def start_device():
# Connect to BITalino
device = BITalino(settings.bitalino.mac_address)
# Set battery threshold
device.battery(settings.bitalino.battery_led_threshold)
# Read BITalino version
logger.info(device.version())
# Start Acquisition
device.start(settings.sampling.base_sample_rate, [0, 1, 2, 3])
return device
def launch_acquisition(msg):
global isAcquiring
isAcquiring = 1
macAddress = msg['payload']['macAddress']
# This example will collect data for 5 sec.
running_time = 9
batteryThreshold = 30
acqChannels = [0, 1, 2, 3, 4, 5]
samplingRate = 1000
nSamples = 10
digitalOutput = [1, 1]
# Connect to BITalino
device = BITalino(macAddress)
# Set battery threshold
device.battery(batteryThreshold)
# Read BITalino version
print(device.version())
# ON/OFF
device.trigger([1, 1])
device.trigger([0, 0])
# Start Acquisition
device.start(samplingRate, acqChannels)
start = time.time()
end = time.time()
while (end - start) < running_time and isAcquiring == 1:
# Read samples
data = device.read(nSamples)
print(data)
msg['payload']['val'] = data.tolist()
end = time.time()
# Stop acquisition
device.stop()
# Close connection
device.close()
isAcquiring = 0
return ("success")
# switch from one-offset to zero-offset
for i in range(nchans):
channels[i]-=1;
datatype = FieldTrip.DATATYPE_FLOAT32
ft_output.putHeader(nchans, float(fsample), datatype)
try:
# Connect to BITalino
device = BITalino(device)
except:
print "Error: cannot connect to BITalino"
exit()
# Read BITalino version
print(device.version())
# Set battery threshold
device.battery(batterythreshold)
# Start Acquisition
device.start(fsample, channels)
# Turn BITalino led on
digitalOutput = [1,1]
device.trigger(digitalOutput)
startfeedback = time.time();
countfeedback = 0;
print "STARTING STREAM"
# switch from one-offset to zero-offset
for i in range(nchans):
channels[i]-=1;
datatype = FieldTrip.DATATYPE_FLOAT32
ft_output.putHeader(nchans, float(fsample), datatype)
try:
# Connect to BITalino
device = BITalino(device)
except:
print("Error: cannot connect to BITalino")
exit()
# Read BITalino version
print((device.version()))
# Set battery threshold
device.battery(batterythreshold)
# Start Acquisition
device.start(fsample, channels)
# Turn BITalino led on
digitalOutput = [1,1]
device.trigger(digitalOutput)
startfeedback = time.time()
countfeedback = 0
print("STARTING STREAM")
def _start():
"""Start the module
This uses the global variables from setup and adds a set of global variables
"""
global parser, args, config, r, response, patch, name
global monitor, debug, device, fsample, blocksize, channels, batterythreshold, nchans, startfeedback, countfeedback, ft_host, ft_port, ft_output, datatype, digitalOutput
# this can be used to show parameters that have changed
monitor = EEGsynth.monitor(name=name, debug=patch.getint("general", "debug"))
# get the options from the configuration file
debug = patch.getint("general", "debug")
device = patch.getstring("bitalino", "device")
fsample = patch.getfloat("bitalino", "fsample", default=1000)
blocksize = patch.getint("bitalino", "blocksize", default=10)
channels = patch.getint("bitalino", "channels", multiple=True) # these should be one-offset
batterythreshold = patch.getint("bitalino", "batterythreshold", default=30)
# switch from one-offset to zero-offset
nchans = len(channels)
