def __init__(self, low_myo, timestamp, firmware_version):
super(Feed.MyoProxy, self).__init__()
self.synchronized = threading.Condition()
self._pair_time = timestamp
self._unpair_time = None
self._connect_time = None
self._disconnect_time = None
self._myo = low_myo
self._emg = None
self._orientation = Quaternion.identity()
self._acceleration = Vector(0, 0, 0)
self._gyroscope = Vector(0, 0, 0)
self._pose = Pose.rest
self._arm = None
self._xdir = None
self._rssi = None
self._firmware_version = firmware_version
def __init__(self, low_myo, timestamp, firmware_version):
super(Feed.MyoProxy, self).__init__()
self.synchronized = threading.Condition()
self._pair_time = timestamp
self._unpair_time = None
self._connect_time = None
self._disconnect_time = None
self._myo = low_myo
self._emg = None
self._orientation = Quaternion.identity()
self._acceleration = Vector(0, 0, 0)
self._gyroscope = Vector(0, 0, 0)
self._pose = Pose.rest
self._arm = None
self._xdir = None
self._rssi = None
self._firmware_version = firmware_version
def gyroscope(self):
"""
gyroscope -> Vector
Returns the gyroscope :class:`myo.vector.Vector` for this
event. Can only be called from the *orientation* event.
"""
self._checktype('get gyroscope', enums.EventType.orientation)
return Vector(lib.event_get_gyroscope(self, 0),
lib.event_get_gyroscope(self, 1),
lib.event_get_gyroscope(self, 2))
def acceleration(self):
"""
acceleration -> Vector
Returns the acceleration :class:`myo.vector.Vector` for this
event. Can only be called from the *orientation* event.
"""
self._checktype('get acceleration', enums.EventType.orientation)
return Vector(lib.event_get_accelerometer(self, 0),
lib.event_get_accelerometer(self, 1),
lib.event_get_accelerometer(self, 2))
def __init__(self, low_myo, timestamp, firmware_version):
super(DataCaptureListener.MyoProxy, self).__init__()
self.synchronized = threading.Condition()
self._pair_time = timestamp
self._unpair_time = None
self._connect_time = None
self._disconnect_time = None
self._locked = False
self._emg_enabled = False
self._myo = low_myo
self._emg = None
self._orientation = Quaternion.identity()
self._acceleration = Vector(0, 0, 0)
self._gyroscope = Vector(0, 0, 0)
self._pose = Pose.rest
self._arm = None
self._xdir = None
self._rssi = None
self._battery_level = None
self._locking_policy = libmyo.LockingPolicy.standard
self._firmware_version = firmware_version
def rotation_of(source, dest):
"""
Returns a :class:`Quaternion` that represents a rotation from
vector *source* to *dest*.
:param source: A vector object.
:param dest: A vector object.
:return: :class:`Quaternion`
"""
source = Vector(source.x, source.y, source.z)
dest = Vector(dest.x, dest.y, dest.z)
cross = source.cross(dest)
cos_theta = source.dot(dest)
# Return identity if the vectors are the same direction.
if cos_theta >= 1.0:
return Quaternion.identity()
# Product of the square of the magnitudes.
k = math.sqrt(source.dot(source), dest.dot(dest))
# Return identity in the degenerate case.
if k <= 0.0:
return Quaternion.identity()
# Special handling for vectors facing opposite directions.
if cos_theta / k <= -1:
x_axis = Vector(1, 0, 0)
y_axis = Vector(0, 1, 1)
if abs(source.dot(x_ais)) < 1.0:
cross = source.cross(x_axis)
else:
cross = source.cross(y_axis)
return Quaternion(cross.x, cross.y, cross.z, k + cos_theta)
def rotation_of(source, dest):
"""
Returns a :class:`Quaternion` that represents a rotation from
vector *source* to *dest*.
:param source: A vector object.
:param dest: A vector object.
:return: :class:`Quaternion`
"""
source = Vector(source.x, source.y, source.z)
dest = Vector(dest.x, dest.y, dest.z)
cross = source.cross(dest)
cos_theta = source.dot(dest)
# Return identity if the vectors are the same direction.
if cos_theta >= 1.0:
return Quaternion.identity()
# Product of the square of the magnitudes.
k = math.sqrt(source.dot(source), dest.dot(dest))
# Return identity in the degenerate case.
if k <= 0.0:
return Quaternion.identity()
