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 close(self):
libmetawear.mbl_mw_sensor_fusion_stop(self.board)
libmetawear.mbl_mw_sensor_fusion_clear_enabled_mask(self.board)
libmetawear.mbl_mw_datasignal_unsubscribe(self.euler_signal)
self.device.disconnect()
sleep(1)
print("DISCONNETED")
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_metawears(self):
print 'shot has finished'
for s in self.mw_states:
libmetawear.mbl_mw_acc_stop(s.device.board)
libmetawear.mbl_mw_acc_disable_acceleration_sampling(
s.device.board)
signal = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
s.device.board)
libmetawear.mbl_mw_datasignal_unsubscribe(signal)
# libmetawear.mbl_mw_debug_disconnect(s.device.board)
return
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 calibrate(self):
e = Event()
def calibration_data_handler(ctx, board, pointer):
print("calibration data: %s" % (pointer.contents))
libmetawear.mbl_mw_sensor_fusion_write_calibration_data(
board, pointer)
libmetawear.mbl_mw_memory_free(pointer)
e.set()
def calibration_handler(ctx, pointer):
value = parse_value(pointer)
print("state: %s" % (value))
if (value.accelrometer >=
Const.SENSOR_FUSION_CALIBRATION_ACCURACY_HIGH
and value.gyroscope >=
Const.SENSOR_FUSION_CALIBRATION_ACCURACY_HIGH
and value.magnetometer >=
Const.SENSOR_FUSION_CALIBRATION_ACCURACY_HIGH):
libmetawear.mbl_mw_sensor_fusion_read_calibration_data(
self.device.board, None, fn_wrapper_01)
else:
sleep(1.0)
libmetawear.mbl_mw_datasignal_read(signal)
fn_wrapper_01 = FnVoid_VoidP_VoidP_CalibrationDataP(
calibration_data_handler)
fn_wrapper_02 = FnVoid_VoidP_DataP(calibration_handler)
signal = libmetawear.mbl_mw_sensor_fusion_calibration_state_data_signal(
self.device.board)
libmetawear.mbl_mw_sensor_fusion_set_mode(self.device.board,
SensorFusionMode.NDOF)
libmetawear.mbl_mw_sensor_fusion_write_config(self.device.board)
libmetawear.mbl_mw_datasignal_subscribe(signal, None, fn_wrapper_02)
libmetawear.mbl_mw_sensor_fusion_start(self.device.board)
libmetawear.mbl_mw_datasignal_read(signal)
e.wait()
sleep(1.0)
libmetawear.mbl_mw_sensor_fusion_stop(self.device.board)
libmetawear.mbl_mw_datasignal_unsubscribe(signal)
e.clear()
def stop(self):
if self.device == None:
self.log("ERROR", "Device not available")
return False
dev_board = self.device.board
self.log("INFO", "Stopping device...")
lmw.mbl_mw_acc_stop(dev_board)
lmw.mbl_mw_acc_disable_acceleration_sampling(dev_board)
lmw.mbl_mw_gyro_bmi160_stop(dev_board)
lmw.mbl_mw_gyro_bmi160_disable_rotation_sampling(dev_board)
# Unsubscribe from accelerometer data
acc = lmw.mbl_mw_acc_get_acceleration_data_signal(dev_board)
lmw.mbl_mw_datasignal_unsubscribe(acc)
# Unsubscribe from gyro data
gyro = lmw.mbl_mw_gyro_bmi160_get_rotation_data_signal(dev_board)
lmw.mbl_mw_datasignal_unsubscribe(gyro)
self.log("INFO", "Device stopped.")
