def __init__(self, shape, k, weights=None):
self.shape = shape
self.__check_k_weights(k, weights)
self.k = k
self.weights = np.ones((k,)) if weights is None else weights
self.buffer_ = Buffer(size=self.__get_buf_size())
def __init__(self,
n_df=None,
s_port=None,
baud_rate=115200,
buffered=True,
buf_size=1.,
calibration_file=None):
# If n_df is not given assume 18-DOF Cyberglove but issue warning
if n_df == None:
warnings.warn("Cyberglove: number of DOFs not given, assuming 18.")
self.n_df = 18
else:
if n_df not in [18, 22]:
raise ValueError(
"Cyberglove can have either 18 or 22 degrees-of-freedom.")
else:
self.n_df = n_df
# if port is not given use the first one available
if s_port == None:
try:
s_port = serial.tools.list_ports.comports().next()[0]
except StopIteration:
print("No serial ports found.")
self.si = serial.Serial(port=None,
baudrate=baud_rate,
timeout=0.05,
writeTimeout=0.05)
self.si.port = s_port
self.buffered = buffered
self.buf_size = buf_size
self.calibration_file = calibration_file
self.__srate = 100 # Hardware sampling rate. TODO: Double-check this is correct
if self.n_df == 18:
self.__bytesPerRead = 20 # First and last bytes are reserved
elif self.n_df == 22:
self.__bytesPerRead = 24 # First and last bytes are reserved
if self.buffered:
self.__buf_size_samples = int(np.ceil(self.__srate *
self.buf_size))
self.data = Buffer((self.__buf_size_samples, self.n_df))
self.time = Buffer((self.__buf_size_samples, ))
else:
self.data = np.zeros((self.n_df, ))
self.time = np.zeros((1, ))
if self.calibration_file is None:
self.calibration_ = False
else:
self.calibration_ = True
(self.calibration_offset_,
self.calibration_gain_) = load_calibration_file(
calibration_file, self.n_df)
def flush(self):
''' reset buffer '''
if self.buffered:
self.data = [Buffer((self._emgBufSize, self.__numSensors)), \
Buffer((self._imuBufSize, self.__numSensors*self.__signalsPerImuSensor))]
self.time = [Buffer((self._emgBufSize, 1)), \
Buffer((self._imuBufSize, 1))]
else:
self.data = [np.zeros((self.__numSensors,)), np.zeros((self.__numSensors*self.__signalsPerImuSensor,))]
self.time = [np.zeros((1,)), np.zeros((1,))]
def __init__(self,
buffered=True,
host_ip='127.0.0.1',
bufsize=1.,
samplesPerPacket=1,
imu_type=None):
self.host = host_ip
self.dataPort = 50043
self.imuPort = 50044
self.sdkPort = 50040
self.emg = None
self.imu = None
self.sdk = None
self.buffered = buffered
self.bufsize = bufsize
self.samplesPerPacket = samplesPerPacket
self.imuType = 'raw' if imu_type is None else imu_type
self.__numSensors = 16
self.__emgRate = 2000
self.__imuRate = 148.148148148148148148148148148148148148
self.__bytesPerSample = 4
self.__signalsPerEmgSensor = 1
if self.imuType == 'raw':
self.__signalsPerImuSensor = 9
self.__signalsPerImuSensorTransmitted = 9
elif self.imuType == 'quat':
self.__signalsPerImuSensor = 4
self.__signalsPerImuSensorTransmitted = 5
elif self.imuType == 'pry':
self.__signalsPerImuSensor = 3
self.__signalsPerImuSensorTransmitted = 5
else:
raise ValueError('Unrecognised type of IMU transmission.')
if self.buffered:
self._emgBufSize = int(np.ceil(self.__emgRate * self.bufsize))
self._imuBufSize = int(np.ceil(self.__imuRate * self.bufsize))
self.data = [Buffer((self._emgBufSize, self.__numSensors)), \
Buffer((self._imuBufSize, self.__numSensors * self.__signalsPerImuSensor))]
self.time = [Buffer((self._emgBufSize, 1)), \
Buffer((self._imuBufSize, 1))]
else:
self.data = [np.zeros((self.__numSensors,)), \
np.zeros((self.__numSensors * self.__signalsPerImuSensor,))]
self.time = [np.zeros((1, )), np.zeros((1, ))]
self.exitFlag = True
class CyberGlove(object):
"""Interface the Cyberglove via a serial port.
Parameters (TODO)
----------
s_port : str, optional, default: None
Serial port name (e.g., 'COM1' in Windows). If set to None, the
first one available will be used.
baud_rate : int, optional, default: 115200
Baud rate.
