def keyboard_control_stim(event):
print "Keypress ", event.char
chan2_change = False
global EMG_ch1, EMG_ch2, stim_Ratio, calibrated_pose, EMG_freq, EMG_pwm, stop_EMS_ramp, playLoop, curr_gesture
if event.char == 'm':
EMG_ch2 += 1
chan2_change = True
elif event.char == 'n':
EMG_ch2 -= 1
chan2_change = True
if EMG_ch2 <= 0:
EMG_ch2 = 0
elif event.char == 'c':
EMG_ch1 -= 1
if EMG_ch1 <= 0:
EMG_ch1 = 0
elif event.char == 'v':
EMG_ch1 += 1
elif event.char == ' ':
EMG_ch2 = 0
EMG_ch1 = 0
stop_EMS_ramp = True
playLoop = False
elif event.char == 'g':
EMG_freq += 1
elif event.char == 'f':
EMG_freq -= 1
elif event.char == 'h':
EMG_pwm -= 1
elif event.char == 'j':
EMG_pwm += 1
else:
global data, key_poses
for targets in key_poses:
if event.char == targets[0]:
data = np.copy(targets[1])
EMG_ch1 = targets[2]
EMG_ch2 = targets[3]
EMG_freq = targets[4]
EMG_pwm = targets[5]
#Update drawings based on input
update_sleeve_drawing()
set_all_sleeve_electrodes()
update_sleeve_drawing()
#Ensure safe load balance
#If multiple electrodes are removed, make sure amplitude is decreased
load_balancing(0, True, chan2_change)
#Trigger optitrack if either channel % 5 equals 0
#Random(ish) step, change to increase/decrease
if EMG_ch2 % 5 == 0 or EMG_ch1 % 5 == 0:
send_sock_command(participant_ID_, 1, curr_gesture)
#set amplitudes and frequences, update graphics
set_controller_amplitude(EMG_ch1, EMG_ch2)
set_controller_freq_pwm(EMG_pwm, EMG_freq)
update_controls_drawing()
def control_stim_signal(event):
click_location = 4
click_value = event.x
if event.x > 0 and event.x < 250:
click_location = int(event.y / 60)
#0 = pwm, 1 = freq, 2 = ch1, 3 = ch2
if click_location == 0:
global EMG_pwm
EMG_pwm = int(click_value)
set_controller_freq_pwm(EMG_pwm, EMG_freq)
elif click_location == 1:
global EMG_freq
EMG_freq = int(click_value)
set_controller_freq_pwm(EMG_pwm, EMG_freq)
elif click_location == 2:
global EMG_ch1, EMG_ch2, stim_Ratio, calibrated_pose
EMG_ch1 = int(click_value)
load_balancing(0, True, False)
set_controller_amplitude(EMG_ch1, EMG_ch2)
elif click_location == 3:
global EMG_ch2, EMG_ch1, stim_Ratio, calibrated_pose
EMG_ch2 = int(click_value)
load_balancing(0, True, True)
set_controller_amplitude(EMG_ch1, EMG_ch2)
time.sleep(0.1)
send_sock_command(participant_ID_, 1, curr_gesture)
global participant_ID_, pose_number
write_sleeve_status_to_file(participant_ID_, pose_number, True,
"machine", electrodes, data, curr_gesture,
EMG_ch1, EMG_ch2, EMG_pwm, EMG_freq)
update_controls_drawing()
def control_stim_electrode(event):
electrode_selected = [int(event.x / 40), int(event.y / 30)]
global electrodes, data
electrodes.itemconfig("rec" + str(electrode_selected[0]) + "_" +
str(electrode_selected[1]),
fill="blue")
#If left mouse click, increase channel selection
if event.num == 1:
pre_value = 0
data[electrode_selected[1]][electrode_selected[0]] += 1
data[electrode_selected[1]][electrode_selected[0]] %= 5
#If right mouse click, turn off electrode
if event.num != 1:
print "Right click - disengage"
pre_value = data[electrode_selected[1]][electrode_selected[0]]
data[electrode_selected[1]][electrode_selected[0]] = 0
load_balancing(data[electrode_selected[1]][electrode_selected[0]], False,
False, pre_value)
global EMG_ch1, EMG_ch2
set_controller_amplitude(EMG_ch1, EMG_ch2)
set_sleeve_electrodes(electrode_selected[0], electrode_selected[1],
