.streamPedometer(True)
if initialmotionstate.magData:
self.api.streamMAG(True)
if initialmotionstate.sitStand:
self.api.streamSittingStanding(True)
# Make the module stream back towards its default interface (BLE)
self.api.setDataPortState(Interface.BLE, True)
return -1
## Command definitions to support Cmd object functionality ##
def do_EOF(self, args):
"""Exit on system end of file character"""
return self.do_exit(args)
def do_shell(self, args):
"""Pass command to a system shell when line begins with '!'"""
os.system(args)
def do_help(self, args):
"""Get help on commands
'help' or '?' with no arguments prints a list of commands for which help is available
'help <command>' or '? <command>' gives help on <command>
"""
## The only reason to define this method is for the help text in the doc string
cmd.Cmd.do_help(self, args)
def do_eepromWrite(self, args):
"""
Write 8-byte string to EEPROM
Usage: >>eepromWrite <pageNumber> <string>
:param pageNumber: EEPROM page number (Range: 0-255)
:param string: 8-byte string (Example: 01234567)
"""
arguments = args.split(' ')
if len(arguments) < 2:
print('EEPROMWrite <pageNumber> <8-byte string>')
return
if len(arguments[1]) > 8:
print('The data string must less than 8 bytes')
return
arguments[1] = arguments[1].rjust(8) # Pad the string to 8 bytes
writeBytes = arguments[1].encode('utf-8')
writePageNumber = int(arguments[0])
if writePageNumber < 0 or writePageNumber > 255:
print('Page number must be between 0 and 255 inclusively')
return
self.api.eepromWrite(writePageNumber, writeBytes)
print('Write to page #{0} of dataBytes {1} was successful.'\
.format(writePageNumber, writeBytes))
def do_eepromRead(self, args):
"""
Read 8-byte string from EEPROM
Usage: >>eepromRead <pageNumber>
:param pageNumber: EEPROM page number (Range: 0-255)
"""
arguments = args.split(' ')
if (arguments[0]) == '' or len(arguments) != 1:
print('EEPROMRead <pageNumber>')
return
readPageNumber = int(arguments[0])
if readPageNumber < 0 or readPageNumber > 255:
print('Page number must be between 0 and 255 inclusively')
return
dataBytes = self.api.eepromRead(readPageNumber)
try:
print('Got \'{0}\' at page #{1}'.format(dataBytes.decode('utf-8'), readPageNumber))
except UnicodeDecodeError as ude:
print('Got {0} at page #{1}'.format(dataBytes, readPageNumber))
def do_getMotionStatus(self, args):
"""
Retrieve motion streaming state
Usage: >>getMotionStatus
"""
states = self.api.getMotionStatus()
print("Distance: {0}\nForce:{1}\nEuler:{2}\nQuaternion:{3}\nIMUData:{4}\nMotion:{5}\nSteps:{6}\nMAGData:{7}\nSitStand:{8}"\
.format(states.distance, states.force, states.euler, states.quaternion,\
states.imuData, states.motion, states.steps, states.magData, states.sitStand))
def do_getBatteryLevel(self, args):
"""
Retrieve battery level
Usage: >>getBatteryLevel
"""
batteryLevel = self.api.getBatteryLevel()
print('Battery Level: {0}%'.format(batteryLevel))
def do_getTemperature(self, args):
"""
Retrieve board temperature
Usage: >>getTemperature
"""
temp = self.api.getTemperature()
print('Board Temperature: {0} degrees (Celsius)'.format(temp))
def do_streamEulerAngle(self, args):
"""
Stream EulerAngle until stopped with Ctrl+C
Usage: >>streamEulerAngle
"""
self.api.streamEulerAngle(True)
while not self.signalKiller.isKilled:
print(self.api.getEulerAngle())
self.api.streamEulerAngle(False)
def do_streamIMU(self, args):
"""
Stream 6-axis IMU (Inertial Measurement Unit) until stopped with Ctrl+C
Usage: >>streamIMU
"""
self.api.streamIMU(True)
while not self.signalKiller.isKilled:
print(self.api.getIMU())
self.api.streamIMU(False)
def do_streamQuaternion(self, args):
"""
Stream Quaternion until stopped with Ctrl+C
Usage: >>streamQuaternion
"""
self.api.streamQuaternion(True)
while not self.signalKiller.isKilled:
print(self.api.getQuaternion())
self.api.streamQuaternion(False)
def do_streamMAG(self, args):
"""
Stream MAG (Magnetometer) until stopped with Ctrl+C
Usage: >>streamMAG
"""
self.api.streamMAG(True)