Attributes
----------
TODO
"""
def __init__(self,
n_df=None,
s_port=None,
baud_rate=115200,
buffered=True,
buf_size=1.,
calibration_file=None):
# If n_df is not given assume 18-DOF Cyberglove but issue warning
if n_df == None:
warnings.warn("Cyberglove: number of DOFs not given, assuming 18.")
self.n_df = 18
else:
if n_df not in [18, 22]:
raise ValueError(
"Cyberglove can have either 18 or 22 degrees-of-freedom.")
else:
self.n_df = n_df
# if port is not given use the first one available
if s_port == None:
try:
s_port = serial.tools.list_ports.comports().next()[0]
except StopIteration:
print("No serial ports found.")
self.si = serial.Serial(port=None,
baudrate=baud_rate,
timeout=0.05,
writeTimeout=0.05)
self.si.port = s_port
self.buffered = buffered
self.buf_size = buf_size
self.calibration_file = calibration_file
self.__srate = 100 # Hardware sampling rate. TODO: Double-check this is correct
if self.n_df == 18:
self.__bytesPerRead = 20 # First and last bytes are reserved
elif self.n_df == 22:
self.__bytesPerRead = 24 # First and last bytes are reserved
if self.buffered:
self.__buf_size_samples = int(np.ceil(self.__srate *
self.buf_size))
self.data = Buffer((self.__buf_size_samples, self.n_df))
self.time = Buffer((self.__buf_size_samples, ))
else:
self.data = np.zeros((self.n_df, ))
self.time = np.zeros((1, ))
if self.calibration_file is None:
self.calibration_ = False
else:
self.calibration_ = True
(self.calibration_offset_,
self.calibration_gain_) = load_calibration_file(
calibration_file, self.n_df)
def __repr__(self):
"""TODO"""
raise NotImplementedError
def __str__(self):
"""TODO"""
raise NotImplementedError
def __del__(self):
"""Call stop() on destruct."""
self.stop()
def start(self):
"""Open port and perform check."""
self.__networking = True
self.si.open()
self._startTime_ = timeit.default_timer()
self.si.flushOutput()
self.si.flushInput()
thread.start_new_thread(self.networking, ())
def stop(self):
"""Close port."""
self.__networking = False
time.sleep(
0.1
) # Wait 100 ms before closing the port just in case data are being transmitted
self._stopTime_ = timeit.default_timer()
if self.si.isOpen():
self.si.flushInput()
self.si.flushOutput()
self.si.close()
def networking(self):
while self.__networking:
data = self.raw_measurement()
if self.calibration_ is True:
data = calibrate_data(data, self.calibration_offset_,
self.calibration_gain_)
timestamp = np.asarray([timeit.default_timer()])
if self.buffered is True:
self.data.push(data)
self.time.push(timestamp)
else:
self.data = data
self.time = timestamp
time.sleep(1. / self.__srate
) # Wait 10 ms until before sending the next command
def raw_measurement(self):
"""Performs a single measurment read from device (all sensor values).
If this fails, it tries again.
Returns the raw data (after reserved bytes have been removed).
"""
fmt = '@' + "B" * self.__bytesPerRead # Format for unpacking binary data
self.si.flushInput()
raw_measurement = None
while raw_measurement is None:
nb = self.si.write(bytes('\x47'))
if nb == 1:
msg = self.si.read(size=self.__bytesPerRead)
if len(msg) is self.__bytesPerRead:
raw_measurement = struct.unpack(fmt, msg)
raw_measurement = np.asarray(raw_measurement)
return raw_measurement[1:-1] # First and last bytes are reserved
class MovingAverage(object):
"""Moving average smoother.
Parameters
----------
shape : tuple
Shape of signal to be smoothed.
k : integer
Number of windows to use for smoothing.
weights : array, optional (default ones), shape = (k,)
Weight vector. First element corresponds to weight for most recent
observation.
"""
def __init__(self, shape, k, weights=None):
self.shape = shape
self.__check_k_weights(k, weights)
self.k = k
self.weights = np.ones((k,)) if weights is None else weights
self.buffer_ = Buffer(size=self.__get_buf_size())
def smooth(self, x):
"""Smooths data in x.
Parameters
----------
x : array
Most recent raw measurement.
Returns
-------
x_smoothed : array
Smoothed measurement.
"""
self.buffer_.push(x)
return np.dot(np.flipud(self.weights), self.buffer_.buffer) / self.k
def __check_k_weights(self, k, weights):
if not isinstance(k, int):
raise ValueError("k must be integer.")
if weights is not None:
weights = np.asarray(weights)
if weights.ndim != 1 or weights.size != k:
raise ValueError("Weight array must have shape ({},)".format(k))
def __get_buf_size(self):
"""Returns a flattened tuple to be used as the buffer size."""
return tuple(np.append(self.k,
np.asarray([element for element in self.shape])))