# Special handling for vectors facing opposite directions.
if cos_theta / k <= -1:
x_axis = Vector(1, 0, 0)
y_axis = Vector(0, 1, 1)
if abs(source.dot(x_ais)) < 1.0:
cross = source.cross(x_axis)
else:
cross = source.cross(y_axis)
return Quaternion(cross.x, cross.y, cross.z, k + cos_theta)
class MyoProxy(object):
__slots__ = (
'synchronized,_pair_time,_unpair_time,_connect_time,'
'_disconnect_time,_myo,_emg,_orientation,_acceleration,'
'_gyroscope,_pose,_arm,_xdir,_rssi,_firmware_version').split(',')
def __init__(self, low_myo, timestamp, firmware_version):
super(Feed.MyoProxy, self).__init__()
self.synchronized = threading.Condition()
self._pair_time = timestamp
self._unpair_time = None
self._connect_time = None
self._disconnect_time = None
self._myo = low_myo
self._emg = None
self._orientation = Quaternion.identity()
self._acceleration = Vector(0, 0, 0)
self._gyroscope = Vector(0, 0, 0)
self._pose = Pose.rest
self._arm = None
self._xdir = None
self._rssi = None
self._firmware_version = firmware_version
def __repr__(self):
result = '<MyoProxy ('
with self.synchronized:
if self.connected:
result += 'connected) at 0x{0:x}>'.format(self._myo.value)
else:
result += 'disconnected)>'
return result
def __assert_connected(self):
if not self.connected:
raise RuntimeError('Myo was disconnected')
@property
def connected(self):
with self.synchronized:
return (self._connect_time is not None
and self._disconnect_time is None)
@property
def paired(self):
with self.synchronized:
return (self.myo_ is None or self._unpair_time is not None)
@property
def pair_time(self):
return self._pair_time
@property
def unpair_time(self):
with self.synchronized:
return self._unpair_time
@property
def connect_time(self):
return self._connect_time
@property
def disconnect_time(self):
with self.synchronized:
return self._disconnect_time
@property
def firmware_version(self):
return self._firmware_version
@property
def orientation(self):
with self.synchronized:
return self._orientation.copy()
@property
def acceleration(self):
with self.synchronized:
return self._acceleration.copy()
@property
def gyroscope(self):
with self.synchronized:
return self._gyroscope.copy()
@property
def pose(self):
with self.synchronized:
return self._pose
@property
def arm(self):
with self.synchronized:
return self._arm
@property
def x_direction(self):
with self.synchronized:
return self._xdir
@property
def rssi(self):
with self.synchronized:
return self._rssi
def set_locking_policy(self, locking_policy):
with self.synchronized:
self.__assert_connected()
self._myo.set_locking_policy(locking_policy)
def set_stream_emg(self, emg):
with self.synchronized:
self.__assert_connected()
self._myo.set_stream_emg(emg)
def vibrate(self, vibration_type):
with self.synchronized:
self.__assert_connected()
self._myo.vibrate(vibration_type)
def request_rssi(self):
"""
Requests the RSSI of the Myo armband. Until the RSSI is
retrieved, :attr:`rssi` returns None.
"""
with self.synchronized:
self.__assert_connected()
self._rssi = None
self._myo.request_rssi()
class MyoProxy(object):
__slots__ = (
'synchronized,_pair_time,_unpair_time,_connect_time,'
'_disconnect_time,_myo,_emg,_orientation,_acceleration,'
'_gyroscope,_pose,_arm,_xdir,_rssi,_firmware_version').split(',')
def __init__(self, low_myo, timestamp, firmware_version):
super(Feed.MyoProxy, self).__init__()
self.synchronized = threading.Condition()
self._pair_time = timestamp
self._unpair_time = None
self._connect_time = None
self._disconnect_time = None
self._myo = low_myo
self._emg = None
self._orientation = Quaternion.identity()
self._acceleration = Vector(0, 0, 0)
self._gyroscope = Vector(0, 0, 0)
self._pose = Pose.rest
self._arm = None
self._xdir = None
self._rssi = None
self._firmware_version = firmware_version
def __repr__(self):
result = '<MyoProxy ('
with self.synchronized:
if self.connected:
result += 'connected) at 0x{0:x}>'.format(self._myo.value)
else:
result += 'disconnected)>'
return result
def __assert_connected(self):
if not self.connected:
raise RuntimeError('Myo was disconnected')
@property
def connected(self):
with self.synchronized:
return (
self._connect_time is not None and
self._disconnect_time is None
)
@property
def paired(self):
with self.synchronized:
return (self.myo_ is None or self._unpair_time is not None)
@property
def pair_time(self):
return self._pair_time
@property
def unpair_time(self):
with self.synchronized:
return self._unpair_time
@property
def connect_time(self):
return self._connect_time
@property
def disconnect_time(self):
with self.synchronized:
return self._disconnect_time
@property
def firmware_version(self):
return self._firmware_version
@property
def orientation(self):
with self.synchronized:
return self._orientation.copy()
@property
def acceleration(self):
with self.synchronized:
return self._acceleration.copy()
@property
def gyroscope(self):
with self.synchronized:
return self._gyroscope.copy()
@property
def pose(self):
with self.synchronized:
return self._pose
@property
def arm(self):
with self.synchronized:
return self._arm
@property
def x_direction(self):
with self.synchronized:
return self._xdir
@property
def rssi(self):
with self.synchronized:
return self._rssi
def set_locking_policy(self, locking_policy):
with self.synchronized:
self.__assert_connected()
self._myo.set_locking_policy(locking_policy)
def set_stream_emg(self, emg):
with self.synchronized:
self.__assert_connected()
self._myo.set_stream_emg(emg)
def vibrate(self, vibration_type):
with self.synchronized:
self.__assert_connected()
self._myo.vibrate(vibration_type)
def request_rssi(self):
"""
Requests the RSSI of the Myo armband. Until the RSSI is
retrieved, :attr:`rssi` returns None.
