def __init__(self):
############################
# lets introduce and init the main variables
#self.com = None
self.isInitialized = False
#Create an accelerometer object
try:
self = Spatial()
except RuntimeError as e:
print("Runtime Exception: %s" % e.details)
print("Exiting....")
exit(1)
try:
self.openPhidget()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
print("Waiting for attach....")
try:
self.waitForAttach(4000)
print "is attached = ", self.isAttached()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
try:
self.closePhidget()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
print("Exiting....")
exit(1)
else:
self.setDataRate(1000)
def StartPhidget(self):
# Initialise the Phidgets sensor
self.phidget_attached = False
self.time_start = None
try:
if self.accelerometer:
self.accelerometer.closePhidget()
self.accelerometer = Spatial()
self.accelerometer.setOnAttachHandler(self.AccelerometerAttached)
self.accelerometer.setOnDetachHandler(self.AccelerometerDetached)
self.accelerometer.setOnErrorhandler(self.AccelerometerError)
self.accelerometer.setOnSpatialDataHandler(self.SpatialData)
#self.accelerometer.enableLogging(Phidget.PhidgetLogLevel.PHIDGET_LOG_WARNING, None)
#self.accelerometer.enableLogging(Phidget.PhidgetLogLevel.PHIDGET_LOG_VERBOSE, None)
self.accelerometer.openPhidget()
self.accelerometer.waitForAttach(10000)
# set data rate in milliseconds (we will decimate from 4ms to 20ms later)
# we now do this in the Attach handler
#self.accelerometer.setDataRate(PHIDGETS_NOMINAL_DATA_INTERVAL_MS)
except RuntimeError as e:
logging.error("Runtime Exception: %s", e.details)
return
except PhidgetException as e:
logging.error("Phidget Exception: %s. Is the Phidget not connected?", e.details)
return
self.phidget_attached = True
def __init__(self):
"""
"""
# update from the IMU.
self.spatial = Spatial()
imu_handlers = Controller.IMU_Handlers()
self.prev = 0
# attach the event handlers.
try:
self.spatial.setOnAttachHandler(imu_handlers.on_attach)
self.spatial.setOnDetachHandler(imu_handlers.on_detach)
self.spatial.setOnErrorhandler(imu_handlers.on_error)
self.spatial.setOnSpatialDataHandler(imu_handlers.on_data)
self.spatial.openPhidget()
self.spatial.waitForAttach(10000)
self.spatial.setDataRate(4)
except:
print("Error connecting to IMU, I cannot handle this. " + \
"I will just go die now!")
exit(1)
samplePeriod = 1 / 256
self.ahrs = MadgwickAHRS(samplePeriod)
#t = Thread(target=self.update_head)
#t.daemon = True
#t.start()
self.x = 0
self.y = 0
self.z = 0
self.update_head()
def __init__(self):
self.spatial = Spatial()
self.spatial.setOnSpatialDataHandler(self.getDataHandler)
self.spatial.setOnAttachHandler(self.attachDeviceHandler)
self.spatial.openPhidget()
self.spatial.waitForAttach(10000)
self.spatial.setDataRate(16)
def create_spatial(self):
try:
spatial = Spatial()
self.status = "connected"
return spatial
except RuntimeError as e:
self.status = "not connected"
print("Runtime Exception: %s" % e.details)
def __init__(self):
"""
"""
# update from the IMU.
self.spatial = Spatial()
imu_handlers = Controller.IMU_Handlers()
self.prev = 0
# attach the event handlers.
try:
self.spatial.setOnAttachHandler(imu_handlers.on_attach)
self.spatial.setOnDetachHandler(imu_handlers.on_detach)
self.spatial.setOnErrorhandler(imu_handlers.on_error)
self.spatial.setOnSpatialDataHandler(imu_handlers.on_data)
self.spatial.openPhidget()
self.spatial.waitForAttach(10000)
self.spatial.setDataRate(4)
except:
print("Error connecting to IMU, I cannot handle this. " + \
"I will just go die now!")
exit(1)
#t = Thread(target=self.update_head)
#t.daemon = True
#t.start()
self.x = 0
self.y = 0
self.z = 0
data = copy.copy(Controller.imu_measurements)
while (len(data[2]) != 3):
data = copy.copy(Controller.imu_measurements)
print("here")
mag_v = np.array(data[2])
norm = np.linalg.norm(mag_v)
mag_v = mag_v / norm
x = mag_v[0]
y = mag_v[1]
z = mag_v[2]
# intial reference frame
self.state = [x, y, z]
self.update_head()
__author__ = 'Adam Stelmack'
__version__ = '2.1.8'
__date__ = 'May 17 2010'
#Basic imports
from ctypes import *
import sys
#Phidget specific imports
from Phidgets.Phidget import Phidget
from Phidgets.PhidgetException import PhidgetErrorCodes, PhidgetException
from Phidgets.Events.Events import SpatialDataEventArgs, AttachEventArgs, DetachEventArgs, ErrorEventArgs
from Phidgets.Devices.Spatial import Spatial, SpatialEventData, TimeSpan
#Create an accelerometer object
try:
spatial = Spatial()
except RuntimeError as e:
print("Runtime Exception: %s" % e.details)
print("Exiting....")