data[electrode_selected[1]][electrode_selected[0]])
update_sleeve_drawing()
update_controls_drawing()
def _quit(root, raw):
# if raw:
# write_sleeve_status_to_file()
# close_file()
global EMG_ch1, EMG_ch2
EMG_ch1 = 0
EMG_ch2 = 0
set_controller_amplitude(EMG_ch1, EMG_ch2)
command = "3c"
send_command(True, command)
global stim_window
stim_window.destroy()
stim_window.quit()
def reset_connection():
command = "3c"
send_command(True, command)
time.sleep(1)
command = "5c"
send_command(True, command)
EMS_active = True
global data
set_all_sleeve_electrodes(data)
set_controller_amplitude(EMG_ch1, EMG_ch2)
set_controller_freq_pwm(EMG_pwm, EMG_freq)
def ramp_to_amplitude(start_amp, end_amp):
global EMG_ch2, EMG_ch1, stim_Ratio
EMG_ch2 = 0
EMG_ch1 = 0
set_controller_amplitude()
for i in range(start_amp, end_amp):
EMG_ch2 += 1
EMG_ch1 = int(EMG_ch2 * stim_Ratio)
set_controller_amplitude()
time.sleep(0.03)
print "Ramp Done"
def translate_electrodes(translation_):
global data, EMG_ch2, EMG_ch1
print "translate electrodes"
elec_ = np.zeros(data.shape)
print "data.shape", data.shape
print "translation = ", translation_
for rows in range(0, data.shape[0]):
for cols in range(0, data.shape[1]):
if translation_ == "up":
if rows > 0:
elec_[rows - 1][cols] = data[rows][cols]
else:
elec_[data.shape[0] - 1][cols] = data[rows][cols]
elif translation_ == "down":
if rows < (data.shape[0] - 1):
elec_[rows + 1][cols] = data[rows][cols]
else:
elec_[(rows + 1) %
(data.shape[0])][cols] = data[rows][cols]
elif translation_ == "left":
if cols > 0:
elec_[rows][cols - 1] = data[rows][cols]
else:
elec_[rows][data.shape[1] - 1] = data[rows][cols]
elif translation_ == "right":
if cols < (data.shape[1] - 1):
elec_[rows][cols + 1] = data[rows][cols]
else:
elec_[rows][(cols + 1) %
(data.shape[1])] = data[rows][cols]
data = np.copy(elec_)
update_sleeve_drawing()
set_all_sleeve_electrodes()
EMG_ch1 = 0
EMG_ch2 = 0
set_controller_amplitude()
def run_EMS_to_amp(frequency, pulse_width, amp, channel):
global EMG_pwm, EMG_freq, EMG_ch2, stop_EMS_ramp
stop_EMS_ramp = False
EMG_pwm = pulse_width
EMG_freq = frequency
set_controller_freq_pwm()
if channel == 2:
EMG_ch2 = 0
set_controller_amplitude()
for i in range(EMG_ch2, int(amp)):
EMG_ch2 += 1
set_controller_amplitude()
time.sleep(1.2 / float(amp))
if stop_EMS_ramp:
EMG_ch2 = 0
set_controller_amplitude()
# update_controls_drawing()
elif channel == 1:
EMG_ch1 = 0
set_controller_amplitude()
for i in range(EMG_ch1, int(amp)):
EMG_ch1 += 1
set_controller_amplitude()
time.sleep(1.2 / float(amp))
if stop_EMS_ramp:
EMG_ch1 = 0
set_controller_amplitude()
def run_pose_tkinter(participant_ID,
gesture_no,
new_win,
stim_points,
stim_proportions,
stim_proportions_norm,
num_electrode_rows_,
num_electrode_cols_,
raw=False,
authoring=False,
sequencer=False):
global stim_window
stim_window = tkinter.Toplevel(new_win)
stim_window.title("EMS Controls")
stim_window.geometry('+600+500')
stim_window.lift()
set_color_map()
global electrodes, controls
left_frame = tkinter.Frame(stim_window)
left_frame.pack(side="left")
top_label = tkinter.Label(left_frame, text="TOP SLEEVE")
top_label.pack()
electrodes = tkinter.Canvas(left_frame, width=240, height=300)
electrodes.bind('<Button>', control_stim_electrode)
#Create Sleeve
for i in range(0, 6):
for j in range(0, 10):
electrodes.create_rectangle(40 * i,
30 * j,
40 * (i + 1),
30 * (j + 1),
tags="rec" + str(i) + "_" + str(j))
electrodes.pack()
#Create signal controllers
right_frame = tkinter.Frame(stim_window)
right_frame.pack(side="left", padx=(20, 10))
controls_label = tkinter.Label(right_frame, text="SIGNAL CONTROLS")
controls_label.pack()
controls = tkinter.Canvas(right_frame, width=280, height=300)
controls.bind('<Button>', control_stim_signal)
controls_text = ["PWM", "FREQ", "AMP1", "AMP2"]
start_y = 50
for i in range(0, 4):
controls.create_text(30, (60 * i) + 20,
font="Helvetica",
text=controls_text[i])
controls.create_rectangle(1, (60 * i),
250,
60 * (i + 1),
tags="sig" + str(i))
controls.create_line(41, (60 * i),
41,
60 * (i + 1),
tags="line" + str(i))
controls.pack(padx=(20, 10))
bottom_label = tkinter.Label(left_frame, text="BOTTOM SLEEVE")
bottom_label.pack()
global calibrated_pose
calibrated_pose = not raw
#Make electrode sleeve size global
global num_electrode_rows, num_electrode_cols, curr_gesture, participant_ID_
num_electrode_rows = num_electrode_rows_
num_electrode_cols = num_electrode_cols_
curr_gesture = gesture_no
participant_ID_ = participant_ID
#Tell Arduino we are doing EMS
global EMS_active
command = "5c"
send_command(True, command)
EMS_active = True
#set freq/pwm data from...
global EMG_pwm, EMG_freq
EMG_pwm = 200
EMG_freq = 170
set_controller_freq_pwm(EMG_pwm, EMG_freq)
global EMG_ch1, EMG_ch2
EMG_ch1 = 5
EMG_ch2 = 5
set_controller_amplitude(EMG_ch1, EMG_ch2)
#Initialise ELectrode Data Store
global data
data = np.zeros(shape=(num_electrode_rows, num_electrode_cols))
#Map stim values to channel selections
stim_vals_chans = [0, 0, 1, 2, 3, 4]
if not raw:
#set amplitude data from stim_proportions
global stim_Ratio
stim_Ratio = stim_proportions[1]
max_stim = 15
#Loop through stimulation arrays and set coordinates
for stim_coords_groups, stim_vals in zip(stim_points,
stim_proportions_norm):
if stim_vals > 0:
for stim_coords in stim_coords_groups:
data[int(stim_coords[0])][int(
stim_coords[1])] = stim_vals_chans[stim_vals * 2]
data[int(stim_coords[2])][int(
stim_coords[3])] = stim_vals_chans[(stim_vals * 2) + 1]
check_valid_layout()
#Send sleeve commands for data parameters
for locs in np.argwhere(data > 0.):
set_sleeve_electrodes(locs[1], locs[0], data[locs[0]][locs[1]])
else:
EMG_ch1 = 1
EMG_ch2 = 1
set_controller_freq_pwm(EMG_pwm, EMG_freq)
set_controller_amplitude(EMG_ch1, EMG_ch2)
update_sleeve_drawing()
update_controls_drawing()
bottom_frame = tkinter.Frame(stim_window)
bottom_frame.pack()
stim_window.bind("<KeyPress>", keyboard_control_stim)
if not authoring and not sequencer:
global save_machine_button, save_button
bottom_frame = tkinter.Frame(stim_window)
bottom_frame.pack()
save_machine_button = tkinter.Button(
master=bottom_frame,
text="Continue",
command=lambda: continue_button_controls(
participant_ID, gesture_no, True, "machine"))
save_machine_button.pack()
save_button = tkinter.Button(
master=bottom_frame,
text="Done",
command=lambda: continue_button_controls(
participant_ID, gesture_no, True, "human"))
save_button.pack()
button = tkinter.Button(master=bottom_frame,
text='Quit',
command=lambda: _quit(stim_window, raw))
button.pack()
reset_connection_button = tkinter.Button(
master=bottom_frame,
text="Reset",
command=lambda: reset_connection())