"""
with self.synchronized:
self.__assert_connected()
self._rssi = None
self._myo.request_rssi()
class MyoProxy(object):
__slots__ = (
"synchronized,_pair_time,_unpair_time,_connect_time,"
"_disconnect_time,_myo,_emg,_orientation,_acceleration,"
"_gyroscope,_pose,_arm,_xdir,_rssi,_firmware_version,"
"_locked,_emg_enabled,_battery_level,_locking_policy"
).split(",")
def __init__(self, low_myo, timestamp, firmware_version):
super(DataCaptureListener.MyoProxy, self).__init__()
self.synchronized = threading.Condition()
self._pair_time = timestamp
self._unpair_time = None
self._connect_time = None
self._disconnect_time = None
self._locked = False
self._emg_enabled = False
self._myo = low_myo
self._emg = None
self._orientation = Quaternion.identity()
self._acceleration = Vector(0, 0, 0)
self._gyroscope = Vector(0, 0, 0)
self._pose = Pose.rest
self._arm = None
self._xdir = None
self._rssi = None
self._battery_level = None
self._locking_policy = libmyo.LockingPolicy.standard
self._firmware_version = firmware_version
def __repr__(self):
result = "<MyoProxy ("
with self.synchronized:
if self.connected:
result += "connected) at 0x{0:x}>".format(self._myo.value)
else:
result += "disconnected)>"
return result
def __assert_connected(self):
if not self.connected:
raise RuntimeError("Myo was disconnected")
@property
def connected(self):
with self.synchronized:
return self._connect_time is not None and self._disconnect_time is None
@property
def paired(self):
with self.synchronized:
return self.myo_ is None or self._unpair_time is not None
@property
def pair_time(self):
return self._pair_time
@property
def unpair_time(self):
with self.synchronized:
return self._unpair_time
@property
def connect_time(self):
return self._connect_time
@property
def disconnect_time(self):
with self.synchronized:
return self._disconnect_time
@property
def firmware_version(self):
return self._firmware_version
@property
def orientation(self):
with self.synchronized:
return self._orientation.copy()
@property
def acceleration(self):
with self.synchronized:
return self._acceleration.copy()
@property
def gyroscope(self):
with self.synchronized:
return self._gyroscope.copy()
@property
def pose(self):
with self.synchronized:
return self._pose
@property
def arm(self):
with self.synchronized:
return self._arm
@property
def x_direction(self):
with self.synchronized:
return self._xdir
@property
def rssi(self):
with self.synchronized:
return self._rssi
@property
def locked(self):
with self.synchronized:
return self._locked
@property
def emg_enabled(self):
with self.synchronized:
return self._emg_enabled
@property
def battery_level(self):
with self.synchronized:
return self._battery_level
@property
def locking_policy(self):
with self.synchronized:
return self._locking_policy
def set_locking_policy(self, locking_policy):
with self.synchronized:
self.__assert_connected()
self._myo.set_locking_policy(locking_policy)
self._locking_policy = locking_policy
def set_stream_emg(self, emg):
with self.synchronized:
self.__assert_connected()
self._myo.set_stream_emg(emg)
if emg == libmyo.StreamEmg.enabled:
self._emg_enabled = True
else:
self._emg_enabled = False
self._emg = None
def enable_emg_streaming(self):
self.set_stream_emg(libmyo.StreamEmg.enabled)
def disble_emg_streaming(self):
self.set_stream_emg(libmyo.StreamEmg.disabled)
def vibrate(self, vibration_type):
with self.synchronized:
self.__assert_connected()
self._myo.vibrate(vibration_type)
def request_rssi(self):
"""
Requests the RSSI of the Myo armband. Until the RSSI is
retrieved, :attr:`rssi` returns None.
"""
with self.synchronized:
self.__assert_connected()
self._rssi = None
self._myo.request_rssi()
def request_battery_level(self):
"""
Requests the battery level of the Myo armband. Until the RSSI is
retrieved, :attr:`battery_level` returns None.
"""
with self.synchronized:
self.__assert_connected()
self._battery_level = None
self._myo.request_battery_level()
