class Mapper_ROStoLSL(Mapper):
def __init__(self, commonType, topic, channelInfo, cyclicMode, useLSLTypesBidirectional, includeLSLTimestamps):
self.binarySubscriber = None
self.lslStreamInfo = None
super(Mapper_ROStoLSL, self).__init__(commonType, topic, channelInfo, cyclicMode, useLSLTypesBidirectional,
includeLSLTimestamps)
if useLSLTypesBidirectional is False and self.converter.rosStdType:
self.subscriber = rospy.Subscriber(self.topic, self.converter.rosStdType, self.SubscriberCallback)
else:
self.subscriber = rospy.Subscriber(self.topic, self.converter.rosType, self.SubscriberCallback)
self.publisher = StreamOutlet(self.lslStreamInfo)
def SubscriberCallback(self, data):
self.lastRosMsg = data
if not self.cyclicMode:
self.CollectData()
self.UpdateData()
def CollectData(self):
self.lastCollectedRosMsg = self.lastRosMsg
self.lastRosMsg = None
def UpdateData(self):
if self.lastCollectedRosMsg is not None and self.publisher is not None:
self.publisher.push_sample(self.ToLSL(self.lastCollectedRosMsg))
self.lastCollectedRosMsg = None
pass
def __del__(self):
self.lslStreamInfo.__del__()
self.publisher.close_stream()
class bciBoardConnect():
def __init__(self):
self.board = bci.OpenBCIBoard(port="/dev/ttyS0")
self.eeg_channels = self.board.getNbEEGChannels()
self.aux_channels = self.board.getNbAUXChannels()
self.sample_rate = self.board.getSampleRate()
self.save = False
self.graphppg = []
self.graphecg = []
self.ecg = []
self.ppg = []
self.ecg30 = []
self.ppg30 = []
#setting channel 6
beg = 'x6000000X'
#setting default and reseting board
s = 'sv'
s = s + 'd'
#writing data to board
s = s + 'F'
for c in s:
if sys.hexversion > 0x03000000:
self.board.ser.write(bytes(c, 'utf-8'))
else:
self.board.ser.write(bytes(c))
time.sleep(0.100)
#writing channel six data to board
time.sleep(0.100)
# for dat in beg:
for x in beg:
if sys.hexversion > 0x03000000:
self.board.ser.write(bytes(x, 'utf-8'))
else:
self.board.ser.write(bytes(x))
time.sleep(0.100)
self.ecg = []
self.ppg = []
self.ecgT = []
self.ppgT = []
#function to callback while board streaming data in and save it
def send(self, sample):
#print(sample.channel_data)
self.ecg = (sample.channel_data[3])
self.ppg = (sample.channel_data[5])
if len(self.graphppg) < 1250:
self.graphecg.append(sample.channel_data[3])
self.graphppg.append(sample.channel_data[5])
else:
self.graphppg = []
self.graphecg = []
self.outlet_eeg.push_sample(sample.channel_data)
self.outlet_aux.push_sample(sample.aux_data)
if self.save:
self.ecgT.append(sample.channel_data[3])
self.ppgT.append(sample.channel_data[5])
if len(self.ppg30) < 7500:
self.ppg30.append(sample.channel_data[5])
self.ecg30.append(sample.channel_data[3])
else:
self.ppg30 = []
self.ppg30 = []
def createlsl(self):
info_eeg = StreamInfo("OpenBCI_EEG", 'EEG', self.eeg_channels,
self.sample_rate, 'float32', "openbci_eeg_id1")
info_aux = StreamInfo("OpenBCI_AUX", 'AUX', self.aux_channels,
self.sample_rate, 'float32', "openbci_aux_id1")
self.outlet_eeg = StreamOutlet(info_eeg)
self.outlet_aux = StreamOutlet(info_aux)
def clean(self):
self.board.disconnect()
self.outlet_eeg.close_stream()
self.outlet_aux.close_stream()
atexit.register(clean)
def startstreaming(self):
self.boardThread = threading.Thread(target=self.board.start_streaming,
args=(self.send, -1))
self.boardThread.daemon = True
try:
self.boardThread.start()
except:
raise
def stopstreaming(self):
self.board.stop()
time.sleep(.1)
line = ''
while self.board.ser.inWaiting():
c = self.board.ser.read().decode('utf-8', errors='replace')
line += c
time.sleep(0.001)
if (c == '\n'):
line = ''
def retdataecgchunk(self):
return self.graphecg
def retdatappgchunk(self):
return self.graphppg
def retbothdata(self):
return self.ecg, self.ppg
def retecgT(self):
return self.ecgT
def retppgT(self):
return self.ppgT
def flush(self):
self.ppgT = []
self.ecgT = []
def chSave(self):
if self.save == False:
self.save = True
else:
self.save = False
def ret30(self):
return self.ecg30, self.ppg30