for i in range(nchans):
channels[i] -= 1
monitor.info("fsample = " + str(fsample))
monitor.info("channels = " + str(channels))
monitor.info("nchans = " + str(nchans))
monitor.info("blocksize = " + str(blocksize))
try:
ft_host = patch.getstring("fieldtrip", "hostname")
ft_port = patch.getint("fieldtrip", "port")
monitor.success("Trying to connect to buffer on %s:%i ..." % (ft_host, ft_port))
ft_output = FieldTrip.Client()
ft_output.connect(ft_host, ft_port)
monitor.success("Connected to output FieldTrip buffer")
except:
raise RuntimeError("cannot connect to output FieldTrip buffer")
datatype = FieldTrip.DATATYPE_FLOAT32
ft_output.putHeader(nchans, float(fsample), datatype)
try:
# Connect to BITalino
device = BITalino(device)
monitor.success((device.version()))
except:
raise RuntimeError("cannot connect to BITalino")
# Set battery threshold
device.battery(batterythreshold)
# Start Acquisition
device.start(fsample, channels)
# Turn BITalino led on
digitalOutput = [1, 1]
device.trigger(digitalOutput)
startfeedback = time.time()
countfeedback = 0
# there should not be any local variables in this function, they should all be global
if len(locals()):
print("LOCALS: " + ", ".join(locals().keys()))
ft_port = patch.getint('fieldtrip', 'port')
monitor.success('Trying to connect to buffer on %s:%i ...' %
(ft_host, ft_port))
ft_output = FieldTrip.Client()
ft_output.connect(ft_host, ft_port)
monitor.success('Connected to output FieldTrip buffer')
except:
raise RuntimeError("cannot connect to output FieldTrip buffer")
datatype = FieldTrip.DATATYPE_FLOAT32
ft_output.putHeader(nchans, float(fsample), datatype)
try:
# Connect to BITalino
device = BITalino(device)
monitor.success((device.version()))
except:
raise RuntimeError("cannot connect to BITalino")
# Set battery threshold
device.battery(batterythreshold)
# Start Acquisition
device.start(fsample, channels)
# Turn BITalino led on
digitalOutput = [1, 1]
device.trigger(digitalOutput)
startfeedback = time.time()
countfeedback = 0
def main():
# OS Specific Initializations
clearCmd = "cls||clear"
if platform.system() == 'Windows':
clearCmd = "cls"
print("Using Windows default console size 80x24")
columns = 80
rows = 24
else:
clearCmd = "clear"
rows, columns = os.popen('stty size', 'r').read().split()
print("Connecting to BITalino...")
# Set MAC Address with argument
defaultMACAddress = "20:16:12:21:98:56"
if len(sys.argv) == 2:
macAddress = sys.argv[1]
print("Using address: " + macAddress)
elif len(sys.argv) > 1:
print("Please input only 1 argument, which is the address of the BITalino device.")
print("Running without argument will use default MAC Address = " + defaultMACAddress)
print("Exiting...")
exit()
else:
macAddress = defaultMACAddress
print("Using default MAC address: " + macAddress)
# Setting other attributes
batteryThreshold = 30
acqChannels = [0,1]
samplingRate = 100
nSamples = 20
digitalOutput = [1,1]
# Connect to BITalino
device = BITalino(macAddress)
# Set battery threshold
device.battery(batteryThreshold)
# Read BITalino version
os.system(clearCmd)
print("Device Version:" + device.version())
# Start Acquisition
device.start(samplingRate, acqChannels)
# Take baseline measurement
p1Base = []
p2Base = []
start = time.time()
end = time.time()
samplingTime = 15
print("Sampling for baseline...")
