def main():
address = "D9:05:CD:93:E5:FC" #select_device()
print("start connecting ", address)
device = MetaWear(address)
device.connect()
print("Connected")
pattern = LedPattern(repeat_count=Const.LED_REPEAT_INDEFINITELY)
libmetawear.mbl_mw_led_load_preset_pattern(byref(pattern), LedPreset.SOLID)
libmetawear.mbl_mw_led_write_pattern(device.board, byref(pattern),
LedColor.GREEN)
libmetawear.mbl_mw_led_play(device.board)
sleep(5.0)
libmetawear.mbl_mw_led_stop_and_clear(device.board)
sleep(1.0)
device.disconnect()
sleep(1.0)
device = MetaWear('FB:81:71:31:92:7A')
device.connect()
# Callback function to process/parse the battery data
def data_handler(self, ctx, data):
print("%s -> %s" % (self.device.address, parse_value(data)))
callback = FnVoid_VoidP_DataP(data_handler)
print("Configuring device")
libmetawear.mbl_mw_settings_set_connection_parameters(device.board, 7.5, 7.5,
0, 6000)
battery_signal = libmetawear.mbl_mw_settings_get_battery_state_data_signal(
device.board)
libmetawear.mbl_mw_datasignal_subscribe(battery_signal, None, callback)
sleep(1.0)
libmetawear.mbl_mw_datasignal_read(battery_signal)
sleep(5.0)
libmetawear.mbl_mw_datasignal_unsubscribe(battery_signal)
libmetawear.mbl_mw_debug_disconnect(device.board)
device.on_disconnect = lambda status: print("we are disconnected!")
device.disconnect()
class MetaWearClient(object):
"""A MetaWear communication client.
This client bridges the gap between the
`MetaWear C++ API <https://github.com/mbientlab/Metawear-CppAPI>`_
and a GATT communication package in Python. It provides Pythonic
interface to using the MetaWear boards, allowing for rapid
development and testing.
:param str address: A Bluetooth MAC address to a MetaWear board.
:param str device: Specifying which Bluetooth device to use. Defaults
to ``hci0``.
:param bool connect: If client should connect automatically, or wait for
explicit :py:meth:`~MetaWearClient.connect` call. Default is ``True``.
:param bool debug: If printout of all sent and received
data should be done.
"""
def __init__(self, address, device='hci0', connect=True, debug=False):
"""Constructor."""
self._address = address
self._debug = debug
if self._debug:
add_stream_logger()
log.info("Creating MetaWearClient for {0}...".format(address))
self.mw = MetaWear(self._address, device=device)
log.info("Client started for BLE device {0} on {1}...".format(
self._address, device))
self.accelerometer = None
#self.gpio = None
self.gyroscope = None
self.magnetometer = None
self.barometer = None
self.ambient_light = None
self.switch = None
self.settings = None
self.temperature = None
self.haptic = None
self.led = None
self.sensorfusion = None
if connect:
self.connect()
@property
def board(self):
return self.mw.board
@property
def firmware_version(self):
return self.mw.info['firmware']
@property
def hardware_version(self):
return self.mw.info['hardware']
@property
def manufacturer(self):
return self.mw.info['manufacturer']
@property
def serial(self):
return self.mw.info['serial']
@property
def model(self):
return self.mw.info['model']
def __str__(self):
return "MetaWearClient, {0}: {1}".format(
self._address, self.mw.info)
def __repr__(self):
return "<MetaWearClient, {0}>".format(self._address)
def connect(self):
"""Connect this client to the MetaWear device."""
self.mw.connect()
self._initialize_modules()
def disconnect(self):
"""Disconnects this client from the MetaWear device."""
