def __init__(self, address):
cmd.Cmd.__init__(self)
self.signalKiller = GracefulKiller()
self.bigLine = '-------------------------------------------------------------------\n'
self.prompt = '>>'
self.intro = "Welcome to the Neblina Streaming Menu!"
self.api = NeblinaAPI(Interface.UART)
print(
"Setting up the connection..."
) # initial delay needed for the device to synchronize its processors
time.sleep(1)
print('.')
time.sleep(1)
print('.')
time.sleep(1)
print('.')
self.api.open(address)
global initialmotionstate # the global variable that stores the initial motion engine state
initialmotionstate = self.api.getMotionStatus(
) # get the initial motion engine state
self.api.streamDisableAll(
) # disable all streaming options after storing the initial state
self.api.setDataPortState(
Interface.BLE,
False) # Close BLE streaming to prevent slowed streaming
self.api.setDataPortState(Interface.UART, True) # Open UART streaming
def setUp(self):
if not self.comPort:
raise unittest.SkipTest("No COM port specified.")
# Give it a break between each test
time.sleep(1)
if not self.setupHasAlreadyRun:
self.api = NeblinaAPI(Interface.UART)
self.api.open(self.comPort)
if not self.api.isOpened():
self.fail("Unable to connect to COM port.")
self.api.streamDisableAll()
self.api.sessionRecord(False)
self.api.setDataPortState(Interface.UART, True)
def setUp(self):
if not self.deviceAddress:
logging.warn("No Device Address specified. Skipping.")
raise unittest.SkipTest
# Give it a break between each test
time.sleep(2)
self.api = NeblinaAPI(Interface.BLE)
self.api.open(self.deviceAddress)
if not self.api.isOpened():
self.fail("Unable to connect to BLE device.")
self.api.streamDisableAll()
self.api.sessionRecord(False)
self.api.setDataPortState(Interface.BLE, True)
def main(address):
signalKiller = GracefulKiller()
print("Initialize NeblinaAPI")
api = NeblinaAPI(Interface.BLE)
print("Opening device: {0}".format(address))
api.open(address)
if not api.isOpened():
exit("Unable to connect to device.")
print("Opening BLE streaming port")
api.setDataPortState(Interface.BLE, True)
# It is required to downsample streaming rate to 25Hz (40ms delay) or more to ensure
# reception of all incoming streaming packet and other packet when using BLE on Python.
api.setDownsample(40)
print("Starting EulerAngle Streaming")
api.streamEulerAngle(True)
while not signalKiller.isKilled:
print(api.getEulerAngle())
print("Stopping EulerAngle Streaming")
api.streamEulerAngle(False)