while not self.signalKiller.isKilled:
print(self.api.getMAG())
self.api.streamMAG(False)
def do_streamExternalForce(self, args):
"""
Stream External Force until stopped with Ctrl+C
Usage: >>streamExternalForce
"""
self.api.streamExternalForce(True)
while not self.signalKiller.isKilled:
print(self.api.getExternalForce())
self.api.streamExternalForce(False)
def do_streamRotationInfo(self, args):
"""
Stream RotationInfo until stopped with Ctrl+C
Usage: >>streamRotationInfo
"""
self.api.streamRotationInfo(True)
while not self.signalKiller.isKilled:
print(self.api.getRotationInfo())
self.api.streamRotationInfo(False)
def do_streamPedometer(self, args):
"""
Stream Pedometer until stopped with Ctrl+C
Usage: >>streamPedometer
"""
self.api.streamPedometer(True)
while not self.signalKiller.isKilled:
print(self.api.getPedometer())
self.api.streamPedometer(False)
def do_streamFingerGesture(self, args):
"""
Stream Finger Gesture until stopped with Ctrl+C
Usage: >>streamFingerGesture
"""
self.api.streamFingerGesture(True)
while not self.signalKiller.isKilled:
print(self.api.getFingerGesture())
self.api.streamFingerGesture(False)
def do_streamTrajectoryInfo(self, args):
"""
Stream TrajectoryInfo until stopped with Ctrl+C
Usage: >>streamTrajectoryInfo
"""
self.api.recordTrajectory(True)
self.api.streamTrajectoryInfo(True)
while not self.signalKiller.isKilled:
print(self.api.getTrajectoryInfo())
self.api.streamTrajectoryInfo(False)
self.api.recordTrajectory(False)
def do_streamDisableAll(self, args):
"""
Disable all streams
Usage: >>streamDisableAll
"""
self.api.streamDisableAll()
def do_resetTimestamp(self, args):
"""
Reset motion timestamp
Usage: >>resetTimestamp
"""
self.api.resetTimestamp()
def do_setDownsample(self, args):
"""
Set downsample rate of motion streaming
Usage: >>setDownsample <factor>
:param factor: Downsampling factor (Range: [20, 40, 60, ..., 980, 1000])
"""
if(len(args) <= 0):
print('The argument should be a multiplicand of 20, i.e., 20, 40, 60, etc!')
return
n = int(args)
if ((n % 20)!=0):
print('The argument should be a multiplicand of 20, i.e., 20, 40, 60, etc!')
return
self.api.setDownsample(n)
def do_setAccelerometerRange(self, args):
"""
Set accelerometer range
Usage: >>setAccelerometerRange <range>
:param range: Accelerometer range (Possible values: [2, 4, 8, 16])
"""
possibleFactors = [2,4,8,16]
if(len(args) <= 0):
print('The argument should be 2, 4, 8, or 16, representing the accelerometer range in g')
return
factor = int(args)
if(factor not in possibleFactors):
print('The argument should be 2, 4, 8, or 16, representing the accelerometer range in g')
return
self.api.setAccelerometerRange(factor)
def do_setLED(self, args):
"""
Change a LED state.
Usage: >>setLED <number> <value>
:param number: LED number (Range: [0, 1])
:param value: LED state (0: close, 1: open)
"""
arguments = args.split(' ')
if len(arguments) != 2:
print('setled <ledNumber> <value>')
return
ledIndex = int(arguments[0])
ledValue = int(arguments[1])
if(ledIndex < 0 or ledIndex > 1):
print('Only led indices 0 or 1 are valid')
return
self.api.setLED(ledIndex, ledValue)
def do_getSessionCount(self, args):
"""
Retrieve number of stored session
Usage: >>getSessionCount
"""
sessions = self.api.getSessionCount()
print('Num of sessions: {0}'.format(sessions))
def do_getSessionInfo(self, args):
"""
Retrieve a session information
Usage: >>getSessionInfo <sessionId>
:param sessionId: Session identifier (Range: 0-65535)
"""
sessionID = 65535
if(len(args) <= 0):
sessionID = 65535
elif(len(args) > 0):
sessionID = int(args)
packet = self.api.getSessionInfo(sessionID)
if(packet == None):
print('Session {0} does not exist on the flash'\
.format(sessionID))
else:
print( "Session %d: %d packets (%d bytes)"\
%(packet.sessionID, packet.sessionLength, packet.sessionLengthBytes) )
def do_eraseStorage(self, args):
"""
Erase storage
Usage: >>eraseStorage <type>
:note This can take up to 3 minutes. Do not power down the device during erasing.