self.mw.disconnect()
def _initialize_modules(self):
#self.gpio = modules.GpioModule(
# self.board,
# libmetawear.mbl_mw_metawearboard_lookup_module(
# self.board, modules.Modules.MBL_MW_MODULE_GPIO),
# debug=self._debug)
self.accelerometer = modules.AccelerometerModule(
self.board,
libmetawear.mbl_mw_metawearboard_lookup_module(
self.board, modules.Modules.MBL_MW_MODULE_ACCELEROMETER),
debug=self._debug)
self.gyroscope = modules.GyroscopeModule(
self.board,
libmetawear.mbl_mw_metawearboard_lookup_module(
self.board, modules.Modules.MBL_MW_MODULE_GYRO),
debug=self._debug)
self.magnetometer = modules.MagnetometerModule(
self.board,
libmetawear.mbl_mw_metawearboard_lookup_module(
self.board, modules.Modules.MBL_MW_MODULE_MAGNETOMETER),
debug=self._debug)
self.barometer = modules.BarometerModule(
self.board,
libmetawear.mbl_mw_metawearboard_lookup_module(
self.board, modules.Modules.MBL_MW_MODULE_BAROMETER),
debug=self._debug)
self.ambient_light = modules.AmbientLightModule(
self.board,
libmetawear.mbl_mw_metawearboard_lookup_module(
self.board, modules.Modules.MBL_MW_MODULE_AMBIENT_LIGHT),
debug=self._debug)
self.switch = modules.SwitchModule(self.board, debug=self._debug)
self.settings = modules.SettingsModule(self.board, debug=self._debug)
self.temperature = modules.TemperatureModule(
self.board, debug=self._debug)
self.haptic = modules.HapticModule(self.board, debug=self._debug)
self.led = modules.LEDModule(self.board, debug=self._debug)
self.sensorfusion = modules.SensorFusionModule(
self.board,
libmetawear.mbl_mw_metawearboard_lookup_module(
self.board, modules.Modules.MBL_MW_MODULE_SENSOR_FUSION),
debug=self._debug)
class s1:
def __init__(self, filename,sensorAddress):
self.device = MetaWear(sensorAddress)
self.board = self.device.board
self.filename = filename
self.device.connect()
self.cnt = 0
print("connected to", self.device.address)
sleep(2)
self.sensordatastr = ""
self.EulerAngels= None
self.euler_signal = None
self.checkLogFiles(self.filename)
self.euler_callback = FnVoid_VoidP_DataP(self.data_handler)
self.sensorData = {"Name":self.filename,"epoch":0,"heading":0,"pitch":0,"roll":0,"yaw":0,"logs":0}
self.checkLogFiles("log1.csv")
########################################################################
def close(self):
libmetawear.mbl_mw_sensor_fusion_stop(self.board)
libmetawear.mbl_mw_sensor_fusion_clear_enabled_mask(self.board)
libmetawear.mbl_mw_datasignal_unsubscribe(self.euler_signal)
self.device.disconnect()
sleep(1)
print("DISCONNETED")
########################################################################
def checkLogFiles(self,filename):
path.exists(filename)
res = path.exists(filename)
if res == False:
print("no file found, creating file")
f = open(filename,"w+")
f.close()
print ("file created")
with open(filename, mode='w+') as csv_file:
fieldnames = ['epoch', 'pitch', 'roll','yaw']
writer = csv.DictWriter(csv_file, fieldnames=fieldnames, delimiter = ',')
writer.writeheader()
else:
print ("File found in the path")
########################################################################
def logData(self,filename,data):
f = open(filename,"a+")
f.write(data)
f.write("\n")
f.close()
########################################################################
def data_handler(self,content,data):
EulerAngels = parse_value(data)
#print (EulerAngels)
pi = pointer(EulerAngels)
self.sensordatastr = str(data.contents.epoch)+","+ str(("%.4f" %pi.contents.heading)) +","+ str(("%.4f" %pi.contents.pitch))+","+ str(("%.4f" %pi.contents.roll))+","+str(("%.4f" %pi.contents.yaw))
#print (sensordatastr)
self.logData(self.filename,self.sensordatastr)
#sleep(0.05)
self.sensorData["epoch"] = (data.contents.epoch)
self.sensorData["heading"] = ("%.4f" %pi.contents.heading)
self.sensorData["pitch"] = ("%.4f" %pi.contents.pitch)
self.sensorData["roll"] = ("%.4f" %pi.contents.roll)
self.sensorData["yaw"] = ("%.4f" %pi.contents.yaw)
self.sensorData["logs"] = self.cnt
self.cnt = self.cnt +1
print (self.sensorData)
sleep(0.02)
########################################################################
def run(self):
try:
self.euler_signal = libmetawear.mbl_mw_sensor_fusion_get_data_signal(self.board, SensorFusionData.EULER_ANGLE)
libmetawear.mbl_mw_datasignal_subscribe(self.euler_signal, None, self.euler_callback)
libmetawear.mbl_mw_sensor_fusion_enable_data(self.board, SensorFusionData.EULER_ANGLE)
libmetawear.mbl_mw_sensor_fusion_set_mode(self.board, SensorFusionMode.NDOF)
libmetawear.mbl_mw_sensor_fusion_write_config(self.board)
libmetawear.mbl_mw_sensor_fusion_start(self.board)
self.e.wait()
input("")
except KeyboardInterrupt as e:
print (e)
self.close()
sys.exit()
class MetaWearClient(object):
"""A MetaWear communication client.
