def setup_myo():
global myo, myo_initialized
print('Setting up myo ...')
myo = MyoRaw(None)
def emg_handler(emg, moving, times=[]):
# store data
global emg_data_latest
emg_data_latest = emg
def imu_handler(quat, acc, gyro):
# store data
global quat_data_latest, acc_data_latest, gyro_data_latest
quat_data_latest = quat
acc_data_latest = acc
gyro_data_latest = gyro
myo.add_emg_handler(emg_handler)
myo.add_imu_handler(imu_handler)
myo.connect()
myo_initialized = True
print('Myo connected')
myo.sleep_mode(1)
_thread.start_new_thread(thread_myo, ())
print('Myo setup.\n')
#print(oscmsg)
#print(data)
def imu(quat, acc, gyro):
#print(quat,acc,gyro)
#print ("quat: ", quat, " type: ", type(quat))
send(quat, wek, "/wek/inputs")
def pose(p):
print(p)
def emg(emg, moving):
emgdat = (sum(emg) / float(len(emg)), )
#print ("emgdat: ", emgdat, " type: ", type(emgdat))
send(emgdat, tenta, "/tenta_emg")
if __name__ == '__main__':
m = MyoRaw()
#m.add_imu_handler(print)
m.add_imu_handler(imu)
#m.add_pose_handler(pose)
m.add_emg_handler(emg)
m.connect()
while True:
m.run()
def proc_emg(emg, moving):
global emg_data
emg_data.append(emg)
def proc_imu(quat, acc, gyr):
global quat_data, acc_data, gyr_data
quat_data.append(quat)
acc_data.append(acc)
gyr_data.append(gyr)
m = MyoRaw(sys.argv[1] if len(sys.argv) >= 2 else None)
m.add_emg_handler(proc_emg)
m.add_imu_handler(proc_imu)
m.connect()
try:
print "\nSampling... (^C to stop)"
timestamp = time.strftime('%Y-%m-%d %H:%M:%S')
while True:
m.run()
except KeyboardInterrupt:
m.disconnect()
print "\nDone.\n"
emg_data = np.array(emg_data, dtype=dtype)
quat_data = np.array(quat_data, dtype=dtype)
acc_data = np.array(acc_data, dtype=dtype)
emg_file = outdir.joinpath(now + '_emg.csv').open(mode='w', newline='')
imu_file = outdir.joinpath(now + '_imu.csv').open(mode='w', newline='')
emg_writer = csv.writer(emg_file,
csv.unix_dialect,
quoting=csv.QUOTE_MINIMAL)
emg_writer.writerow(emg_header)
imu_writer = csv.writer(imu_file,
csv.unix_dialect,
quoting=csv.QUOTE_MINIMAL)
imu_writer.writerow(imu_header)
m = MyoRaw(args.tty)
m.add_emg_handler(lambda *args: write_data(emg_writer, args))
m.add_imu_handler(lambda *args: write_data(imu_writer, args))
m.connect()
# Enable never sleep mode.
m.sleep_mode(1)
try:
while True:
m.run(1)
except KeyboardInterrupt:
pass
finally:
m.disconnect()
print("\nemg data saved to: {}".format(emg_file.name))
print("img data saved to: {}".format(imu_file.name))
emg_file.close()
if __name__ == '__main__':
if HAVE_PYGAME:
pygame.init()
w, h = 800, 320
scr = pygame.display.set_mode((w, h))
font = pygame.font.Font(None, 30)
file_path = './data_set/'
file_name = os.path.join(file_path, 'data.pkl')
m = MyoRaw(sys.argv[1] if len(sys.argv) >= 2 else None)
hnd = DataHandler(m)
m.add_emg_handler(hnd.on_emg)
m.add_imu_handler(hnd.on_imu)
m.connect()
data_list = []
try:
while True:
m.run()
if HAVE_PYGAME:
for ev in pygame.event.get():
if ev.type == QUIT or (ev.type == KEYDOWN
and ev.unicode == 'q'):
raise KeyboardInterrupt()
elif ev.type == KEYDOWN:
def main(argv):
import subprocess
# --- say hello!
#print('Alive and breathing!\n')
global file_handle, save_to_file
global plot_graph
global simulated, verbose
# --- init variables
filename = str(time.strftime("%Y.%m.%d.%Hh%M"))
# --- parse command-line arguments
if verbose:
print('Parsing input arguments ...')