:param type: Type of erasing (0: Quick, 1: Full)
"""
self.api.eraseStorage(int(args))
print('Flash erase has completed successfully!')
def do_sessionRecordIMU(self, args):
"""
Record an IMU session for a number of sample
Usage: >>sessionRecordIMU <count>
:param count: Number of sample to record
"""
if(len(args) <= 0):
numSamples = 1000
else:
numSamples = int(args)
sessionId = self.api.sessionRecord(True)
print("Recording session {0}.".format(sessionId))
self.api.streamIMU(True)
sampleCount = 0
while not self.signalKiller.isKilled and sampleCount < numSamples:
self.api.getIMU()
sampleCount += 1
print('Received {0} packets'.format(sampleCount), end="\r", flush=True)
print("\r\n")
self.api.streamIMU(False)
self.api.sessionRecord(False)
def do_sessionRecordEuler(self, args):
"""
Record an EulerAngle session for a number of sample
Usage: >>sessionRecordEuler <count>
:param count: Number of sample to record
"""
if (len(args) <= 0):
numSamples = 1000
else:
numSamples = int(args)
sessionId = self.api.sessionRecord(True)
print("Recording session {0}.".format(sessionId))
self.api.streamEulerAngle(True)
sampleCount = 0
while not self.signalKiller.isKilled and sampleCount < numSamples:
self.api.getEulerAngle()
sampleCount += 1
print('Received {0} packets'.format(sampleCount), end="\r", flush=True)
print("\r\n")
self.api.streamEulerAngle(False)
self.api.sessionRecord(False)
def do_sessionRecordQuaternion(self, args):
"""
Record a Quaternion session for a number of sample
Usage: >>sessionRecordQuaternion <count>
:param count: Number of sample to record
"""
if (len(args) <= 0):
numSamples = 1000
else:
numSamples = int(args)
sessionId = self.api.sessionRecord(True)
print("Recording session {0}.".format(sessionId))
self.api.streamQuaternion(True)
sampleCount = 0
while not self.signalKiller.isKilled and sampleCount < numSamples:
self.api.getQuaternion()
sampleCount += 1
print('Received {0} packets'.format(sampleCount), end="\r", flush=True)
print("\r\n")
self.api.streamQuaternion(False)
self.api.sessionRecord(False)
def do_sessionPlayback(self, args):
"""
Playback a recorded session
Usage: >>sessionPlayback <sessionId> <dump>
:param sessionId: Session identifier (Range: 0-65535)
:param dump: Dump packet to file ? (True or False)
"""
arguments = args.split(' ')
dump = False
mySessionID = 65535
if(len(args) <= 0):
mySessionID = 65535
dump = False
elif(len(arguments) == 1):
mySessionID = int(arguments[0])
dump = False
elif(len(arguments) >= 2 ):
mySessionID = int(arguments[0])
if arguments[1] == 'True' or arguments[1] == '1':
dump = True
else:
dump = False
self.api.sessionPlayback(mySessionID, dump)
print("sessionPlayback completed")
def do_getFirmwareVersions(self, args):
"""
Retrieve firmware versions
Usage: >>getFirmwareVersions
"""
packet = self.api.getFirmwareVersions()
apiRelease = packet.apiRelease
mcuFWVersion = packet.mcuFWVersion
bleFWVersion = packet.bleFWVersion
deviceID = packet.deviceID
print(packet)
## Override methods in Cmd object ##
def preloop(self):
"""Initialization before prompting user for commands.
Despite the claims in the Cmd documentaion, Cmd.preloop() is not a stub.
"""
cmd.Cmd.preloop(self) ## sets up command completion
self._hist = [] ## No history yet
self._locals = {} ## Initialize execution namespace for user
self._globals = {}
def postloop(self):
"""Take care of any unfinished business.
Despite the claims in the Cmd documentaion, Cmd.postloop() is not a stub.
"""
self.api.close()
cmd.Cmd.postloop(self) ## Clean up command completion
print ("Exiting...")
def precmd(self, line):
""" This method is called after the line has been input but before
it has been interpreted. If you want to modify the input line
before execution (for example, variable substitution) do it here.
"""
# This is added to ensure that the pending bytes in the COM buffer are discarded for each new command.
# This is crucial to avoid missing Acknowledge packets in the beginning, if Neblina is already streaming.
self._hist += [ line.strip() ]
return line
def postcmd(self, stop, line):
"""If you want to stop the console, return something that evaluates to true.
If you want to do some post command processing, do it here.
"""
self.signalKiller.isKilled = False
return stop
def emptyline(self):
"""Do nothing on empty input line"""
pass
def default(self, line):
"""Called on an input line when the command prefix is not recognized.
In that case we execute the line as Python code.
"""
try:
exec(line) in self._locals, self._globals
except Exception as e:
print (e.__class__, ":", e)