reset_connection_button.pack(pady=(10, 0))
elif authoring:
initialise_file(participant_ID, gesture_no, True)
author_tools_window = tkinter.Toplevel(stim_window)
author_tools_window.title("Gesture Author")
author_tools_window.geometry('+1230+520')
move_patterns = tkinter.Frame(author_tools_window)
move_patterns.pack()
map_keys_frame = tkinter.Frame(author_tools_window)
map_keys_frame.pack()
save_load_frame = tkinter.Frame(author_tools_window)
save_load_frame.pack()
global pose_no, key_poses
move_pattern_labels = ["left", "up", "down", "right"]
move_pattern_buttons = []
for move_ in move_pattern_labels:
move_pattern_buttons.append(
tkinter.Button(
master=move_patterns,
text=move_,
command=lambda motion=move_: translate_electrodes(motion)))
move_pattern_buttons[-1].pack(side="left", pady=(10, 10))
map_pose_label = tkinter.Label(master=map_keys_frame,
text="Map pose to Number key:")
map_pose_label.pack()
global map_pose_key_entry
map_pose_key_entry = tkinter.Entry(master=map_keys_frame)
map_pose_key_entry.pack()
map_pose_key = tkinter.Button(
master=map_keys_frame,
text="Map",
command=lambda: bind_pose_to_key(author_tools_window))
map_pose_key.pack(pady=(5, 10))
author_tools_window.bind("<KeyPress>", keyboard_control_stim)
if sequencer:
#Create sequencer variables
global ch1_sequence, ch2_sequence
for i in range(0, 20):
ch1_sequence.append(sequence_event(np.zeros(data.shape), 0))
ch2_sequence.append(sequence_event(np.zeros(data.shape), 0))
emg_sequence.append(0)
#Create new window for sequencer
timeline_window = tkinter.Toplevel(stim_window)
timeline_window.title("Gesture Sequencer")
timeline_window.geometry('+1500+510')
timeline_frame = tkinter.Frame(timeline_window)
timeline_frame.pack()
timeline_window.bind("<KeyPress>", keyboard_control_stim)
#Add timeline
global timeStart, timeEnd, timelineCanvas
timelineCanvas = tkinter.Canvas(timeline_frame, width=300, height=200)
timelineCanvas.create_rectangle(20, 70, 280, 120, tags="timeline")
timelineCanvas.create_line(20, 60, 21, 160, tags="time", fill="red")
#Add locations for item placement
start_loc_x = 20
for i in range(0, 20):
timelineCanvas.create_rectangle(20 + (i * 13),
70,
20 + (i + 1) * 13,
90,
tags="ch1_" + str(i))
timelineCanvas.create_rectangle(20 + (i * 13),
100,
20 + (i + 1) * 13,
120,
tags="ch2_" + str(i))
timelineCanvas.create_rectangle(20 + (i * 13),
130,
20 + (i + 1) * 13,
150,
tags="emg_" + str(i))
timelineCanvas.pack()
#Add control buttons
global EMG_labels
EMG_labels = tkinter.Label(timeline_frame,
text="EMG: 'wrist up', 'wrist down")
EMG_labels.pack()
timeEnd = tkinter.Entry(timeline_frame)
timeEnd.pack()
startTimeBar = tkinter.Button(
timeline_frame,
text="Play",
command=lambda: timeBarButtonpress(stim_window))
startTimeBar.pack()
global playLoop, pauseLoop
stopTimeBar = tkinter.Button(
timeline_frame,
text="Stop",
command=lambda: stop_sequence_play(timeline_window))
stopTimeBar.pack()
#Bind mouse controls
timelineCanvas.bind("<Button-1>",
lambda e: sequencer_controls(e, "down"))
timelineCanvas.bind("<B1-Motion>",
lambda e: sequencer_controls(e, "drag"))
timelineCanvas.bind("<ButtonRelease-1>",
lambda e: sequencer_controls(e, "up"))
timelineCanvas.bind("<Button-2>",
lambda e: sequencer_controls(e, "right"))
stim_window.protocol("WM_DELETE_WINDOW", lambda: _quit(stim_window, raw))
stim_window.mainloop()