while (end - start) < samplingTime:
# Sampling for baseline
baseSample = device.read(nSamples)
p1Base.append(numpy.mean(baseSample[:,5]))
p2Base.append(numpy.mean(baseSample[:,6]))
end = time.time()
p1B = numpy.mean(p1Base)
p2B = numpy.mean(p2Base)
print("\n")
p1P = "Player 1 Baseline: " + str(p1B)
print(p1P)
p2P = "Player 2 Baseline: " + str(p2B)
print(p2P)
print("\n\n\n\n\n\n")
print("Are you ready for the game? Type 'No' to exit".center(int(columns)," "))
response = sys.stdin.readline().rstrip()
if response == "No":
sys.exit()
print("\n")
print("Starting Game...".center(int(columns), " "))
time.sleep(5)
# Start Game
os.system(clearCmd)
gameRunning = True
player1Progress = 28
while gameRunning:
# While not reaching runningTime, read samples
rawData = device.read(nSamples)
portA1 = rawData[:,5]
#print "Port A1: ", portA1
valueA1 = numpy.mean(portA1 - p1B)
#print "Value A1: ", valueA1
#print ""
portA2 = rawData[:,6]
#print "Port A2: ", portA2
valueA2 = numpy.mean(portA2 - p2B)
#print "Value A2: ", valueA2
#print "\n"
if (valueA2 - valueA1) > 10:
player1Progress-=1
elif (valueA2 - valueA1) > 20:
plater1Progress-=2
elif (valueA1 - valueA2) > 10:
player1Progress+=1
elif (valueA1 - valueA2) > 20:
player1Progress+=2
print("\n\n")
print("Player 1 Reading:".center(int(columns)," "))
print("\n")
print(str(valueA1).center(int(columns)," "))
print("\n\n\n")
print("*****************************I*****************************".center(int(columns)," "))
progress = "P1 *" + ' '*player1Progress + 'O' + ' '*(56-player1Progress) + '* P2'
print(progress.center(int(columns)," "))
print("*****************************I*****************************".center(int(columns)," "))
print("\n\n\n")
print("Player 2 Reading:".center(int(columns)," "))
print("\n")
print(str(valueA2).center(int(columns)," "))
time.sleep(0.2)
os.system(clearCmd)
if player1Progress == 0:
print("\n\n\n\n\n")
print("Player 1 has won".center(int(columns)," "))
gameRunning = False
elif player1Progress == 56:
print("\n\n\n\n\n")
print("Player 2 has won".center(int(columns)," "))
gameRunning = False
# Turn BITalino LED on
device.trigger(digitalOutput)
# Stop acquisition
device.stop()
# Close connection
device.close()
class Bitalino(Node):
"""BITalino driver.
This node connects to a BITalino device and streams data at a provided rate.
It is based on the original BITalino Python library, with some performance
improvements and careful timestamping.
Two output streams are provided. The default output is the data read from the
analog and digital channels. The ``o_offsets`` output provides continuous offsets
between the local time and the estimated device time. This enables drift correction
to be performed during post-processing, although no significant drift has been
observed during testing.
Attributes:
o (Port): BITalino data, provides DataFrame.
o_offsets (Port): Time offsets, provide DataFrame.
Args:
port (string): The serial port.
e.g. ``COM3`` on Windows; ``/dev/tty.bitalino-DevB`` on MacOS;
``/dev/ttyUSB0`` on GNU/Linux.
rate (int): The device rate in Hz.
Possible values: ``1``, ``10``, ``100``, ``1000``. Default: ``1000``.
channels (tupple): The analog channels to read from.
Default: ``('A1', 'A2', 'A3', 'A4', 'A5', 'A6')``.
Example:
.. literalinclude:: /../examples/bitalino.yaml
:language: yaml
Notes:
.. attention::
Make sure to set your graph rate to an high-enough value, otherwise the device
internal buffer may saturate, and data may be lost. A 30Hz graph rate is
recommended for a 1000Hz device rate.
"""
def __init__(self,
port,
rate=1000,
channels=("A1", "A2", "A3", "A4", "A5", "A6")):
# Check port
if not port.startswith("/dev/") and not port.startswith("COM"):
raise ValueError(f"Invalid serial port: {port}")
# Check rate
if rate not in (1, 10, 100, 1000):
raise ValueError(f"Invalid rate: {rate}")
# Check channels
unique_channels = set(channels)
analog_channels = ["A1", "A2", "A3", "A4", "A5", "A6"]
channels = []
for channel_num, channel_name in enumerate(analog_channels):
if channel_name in unique_channels:
channels.append(channel_num)
# Set column names
# Sequence number and numeric channels are always present
self.columns = ["SEQ", "I1", "I2", "O1", "O2"]
# Add required analog channels
for channel in channels:
self.columns.append(analog_channels[channel])
# Compute the sample size in bytes
self.channel_count = len(channels)
if self.channel_count <= 4:
self.sample_size = int(
np.ceil((12.0 + 10.0 * self.channel_count) / 8.0))
else:
self.sample_size = int(
np.ceil((52.0 + 6.0 * (self.channel_count - 4)) / 8.0))
# Connect to BITalino
try:
self.device = BITalino(port)
except UnicodeDecodeError:
# This can happen after an internal buffer overflow.
# The solution seems to power off the device and repair.
raise WorkerInterrupt("Unstable state. Could not connect.")
