def begin():
"""NEED TO PAIR DEVICES FIRST
will read temp from paired devices for given time
then write data to an array
uses thread for each sensor"""
device_list = ts_api.getComPorts(filter=ts_api.TSS_FIND_DNG)
print device_list
com_port = device_list[0]
dng_device = ts_api.TSDongle(com_port=com_port)
for i in xrange(numDevices):
wl_devices.append(dng_device[i])
for device in wl_devices:
newThread = threadFunction(device)
threads.append(newThread)
newThread.start()
for thread in threads:
thread.join()
return concatData
## Now go through our list of devices and create the appropriate instance by
## using the devices' type and COM port. Unknown devices could be 3-Space Sensor
## devices that were connected via a serial connection. We can find out if there
## is any 3-Space Sensor devices by using the getSensorInfo function. However,
## we must send commands over the port which could make devices other than
## 3-Space Sensor devices act strangely. So, be sure to know what port your
## 3-Space Sensor device(s) are on when calling this function.
## getSensorInfo returns a list of information that it found from the COM port
## (Friendly name, 3-Space Type, 3-Space ID, 3-Space Firmware Version String,
## 3-Space Hardware Version String, is in bootloader mode)
for device_port in device_list:
com_port, friendly_name, device_type = device_port
if device_type == "USB":
device = ts_api.TSUSBSensor(com_port=com_port)
elif device_type == "DNG":
device = ts_api.TSDongle(com_port=com_port)
elif device_type == "WL":
device = ts_api.TSWLSensor(com_port=com_port)
elif device_type == "EM":
device = ts_api.TSEMSensor(com_port=com_port)
elif device_type == "DL":
device = ts_api.TSDLSensor(com_port=com_port)
elif device_type == "BT":
device = ts_api.TSBTSensor(com_port=com_port)
elif device_type == "BTL":
device = "Device on " + com_port + " is in bootloader mode."
elif device_type == "???":
port_info = ts_api.getDeviceInfoFromComPort(com_port, poll_device=True)
device_type = port_info[1]
is_bootloader = port_info[5]
if is_bootloader:
def returnDev(arg):
# rospy.init_node("detect")
result = find_ports.findPorts()
dng_list = []
dev_list = []
rospy.logwarn(result)
if arg == "dng":
for a_port in result:
try:
rospy.loginfo("Checking for dongle in port %s", a_port)
dongle = tsa.TSDongle(com_port=a_port, baudrate=115200)
rospy.logwarn(dongle)
hwid = convertString(dongle.f7WriteRead('getSerialNumber'))
panid = None
channel = None
wa = None
att = 0
while panid is None or channel is None or wa is None:
try:
att += 1
if att > 10:
break
rospy.loginfo(
"Attempting to get Dongle data from port %s, attempt #%d",
a_port, att)
channel = tsa.TSDongle.getWirelessChannel(dongle)
panid = tsa.TSDongle.getWirelessPanID(dongle)
wa = tsa.TSDongle.getWirelessAddress(dongle)
rospy.logwarn("HW ID : %s", hwid)
rospy.logwarn("PanID : %s", panid)
rospy.logwarn("Channel : %s", channel)
rospy.logwarn("Wireless Address %s", wa)
rospy.logwarn(dongle.wireless_table)
dng_list.append(dongle)
except:
pass
except:
pass
print dng_list
return dng_list
else:
for a_port in result:
try:
rospy.loginfo("Checking for wireless sensor in port %s",
a_port)
sensor = tsa.TSWLSensor(com_port=a_port, baudrate=115200)
rospy.logwarn(sensor)
hwid = convertString(sensor.f7WriteRead('getSerialNumber'))
# dev_list.append(sensor)
panid = None
channel = None
wa = None
att = 0
while panid is None or channel is None or wa is None:
try:
att += 1
if att > 10:
break
rospy.loginfo(
"Attempting to get Wireless Sensor data from port %s, attempt #%d",
a_port, att)
channel = tsa.TSWLSensor.getWirelessChannel(sensor)
# tsa.TSWLSensor.setWirelessPanID(sensor, channel)
panid = tsa.TSWLSensor.getWirelessPanID(sensor)
wa = tsa.TSWLSensor.getWirelessAddress(sensor)
rospy.logwarn("HW ID : %s", hwid)
rospy.logwarn("PanID : %s", panid)
rospy.logwarn("Channel : %s", channel)
rospy.logwarn("Wireless Address %s", wa)
dev_list.append(sensor)
except:
pass
except:
pass
return dev_list
if control_signal[1] < 0:
control_signal[1] = 0
elif control_signal[1] > pw_max:
control_signal[1] = pw_max
pw = control_signal
# print(pw, current)
if stimulation:
stim.update(3, pw, current)
# time.sleep(0.2)
if stimulation:
stim.stop()
serialPortStimulator.close()
# IMU setup
dng_device = ts_api.TSDongle(com_port=IMU_port)
IMU_controller_1 = dng_device[IMU_controller_address_1]
IMU_controller_2 = dng_device[IMU_controller_address_2]
IMU_subject_1 = dng_device[IMU_subject_address_1]
IMU_subject_2 = dng_device[IMU_subject_address_2]
IMU_controller_1.setEulerAngleDecompositionOrder(0)
IMU_controller_1.setCompassEnabled(0)
IMU_controller_1.setFilterMode(1)
IMU_controller_1.setStreamingTiming(interval=0,
delay=0,
duration=0,
timestamp=False)
IMU_controller_1.setStreamingSlots(slot0='getTaredOrientationAsEulerAngles',
slot1='getNormalizedGyroRate')
IMU_controller_1.tareWithCurrentOrientation()
IMU_controller_1.startStreaming()
import threespace_api as ts_api
import time
################################################################################
################# Second using a broadcaster to get streaming ##################
################# data for every 3-Space Sensor device known ###################
################################################################################
print("=============================")
print("Broadcaster calls")
print("=============================")
all_list = []
sensor_list = []
device = ts_api.TSDongle(com_port='/dev/ttyACM0')
if device is not None:
all_list.append(device)
for i in range(6): # Only checking the first six logical indexes
sens = device[i]
if sens is not None:
sensor_list.append(sens)
## The YEI 3-Space Python API has a global broadcaster called global_broadcaster
## which is an instance of Broadcaster
ts_api.global_broadcaster.setStreamingTiming( interval=0,
duration=110000000,
delay=1000000,
delay_offset=12000,
import math
import string
import sensor_table
import threespace_api as tsa
import find_ports
from threespace_api import *
from socket import *
rospy.init_node("poll_dongles")
result = find_ports.findPorts()
dongle_list = []
for a_port in result:
try:
rospy.loginfo("Checking for dongle in port %s", a_port)
dongle = tsa.TSDongle(com_port=a_port, baudrate=115200)
rospy.logwarn(dongle)
hwid = convertString(dongle.f7WriteRead('getSerialNumber'))
panid = None
channel = None
wa = None
att = 0
while panid is None or channel is None or wa is None:
try:
att += 1
rospy.loginfo("Attempting to get Dongle Data attempt #%d", att)
panid = tsa.TSDongle.getWirelessPanID(dongle)
channel = tsa.TSDongle.getWirelessChannel(dongle)
wa = tsa.TSDongle.getWirelessAddress(dongle)
rospy.logwarn("HW ID : %s", hwid)
rospy.logwarn("PanID : %s", panid)