#print ('Number of arguments:', len(sys.argv), 'argument(s)')
#print ('Arguments:', str(sys.argv))
try:
opts, args = getopt.getopt(argv, "hsgxf:v", ["filename="])
except getopt.GetoptError:
usage()
for opt, arg in opts:
if opt == '-h':
usage()
cleanup(1)
sys.exit(0)
elif opt == '-x':
print('Option chosen: Simulated Myo.')
simulated = True
elif opt == '-g':
print('Option chosen: Plotting graphs.')
plot_graph = True
elif opt == '-s':
print('Option chosen: Saving to file.')
save_to_file = True
elif opt in ("-f", "--filename"):
save_to_file = True
filename = filename + '_' + arg
print('Option chosen: Filename set to: ', filename)
elif opt == '-v':
print('Option chosen: Running verbose.')
verbose = True
if verbose:
print('Input arguments parsed.\n')
# --- open file for storing data
if save_to_file:
print('Saving data to file: ', filename)
file_handle = open(filename, 'w')
# --- setup myo
global myo, myo_initialized
print('Setting up myo ...')
if not (simulated):
#myo = MyoRaw(sys.argv[1] if len(sys.argv) >= 2 else None)
myo = MyoRaw(None)
def emg_handler(emg, moving, times=[]):
# store data
global emg_data_latest
emg_data_latest = emg
def imu_handler(quat, acc, gyro):
# store data
global quat_data_latest, acc_data_latest, gyro_data_latest
quat_data_latest = quat
acc_data_latest = acc
gyro_data_latest = gyro
myo.add_emg_handler(emg_handler)
myo.add_imu_handler(imu_handler)
#myo.add_arm_handler(lambda arm, xdir: print('arm', arm, 'xdir', xdir))
#myo.add_pose_handler(lambda p: print('pose', p))
myo.connect()
myo_initialized = True
print('Myo connected')
else:
print('Myo simulated')
_thread.start_new_thread(thread_myo, ())
print('Myo setup.\n')
# --- setup QT
if plot_graph:
# init window
app = QtGui.QApplication([])
print('Starting up plots and QT ...')
win = pg.GraphicsWindow(title="Myo data")
win.closeEvent = cleanup
win.resize(1000, 1000)
win.setWindowTitle('Myo data')
# pg.setConfigOptions(antialias=True) # Enable antialiasing for prettier plots
pg.setConfigOption('background', 'k')
#pg.setConfigOption('background', pg.mkColor(255,255,255) )
pg.setConfigOption('foreground', 'w')
colors = ['r', 'g', 'b', 'c', 'm', 'y', 'w', 'r']
p_emg = [None] * 8
emg = [None] * 8
for i, color in enumerate(colors):
p_emg[i] = win.addPlot(title="EMG " + str(i + 1))
p_emg[i].setXRange(0, BUFFER_SIZE)
p_emg[i].setYRange(-150, 150)
p_emg[i].enableAutoRange('xy', False)
emg[i] = p_emg[i].plot(pen=color, name="emg" + str(i + 1))
win.nextRow()
def update():
global emg_data_buffer
for i in range(8):
emg[i].setData(emg_data_buffer[1:BUFFER_SIZE, i])
timer = QtCore.QTimer()
timer.timeout.connect(update)
timer.start(10)
print('Plots set up.\n')
if (sys.flags.interactive != 1) or not hasattr(QtCore, 'PYQT_VERSION'):
QtGui.QApplication.instance().exec_()
# no graphs
else:
while (1):
#if verbose:
# print('whiling.. :D')
1 #do nothing (the threads will perform something, e.g. writing the received values on terminal)