return True
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_gyro_bmi160_set_odr(s.device.board, AccBmi160Odr._50Hz)
libmetawear.mbl_mw_gyro_bmi160_set_range(s.device.board,
AccBoschRange._125dps)
libmetawear.mbl_mw_gyro_bmi160_write_config(s.device.board)
signal = libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(
s.device.board)
libmetawear.mbl_mw_datasignal_subscribe(signal, None, s.callback)
libmetawear.mbl_mw_gyro_bmi160_enable_rotation_sampling(s.device.board)
libmetawear.mbl_mw_gyro_bmi160_start(s.device.board)
sleep(10.0)
for s in states:
libmetawear.mbl_mw_gyro_bmi160_stop(s.device.board)
libmetawear.libmetawear.mbl_mw_gyro_bmi160_disable_rotation_sampling(
s.device.board)
signal = libmetawear.mbl_mw_gyro_bmi160_get_rotation_data_signal(
s.device.board)
libmetawear.mbl_mw_datasignal_unsubscribe(signal)
libmetawear.mbl_mw_debug_disconnect(s.device.board)
sleep(1.0)
conn.close()
print("Total Samples Received")
for s in states:
print("%s -> %d" % (s.device.address, s.samples))
libmetawear.mbl_mw_acc_start(s.device.board)
# start gyro
libmetawear.mbl_mw_gyro_bmi270_enable_rotation_sampling(s.device.board)
libmetawear.mbl_mw_gyro_bmi270_start(s.device.board)
# sleep
sleep(10.0)
# stop
for s in states:
libmetawear.mbl_mw_acc_stop(s.device.board)
libmetawear.mbl_mw_acc_disable_acceleration_sampling(s.device.board)
libmetawear.mbl_mw_gyro_bmi270_stop(s.device.board)
libmetawear.mbl_mw_gyro_bmi270_disable_rotation_sampling(s.device.board)
acc = libmetawear.mbl_mw_acc_get_acceleration_data_signal(s.device.board)
libmetawear.mbl_mw_datasignal_unsubscribe(acc)
gyro = libmetawear.mbl_mw_gyro_bmi270_get_rotation_data_signal(
s.device.board)
libmetawear.mbl_mw_datasignal_unsubscribe(gyro)
libmetawear.mbl_mw_debug_disconnect(s.device.board)
# recap
print("Total Samples Received")
for s in states:
print("%s -> %d" % (s.device.address, s.samples))
''' Stop the device '''
#Turn of the LED at the end of the measures
libmetawear.mbl_mw_led_stop_and_clear(d.board)
#Stops the measures
for s in states:
libmetawear.mbl_mw_acc_stop(
s.device.board) #switches the accelerometer to standby mode
libmetawear.mbl_mw_acc_disable_acceleration_sampling(
s.device.board) #disables acceleration sampling
dataSignal = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
s.device.board
) #retrieves the data signal representing acceleration data
libmetawear.mbl_mw_datasignal_unsubscribe(
dataSignal) #unsubscribes from a data stream
libmetawear.mbl_mw_debug_disconnect(s.device.board)
#print("\nTotal Samples Received")
#for s in states:
#print("%s -> %d" % (s.device.address, s.samples))
#Creating dataframe
d = {
'x-axis (g)': arrayDataX,
'y-axis (g)': arrayDataY,
'z-axis (g)': arrayDataZ
}
df = pd.DataFrame(data=d)
#print(df)
def DevClose(self):
libmetawear.mbl_mw_sensor_fusion_stop(self.board)
libmetawear.mbl_mw_sensor_fusion_clear_enabled_mask(self.board)
libmetawear.mbl_mw_datasignal_unsubscribe(self.euler_signal)
self.device.disconnect()
time.sleep(1)
s.device.board)
signal_acc_x = libmetawear.mbl_mw_datasignal_get_component(
signal_acc, Const.ACC_ACCEL_X_AXIS_INDEX)
libmetawear.mbl_mw_datasignal_subscribe(signal_acc_x, None, s.callback)
signal_acc_y = libmetawear.mbl_mw_datasignal_get_component(
signal_acc, Const.ACC_ACCEL_Y_AXIS_INDEX)
libmetawear.mbl_mw_datasignal_subscribe(signal_acc_y, None, s.callbacky)
signal_acc_z = libmetawear.mbl_mw_datasignal_get_component(
signal_acc, Const.ACC_ACCEL_Z_AXIS_INDEX)
libmetawear.mbl_mw_datasignal_subscribe(signal_acc_z, None, s.callbackz)
libmetawear.mbl_mw_acc_enable_acceleration_sampling(s.device.board)
libmetawear.mbl_mw_acc_start(s.device.board)
sleep(5.0)
for s in states:
libmetawear.mbl_mw_acc_stop(s.device.board)
libmetawear.mbl_mw_acc_disable_acceleration_sampling(s.device.board)
signal = libmetawear.mbl_mw_acc_get_acceleration_data_signal(
s.device.board)
libmetawear.mbl_mw_datasignal_unsubscribe(signal_acc_x)
libmetawear.mbl_mw_datasignal_unsubscribe(signal_acc_y)
libmetawear.mbl_mw_datasignal_unsubscribe(signal_acc_z)
libmetawear.mbl_mw_debug_disconnect(s.device.board)
print("Total Samples Received")
for s in states:
print("%s -> %d" % (s.device.address, s.samples))