except Exception as e:
raise WorkerInterrupt(e)
# Set battery threshold
# The red led will light up at 5-10%
self.device.battery(30)
# Read BITalino version
self.logger.info(self.device.version())
# Read state and show battery level
# http://forum.bitalino.com/viewtopic.php?t=448
state = self.device.state()
battery = round(
1 + (state["battery"] - 511) * ((99 - 1) / (645 - 511)), 2)
self.logger.info("Battery: %.2f%%", battery)
# Start Acquisition
self.device.start(rate, channels)
# Initialize counters for timestamp indices and continuity checks
self.last_sample_counter = 15
self.time_device = np.datetime64(int(time.time() * 1e6), "us")
self.time_local = self.time_device
self.time_delta = np.timedelta64(int(1000 / rate), "ms")
# Set meta
self.meta = {"rate": rate}
def update(self):
# Send BITalino data
data, timestamps = self._read_all()
self.o.set(data, timestamps, self.columns, self.meta)
# Send time offsets
if len(timestamps) > 0:
offset = (self.time_local - self.time_device).astype(int)
self.o_offsets.set(
[[self.time_device, offset]],
[self.time_local],
["time_device", "time_offset"],
)
def _read_all(self):
"""Read all available data"""
# Make sure the device is in aquisition mode
if not self.device.started:
raise Exception(ExceptionCode.DEVICE_NOT_IN_ACQUISITION)
# We only support serial connections
if not self.device.serial:
raise Exception("Device must be opened in serial mode.")
# Check buffer size and limits
buffer_size = self.device.socket.in_waiting
if buffer_size == 1020:
# The device buffer can hold up to 1020 bytes
self.logger.warn(
"OS serial buffer saturated. Increase graph rate or decrease device rate."
)
# Compute the maximum number of samples we can get
sample_count = int(buffer_size / self.sample_size)
# Infer timestamps from sample count and rate
# Will fail dramatically if too much packets are lost
# Tests show that there is no significant drift during a 2-hour session
start = self.time_device
stop = start + self.time_delta * sample_count
self.time_device = stop
timestamps = np.arange(start, stop, self.time_delta)
self.time_local = np.datetime64(int(time.time() * 1e6), "us")
# Infer timestamps from local time and rate
# /!\ Not monotonic
# stop = np.datetime64(int(time.time() * 1e6), 'us')
# start = stop - (sample_count * self.time_delta)
# timestamps = np.arange(start, stop, self.time_delta)
# Read raw samples from device
raw = self.device.socket.read(sample_count * self.sample_size)
# Initialize the output matrix
data = np.full((sample_count, 5 + self.channel_count), np.nan)
# Parse the raw data
# http://bitalino.com/datasheets/REVOLUTION_MCU_Block_Datasheet.pdf
for sample_number in range(sample_count):
# Extract sample
start = sample_number * self.sample_size
stop = start + self.sample_size
sample = list(
struct.unpack(self.sample_size * "B ", raw[start:stop]))
# Is the sample corrupted?
crc = sample[-1] & 0x0F
sample[-1] = sample[-1] & 0xF0
x = 0
for i in range(self.sample_size):
for bit in range(7, -1, -1):
x = x << 1
if x & 0x10:
x = x ^ 0x03
x = x ^ ((sample[i] >> bit) & 0x01)
if crc != x & 0x0F:
self.logger.warn("Checksum failed.")
continue
# Parse sample
data[sample_number, 0] = sample[-1] >> 4
data[sample_number, 1] = sample[-2] >> 7 & 0x01
data[sample_number, 2] = sample[-2] >> 6 & 0x01
data[sample_number, 3] = sample[-2] >> 5 & 0x01
data[sample_number, 4] = sample[-2] >> 4 & 0x01
if self.channel_count > 0:
data[sample_number,
5] = ((sample[-2] & 0x0F) << 6) | (sample[-3] >> 2)
if self.channel_count > 1:
data[sample_number,
6] = ((sample[-3] & 0x03) << 8) | sample[-4]
if self.channel_count > 2:
data[sample_number, 7] = (sample[-5] << 2) | (sample[-6] >> 6)
if self.channel_count > 3:
data[sample_number,
8] = ((sample[-6] & 0x3F) << 4) | (sample[-7] >> 4)
if self.channel_count > 4:
data[sample_number,
9] = ((sample[-7] & 0x0F) << 2) | (sample[-8] >> 6)
if self.channel_count > 5:
data[sample_number, 10] = sample[-8] & 0x3F
# Did we miss any sample?
# Check for discontinuity in the internal sample counter, encoded to 4 bits.
sample_counter = data[sample_number, 0]
if sample_counter == self.last_sample_counter + 1:
pass
elif sample_counter == 0 and self.last_sample_counter == 15:
pass
else:
self.logger.warn("Missed sample.")
self.last_sample_counter = sample_counter
return data, timestamps
def terminate(self):
self.device.stop()
self.device.close()
macAddress) + "_" + time.strftime("%Y-%m-%d_%H-%M-%S") + ".txt"
print("Using default filename:\n" + filename)
# Setting other attributes
batteryThreshold = 30
# Connect to BITalino
print("\nConnecting to BITalino using MAC Address: " + macAddress)
device = BITalino(macAddress)
print("\nDevice Connected.\n")
# Set battery threshold
device.battery(batteryThreshold)
# Read BITalino version
print("Device Version: " + str(device.version()))
# Show channels monitored
print("Monitoring channels: " + str(acqChannels))
# Show sampling rate
print("Sampling Rate: " + str(samplingRate) + " Hz.\n")
# Start Acquisition
device.start(samplingRate, acqChannels)
# Sample for baseline: 1 min
outputFile = dc.initOutput(filename, macAddress, acqChannels, samplingRate)
dc.writeOutTimed(outputFile, device, acqChannels, samplingRate, 60)
# Open Video and record data
# coding: utf_8 from bitalino import BITalino macAddress = "20:16:12:21:35:82" # MACアドレス device = BITalino(macAddress) # デバイスの取得 print(device.version()) # バージョンの表示 samplingRate = 1000 # サンプリングレート acqChannels = [0] # 取得チャネル（A1） nSamples = 10 # 取得サンプル数 device.start(samplingRate, acqChannels) # データ取得開始 data = device.read(nSamples) print(data) device.stop() device.close()
try:
print "connecting to BITalino(%s)..." %macAddress
device = BITalino(macAddress)
connection=1;
break
except TypeError:
print "MAC address (%s) is not defined..." %macAddress
print "connecting to BITalino(%s)..."
except ValueError:
print "MAC address (%s) is not defined..." %macAddress
print "connecting to BITalino(%s)..."
# Set battery threshold
device.battery(batteryThreshold)
# Read BITalino version
print device.version()
print "connected to BITalino(%s)" %macAddress
print "creating Signal stream..."
info = StreamInfo('BiTalino','BiTalino',+len(acqChannels),samplingRate,'float32','myuid34234');
# next make an outlet
outlet = StreamOutlet(info)
print"created Signal stream : %s" %info.name()
print("starting acquisition...")
# Start Acquisition
device.start(samplingRate, acqChannels)
# Read samples
while 1:
data=device.read(nSamples)
print data
outlet.push_sample(data[0][defaultChannel+1:])
def connect(self):
device = BITalino(self.MAC_ADDRESS)
# Read BITalino version
print("Connected to Device")
print(device.version())
return device
Float32,
queue_size=10)
dir_data_pub = rospy.Publisher("/bitalino/direction",
Float32,
queue_size=10)
# dir_data_pub = rospy.Publisher("/bitalino/direction", Float32, queue_size=10)
macAddress = "20:16:07:18:15:11"
# Bitalino setup
batteryThreshold = 30
acqChannels = [2, 3]
samplingRate = 1000
nSamples = 50
device = BITalino(macAddress)
device.battery(batteryThreshold)
rospy.loginfo(device.version())
device.start(samplingRate, acqChannels)
msg = Float32()
cocontract_data = 0
direction_data = 0
rospy.on_shutdown(clean_shutdown)
rospy.loginfo("Finding neutral direction signal")
max_cnt = 100
for i in range(0, max_cnt):
# Read samples
data = device.read(nSamples)
# data = data[:]
data = np.transpose(data)
data = data[-2:]