exit(1)
#Information Display Function
def DisplayDeviceInfo():
print(
"|------------|----------------------------------|--------------|------------|"
)
print(
"|- Attached -|- Type -|- Serial No. -|- Version -|"
)
print(
def startAccel(trialId, graph):
global accelFilename
global outPutTxt_a
global orientation
global fA
global totalTimeElapsed
global totalSamplesTaken_a
global totalAbsZAccel
global totalAVec
global totalAvgAVec
totalAvgAVec = 0
totalAVec = 0
totalAbsZAccel = 0
totalSamplesTaken_a = 0
totalTimeElapsed = 0
# Setutp graphing ability
outPutTxt_a = graph
orientation = True # True corresponds to "right-side up"
if graph:
accelFilename = str(trialId) + "_accelOutput.txt"
fA = open(accelFilename, 'w') #WRITES OVER PREVIOUS DATA
header = "#Trial: " + str(
trialId) + " (x[g], y[g], z[g], 3D A_Vec, samples) \n"
fA.write(header)
#Create an accelerometer object
try:
global spatial
spatial = Spatial()
except RuntimeError as e:
print("Runtime Exception: %s" % e.details)
print("Exiting....")
exit(1)
try:
spatial.setOnAttachHandler(SpatialAttached)
spatial.setOnDetachHandler(SpatialDetached)
spatial.setOnErrorhandler(SpatialError)
spatial.setOnSpatialDataHandler(SpatialData)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
print("Opening phidget object....")
try:
spatial.openPhidget()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
print("Waiting for attach....")
try:
spatial.waitForAttach(10000)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
try:
spatial.closePhidget()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
print("Exiting....")
exit(1)
else:
spatial.setDataRate(24) ############### Sample rate is 24ms averaged
def AttachSpatial(databasepath, serialNumber):
def onAttachHandler(event):
logString = "Spatial Attached " + str(event.device.getSerialNum())
#print(logString)
DisplayAttachedDeviceInfo(event.device)
def onDetachHandler(event):
logString = "Spatial Detached " + str(event.device.getSerialNum())
#print(logString)
DisplayDetachedDeviceInfo(event.device)
event.device.closePhidget()
def onErrorHandler(event):
logString = "Spatial Error " + str(
event.device.getSerialNum()) + ", Error: " + event.description
#print(logString)
DisplayErrorDeviceInfo(event.device)
def onServerConnectHandler(event):
logString = "Spatial Server Connect " + str(
event.device.getSerialNum())
#print(logString)
def onServerDisconnectHandler(event):
logString = "Spatial Server Disconnect " + str(
event.device.getSerialNum())
#print(logString)
def spatialDataHandler(event):
logString = "Spatial Changed " + str(event.device.getSerialNum())
#print(logString)
try:
conn = sqlite3.connect(databasepath)
index = 0
for spatialData in enumerate(event.spatialData):
accelX = 0
accelY = 0
accelZ = 0
if len(spatialData[1].Acceleration) > 0:
accelX = spatialData[1].Acceleration[0]
accelY = spatialData[1].Acceleration[1]
if len(spatialData[1].Acceleration) > 2:
accelZ = spatialData[1].Acceleration[2]
angularX = 0
angularY = 0
angularZ = 0
if len(spatialData[1].AngularRate) > 0:
angularX = spatialData[1].AngularRate[0]
angularY = spatialData[1].AngularRate[1]
if len(spatialData[1].AngularRate) > 2:
angularZ = spatialData[1].AngularRate[2]
magneticX = 0
magneticY = 0
magneticZ = 0
if len(spatialData[1].MagneticField) > 0:
magneticX = spatialData[1].MagneticField[0]
magneticY = spatialData[1].MagneticField[1]
if len(spatialData[1].AngularRate) > 2:
magneticZ = spatialData[1].MagneticField[2]
conn.execute(
"INSERT INTO SPATIAL_DATACHANGE VALUES(NULL, DateTime('now'), ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?)",
(event.device.getSerialNum(), index, accelX, accelY,
accelZ, angularX, angularY, angularZ, magneticX,
magneticY, magneticZ))
index += 1
conn.commit()
conn.close()
except sqlite3.Error as e:
print "An error occurred:", e.args[0]
try:
p = Spatial()
p.setOnAttachHandler(onAttachHandler)
p.setOnDetachHandler(onDetachHandler)
p.setOnErrorhandler(onErrorHandler)
p.setOnServerConnectHandler(onServerConnectHandler)
p.setOnServerDisconnectHandler(onServerDisconnectHandler)
p.setOnSpatialDataHandler(spatialDataHandler)
p.openPhidget(serialNumber)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting...")
exit(1)
#!/usr/bin/env python
import serial
import time
import math
#Basic imports
from ctypes import *
import sys
#Phidget specific imports
from Phidgets.Phidget import Phidget
from Phidgets.PhidgetException import PhidgetErrorCodes, PhidgetException
from Phidgets.Events.Events import SpatialDataEventArgs, AttachEventArgs, DetachEventArgs, ErrorEventArgs
from Phidgets.Devices.Spatial import Spatial, SpatialEventData, TimeSpan
sp = Spatial()
print("Opening phidget object....")
try:
sp.openPhidget()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
print("Waiting for attach....")
try:
sp.waitForAttach(6000)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
try:
