def find_bluetooth_adapter(self, tty_port=None):
if tty_port is None:
tty_port = self.find_tty()
if tty_port is None:
raise ValueError('Bluetooth adapter not found!')
self.ble = BLE(tty_port)
def find_bluetooth_adapter(self, tty_port=None):
if tty_port is None:
tty_port = self.find_tty()
if tty_port is None:
raise ValueError('# Bluetooth adaptoru bulunamadi!\n#')
self.ble = BLE(tty_port)
def find_bluetooth_adapter(self, tty_port = None):
if tty_port is None:
tty_port = self.find_tty()
if tty_port is None:
raise ValueError('Bluetooth adapter not found!')
self.ble = BLE(tty_port)
def run():
import signal
QtCore.QCoreApplication.setOrganizationName("productize")
QtCore.QCoreApplication.setOrganizationDomain("productize.be")
QtCore.QCoreApplication.setApplicationName("BTLE tool")
app = QtGui.QApplication(["BTLE tool"])
signal.signal(signal.SIGINT, signal.SIG_DFL)
baud_rate = 115200
ble = BLE(baud_rate)
ble.start()
ct = ActivityThread(ble)
ble.scan_response.connect(lambda x: print_scan_response(ble, x))
ct.start()
return app.exec_()
def run():
import signal
QtCore.QCoreApplication.setOrganizationName("productize")
QtCore.QCoreApplication.setOrganizationDomain("productize.be")
QtCore.QCoreApplication.setApplicationName("BTLE tool")
app = QtGui.QApplication(["BTLE tool"])
signal.signal(signal.SIGINT, signal.SIG_DFL)
baud_rate = 115200
ble = BLE(baud_rate)
ble.start()
ct = ActivityThread(ble)
ble.scan_response.connect(lambda x: print_scan_response(ble, x))
ct.start()
return app.exec_()
def __init__(self, app):
super(MyWindow, self).__init__()
self.setupUi(self) #初始化GUI
self.loop = quamash.QEventLoop(app) # BLE协程循环
self.ble = BLE(self) # 实例化BLE
self.emit_thread = EmitThread(self) # 实例化Emit对象
self.emit_thread.signal.connect(self.image) # 实时成像发射信号与槽函数连接
self.save_thread = saveThread(self) # 实例化save对象（连续测量10组实时数据）
self.signal_slot() # 菜单栏的槽函数设置
self.alg = 'svd' # 默认调用灵敏度矩阵法
self.disp = 'interp' # 默认使用矩阵插值方式显示图像
self.refedata = np.zeros(28) # 空场参考值
self.projdata = np.zeros(28) # 历史测量值
self.proj_d = np.zeros(28) # 边界值差分（测量值-空场值）
self.elem_data = np.zeros(576) # 图像重建数值
self.statusBar().showMessage('Ready')
# 实例化MyFigure
self.F = MyFigure(width=16, height=9, dpi=100)
# ax1初始显示0
self.cache1 = self.F.ax1.bar(range(28), np.zeros(28), color='deepskyblue')
# 鼠标移动显示当前位置的图像重建数值大小
plt.gcf().canvas.mpl_connect('motion_notify_event', self.motion_notify)
# ax3初始显示为灰色
self.cache3 = []
for i in np.arange(8):
for j in np.arange(i + 1, 8):
cache, = self.F.ax3.plot([self.F.theta[i], self.F.theta[j]], [1, 1], color='dimgray')
self.cache3.append(cache)
plt.tight_layout()
plt.ion() #进入交互成像模式
self.gridLayout.addWidget(self.F, 0, 1) #将画布置于GUI界面中
class Myo(object):
def __init__(self):
self.ble = None
self.connection = None
def connect(self, tty_port = None):
self.safely_disconnect()
self.find_bluetooth_adapter(tty_port)
address = self.find_myo_device()
connection_packet = self.ble.connect(address)
self.connection = multiord(connection_packet.payload)[-1]
self.ble.wait_event(3, 0)
print('Connected.')
is_fw_valid = self.valid_firmware_version()
if is_fw_valid:
device_name = self.read_attribute(0x03)
print('Device name: %s' % device_name.payload[5:])
self.write_attribute(0x1d, b'\x01\x00')
self.write_attribute(0x24, b'\x02\x00')
self.initialize()
else:
raise ValueError('The firmware version must be v1.x or greater.')
def find_bluetooth_adapter(self, tty_port = None):
if tty_port is None:
tty_port = self.find_tty()
if tty_port is None:
raise ValueError('Bluetooth adapter not found!')
self.ble = BLE(tty_port)
def find_tty(self):
for port in comports():
print port
if re.search(r'PID=2458:0*1', port[2]):
return port[0]
return None
def run(self, timeout=None):
if self.connection is not None:
self.ble.receive_packet(timeout)
else:
raise ValueError('Myo device not paired.')
def valid_firmware_version(self):
firmware = self.read_attribute(0x17)
_, _, _, _, major, minor, patch, build = unpack('BHBBHHHH', firmware.payload)
print('Firmware version: %d.%d.%d.%d' % (major, minor, patch, build))
return major > 0
def add_listener(self, listener):
if self.ble is not None:
self.ble.add_listener(listener)
else:
print('Connect function must be called before adding a listener.')
def vibrate(self, duration):
cmd = b'\x03\x01'
if duration == VibrationType.LONG:
cmd = cmd + b'\x03'
elif duration == VibrationType.MEDIUM:
cmd = cmd + b'\x02'
elif duration == VibrationType.SHORT:
cmd = cmd + b'\x01'
else:
cmd = cmd + b'\x00'
self.write_attribute(0x19, cmd)
def initialize(self):
self.write_attribute(0x28, b'\x01\x00')
self.write_attribute(0x19, b'\x01\x03\x01\x01\x00')
self.write_attribute(0x19, b'\x01\x03\x01\x01\x01')
def find_myo_device(self):
print('Find Myo device...')
address = None
self.ble.start_scan()
while True:
packet = self.ble.receive_packet()
if packet.payload.endswith(b'\x06\x42\x48\x12\x4A\x7F\x2C\x48\x47\xB9\xDE\x04\xA9\x01\x00\x06\xD5'):
address = list(multiord(packet.payload[2:8]))
break
self.ble.end_scan()
return address
def write_attribute(self, attribute, value):
if self.connection is not None:
self.ble.write_attribute(self.connection, attribute, value)
def read_attribute(self, attribute):
if self.connection is not None:
return self.ble.read_attribute(self.connection, attribute)
return None
def safely_disconnect(self):
if self.ble is not None:
self.ble.end_scan()
self.ble.disconnect(0)
self.ble.disconnect(1)
self.ble.disconnect(2)
self.disconnect()
def disconnect(self):
if self.connection is not None:
self.ble.disconnect(self.connection)
class Myo(object):
def __init__(self):
self.ble = None
self.connection = None
def connect(self, tty_port=None):
self.safely_disconnect()
self.find_bluetooth_adapter(tty_port)
address = self.find_myo_device()
try:
connection_packet = self.ble.connect(address)
#print(str(connection_packet))
self.connection = multiord(connection_packet.payload) #[-1]
self.ble.wait_event(3, 0)
print('Connected.')
except Exception as e:
self.safely_disconnect()
raise
is_fw_valid = self.valid_firmware_version()
if is_fw_valid:
device_name = self.read_attribute(0x03)
print('Device name: %s' % device_name.payload[5:])
self.write_attribute(0x1d, b'\x01\x00')
self.write_attribute(0x24, b'\x02\x00')
self.initialize()
else:
raise ValueError('The firmware version must be v1.x or greater.')
def find_bluetooth_adapter(self, tty_port=None):
if tty_port is None:
tty_port = self.find_tty()
if tty_port is None:
raise ValueError('Bluetooth adapter not found!')
self.ble = BLE(tty_port)
def find_tty(self):
for port in comports():
for p in port:
print(p)
if re.search(r'PID=2458:0*1', port[2]):
return port[0]
print('No')
return None
def run(self, timeout=None):
if self.connection is not None:
self.ble.receive_packet(timeout)
return self.ble.getData()
else:
raise ValueError('Myo device not paired.')
def valid_firmware_version(self):
firmware = self.read_attribute(0x17)
_, _, _, _, major, minor, patch, build = unpack(
'BHBBHHHH', firmware.payload)
print('Firmware version: %d.%d.%d.%d' % (major, minor, patch, build))
return major > 0
def add_listener(self, listener):
if self.ble is not None:
self.ble.add_listener(listener)
else:
print('Connect function must be called before adding a listener.')
def vibrate(self, duration):
cmd = b'\x03\x01'
if duration == VibrationType.LONG:
cmd = cmd + b'\x03'
elif duration == VibrationType.MEDIUM:
cmd = cmd + b'\x02'
elif duration == VibrationType.SHORT:
cmd = cmd + b'\x01'
else:
cmd = cmd + b'\x00'
self.write_attribute(0x19, cmd)
def initialize(self):
self.write_attribute(0x28, b'\x01\x00')
self.write_attribute(0x19, b'\x01\x03\x01\x01\x00')
self.write_attribute(0x19, b'\x01\x03\x01\x01\x01')
def find_myo_device(self):
print('Find Myo device...')
address = None
self.ble.start_scan()
print('Scanning...')
while True:
packet = self.ble.receive_packet()
print(packet.payload.decode('utf-8'))
packet.payload = packet.payload.decode('utf-8')
if packet.payload.endswith(
'\x06\x42\x48\x12\x4A\x7F\x2C\x48\x47\xB9\xDE\x04\xA9\x01\x00\x06\xD5'
):
#packet.payload = str.encode(packet.payload)
print(packet.payload)
address = list(multiord(packet.payload[2:8]))
break
print(address)
self.ble.end_scan()
return address
def write_attribute(self, attribute, value):
if self.connection is not None:
self.ble.write_attribute(self.connection, attribute, value)
def read_attribute(self, attribute):
if self.connection is not None:
return self.ble.read_attribute(self.connection, attribute)
return None
def safely_disconnect(self):
if self.ble is not None:
self.ble.end_scan()
self.ble.disconnect(0)
self.ble.disconnect(1)
self.ble.disconnect(2)
self.disconnect()
def disconnect(self):
if self.connection is not None:
self.ble.disconnect(self.connection)
class Myo(object):
# Initializes ble object and connection
def __init__(self):
self.ble = None
self.connection = None
# Disconnects and then finds bluetooth usb adapter && myo device
def connect(self, tty_port=None):
self.safely_disconnect()
# Finds bluetooth adapter and myo device address
self.find_bluetooth_adapter(tty_port)
address = self.find_myo_device()
print("received address from function")
# Connects ble to myo
connection_packet = self.ble.connect(address)
self.connection = multiord(connection_packet.payload)[-1]
self.ble.wait_event(3, 0)
print("Connected.")
# Validate myo object
is_fw_valid = self.valid_firmware_version()
if is_fw_valid:
device_name = self.read_attribute(0x03)
print("Device name: %s" % device_name.payload[5:])
self.write_attribute(0x1D, b"\x01\x00")
self.write_attribute(0x24, b"\x02\x00")
self.initialize()
else:
raise ValueError("The firmware version must be v1.x or greater.")
# Find Bluetooth adapter
def find_bluetooth_adapter(self, tty_port=None):
if tty_port is None:
tty_port = self.find_tty()
if tty_port is None:
raise ValueError("Bluetooth adapter not found!")
self.ble = BLE(tty_port)
# Helper method to find tty port
def find_tty(self):
for port in comports():
if re.search(r"PID=2458:0*1", port[2]):
return port[0]
return None
# Runs and recieves packet while condition exists
def run(self, timeout=None):
if self.connection is not None:
self.ble.receive_packet(timeout)
else:
raise ValueError("Myo device not paired.")
# Helper method verify firmware version
def valid_firmware_version(self):
# Read firmware attribute
firmware = self.read_attribute(0x17)
_, _, _, _, major, minor, patch, build = unpack("BHBBHHHH", firmware.payload)
print("Firmware version: %d.%d.%d.%d" % (major, minor, patch, build))
return major > 0
# Adds device listener
def add_listener(self, listener):
if self.ble is not None:
self.ble.add_listener(listener)
else:
print("Connect function must be called before adding a listener.")
# Vibrates myo
def vibrate(self, duration):
# initial vibrate UUID
cmd = b"\x03\x01"
# Concatenate vibrate UUID base with Vibration length
if duration == VibrationType.LONG:
cmd = cmd + b"\x03"
elif duration == VibrationType.MEDIUM:
cmd = cmd + b"\x02"
elif duration == VibrationType.SHORT:
cmd = cmd + b"\x01"
else:
cmd = cmd + b"\x00"
# Write vibration attribute
self.write_attribute(0x19, cmd)
# Initialize myo object
def initialize(self):
self.write_attribute(0x28, b"\x01\x00")
self.write_attribute(0x19, b"\x01\x03\x01\x01\x00")
self.write_attribute(0x19, b"\x01\x03\x01\x01\x01")
# Finds myo by connecting with ble object
def find_myo_device(self):
print("Find Myo device...")
address = None
print("before ble startscan")
self.ble.start_scan()
print("after ble startscan")
while True:
packet = self.ble.receive_packet()
print("inside find myo loop")
if packet.payload.endswith(b"\x06\x42\x48\x12\x4A\x7F\x2C\x48\x47\xB9\xDE\x04\xA9\x01\x00\x06\xD5"):
print("package payload found!")
address = list(multiord(packet.payload[2:8]))
print("address found")
break
self.ble.end_scan()
print("returning address")
return address
# Write attributes to myo with attributes and value
def write_attribute(self, attribute, value):
if self.connection is not None:
self.ble.write_attribute(self.connection, attribute, value)
# Read attribute from myo
def read_attribute(self, attribute):
if self.connection is not None:
return self.ble.read_attribute(self.connection, attribute)
return None
# Graceful disconnect by removing ble object and disconnecting
def safely_disconnect(self):
if self.ble is not None:
self.ble.end_scan()
self.ble.disconnect(0)
self.ble.disconnect(1)
self.ble.disconnect(2)
self.disconnect()
# Disconnects current myo object
def disconnect(self):
if self.connection is not None:
self.ble.disconnect(self.connection)
class Myo(object):
def __init__(self):
self.ble = None
self.connection = None
def connect(self, tty_port=None):
self.safely_disconnect()
self.find_bluetooth_adapter(tty_port)
address = self.find_myo_device()
connection_packet = self.ble.connect(address)
self.connection = multiord(connection_packet.payload)[-1]
self.ble.wait_event(3, 0)
print('# BAGLANTI YAPILDI\n#')
is_fw_valid = self.valid_firmware_version()
if is_fw_valid:
device_name = self.read_attribute(0x03)
print('# Cihaz adi : %s\n#' % device_name.payload[5:])
self.write_attribute(0x1d, b'\x01\x00')
self.write_attribute(0x24, b'\x02\x00')
self.initialize()
else:
raise ValueError(
'# Myo Armband yazilimi 1.x veya uzeri olmali.\n#')
def find_bluetooth_adapter(self, tty_port=None):
if tty_port is None:
tty_port = self.find_tty()
if tty_port is None:
raise ValueError('# Bluetooth adaptoru bulunamadi!\n#')
self.ble = BLE(tty_port)
def find_tty(self):
for port in comports():
if re.search(r'PID=2458:0*1', port[2]):
return port[0]
return None
def run(self, timeout=None):
if self.connection is not None:
self.ble.receive_packet(timeout)
else:
raise ValueError('# Myo cihazi eslesemedi.\n')
def valid_firmware_version(self):
firmware = self.read_attribute(0x17)
_, _, _, _, major, minor, patch, build = unpack(
'BHBBHHHH', firmware.payload)
print('# Yazilim surumu: %d.%d.%d.%d\n#' %
(major, minor, patch, build))
return major > 0
def add_listener(self, listener):
if self.ble is not None:
self.ble.add_listener(listener)
else:
print(
'# Connect function must be called before adding a listener.\n'
)
def vibrate(self, duration):
cmd = b'\x03\x01'
if duration == VibrationType.LONG:
cmd = cmd + b'\x03'
elif duration == VibrationType.MEDIUM:
cmd = cmd + b'\x02'
elif duration == VibrationType.SHORT:
cmd = cmd + b'\x01'
else:
cmd = cmd + b'\x00'
self.write_attribute(0x19, cmd)
def initialize(self):
self.write_attribute(0x28, b'\x01\x00')
self.write_attribute(0x19, b'\x01\x03\x01\x01\x00')
self.write_attribute(0x19, b'\x01\x03\x01\x01\x01')
def find_myo_device(self):
print('# Myo cihazi araniyor...\n#')
address = None
self.ble.start_scan()
while True:
packet = self.ble.receive_packet()
if packet.payload.endswith(
b'\x06\x42\x48\x12\x4A\x7F\x2C\x48\x47\xB9\xDE\x04\xA9\x01\x00\x06\xD5'
):
address = list(multiord(packet.payload[2:8]))
break
self.ble.end_scan()
return address
def write_attribute(self, attribute, value):
if self.connection is not None:
self.ble.write_attribute(self.connection, attribute, value)
def read_attribute(self, attribute):
if self.connection is not None:
return self.ble.read_attribute(self.connection, attribute)
return None
def safely_disconnect(self):
if self.ble is not None:
self.ble.end_scan()
self.ble.disconnect(0)
self.ble.disconnect(1)
self.ble.disconnect(2)
self.disconnect()
def disconnect(self):
if self.connection is not None:
self.ble.disconnect(self.connection)
env = Environment((grid_min_coord_x, grid_min_coord_y), (grid_max_coord_x,grid_max_coord_y), (agent_coord_x,agent_coord_y), (goal_coord_x,goal_coord_y))
flag = input("do you want to enter any obstacles (Y/N)? ")
while flag == "Y":
bottom_left_coord_x = int(input("\t enter bottom left x coordinate: "))
bottom_left_coord_y = int(input("\t enter bottom left y coordinate: "))
top_right_coord_x = int(input("\t enter top right x coordinate: "))
top_right_coord_y = int(input("\t enter top right y coordinate: "))
env.add_obstacle((bottom_left_coord_x,bottom_left_coord_y), (top_right_coord_x,top_right_coord_y))
flag = input("do you want to enter more obstacles (Y/N)? ")
agent = Agent()
ble1 = BLE(4, -73, (0,0))
ble2 = BLE(4, -73, (100,0))
ble3 = BLE(4, -73, (50,50))
wp = WaypointPlanner(env, agent)
plan = wp.plan()
print(plan)
wp.visualise(plan)