This client bridges the gap between the
`MetaWear C++ API <https://github.com/mbientlab/Metawear-CppAPI>`_
and a GATT communication package in Python. It provides Pythonic
interface to using the MetaWear boards, allowing for rapid
development and testing.
:param str address: A Bluetooth MAC address to a MetaWear board.
:param str device: Specifying which Bluetooth device to use. Defaults
to ``hci0`` on Linux. Not available on Windows.
:param bool connect: If client should connect automatically, or wait for
explicit :py:meth:`~MetaWearClient.connect` call. Default is ``True``.
:param bool debug: If printout of all sent and received
data should be done.
"""
def __init__(self, address, device='hci0', connect=True, debug=False):
"""Constructor."""
self._address = address
self._debug = debug
if self._debug:
add_stream_logger()
log.info("Creating MetaWearClient for {0}...".format(address))
self.mw = MetaWear(self._address, hci_mac=device)
log.debug("Client started for BLE device {0}...".format(self._address))
self.accelerometer = None
#self.gpio = None
self.gyroscope = None
self.magnetometer = None
self.barometer = None
self.ambient_light = None
self.switch = None
self.settings = None
self.temperature = None
self.haptic = None
self.led = None
self.sensorfusion = None
if connect:
self.connect()
@property
def board(self):
return self.mw.board
@property
def firmware_version(self):
return self.mw.info['firmware']
@property
def hardware_version(self):
return self.mw.info['hardware']
@property
def manufacturer(self):
return self.mw.info['manufacturer']
@property
def serial(self):
return self.mw.info['serial']
@property
def model(self):
return self.mw.info['model']
def __str__(self):
return "MetaWearClient, {0}: {1}".format(
self._address, self.mw.info)
def __repr__(self):
return "<MetaWearClient, {0}>".format(self._address)
def connect(self):
"""Connect this client to the MetaWear device."""
self.mw.connect()
self._initialize_modules()
def disconnect(self):
"""Disconnects this client from the MetaWear device."""
self.mw.disconnect()
def _initialize_modules(self):
#self.gpio = modules.GpioModule(
# self.board,
# libmetawear.mbl_mw_metawearboard_lookup_module(
# self.board, modules.Modules.MBL_MW_MODULE_GPIO))
self.accelerometer = modules.AccelerometerModule(
self.board,
libmetawear.mbl_mw_metawearboard_lookup_module(
self.board, modules.Modules.MBL_MW_MODULE_ACCELEROMETER))
self.gyroscope = modules.GyroscopeModule(
self.board,
libmetawear.mbl_mw_metawearboard_lookup_module(
self.board, modules.Modules.MBL_MW_MODULE_GYRO))
self.magnetometer = modules.MagnetometerModule(
self.board,
libmetawear.mbl_mw_metawearboard_lookup_module(
self.board, modules.Modules.MBL_MW_MODULE_MAGNETOMETER))
self.barometer = modules.BarometerModule(
self.board,
libmetawear.mbl_mw_metawearboard_lookup_module(
self.board, modules.Modules.MBL_MW_MODULE_BAROMETER))
self.ambient_light = modules.AmbientLightModule(
self.board,
libmetawear.mbl_mw_metawearboard_lookup_module(
self.board, modules.Modules.MBL_MW_MODULE_AMBIENT_LIGHT))
self.switch = modules.SwitchModule(self.board)
self.settings = modules.SettingsModule(self.board)
self.temperature = modules.TemperatureModule(self.board)
self.haptic = modules.HapticModule(self.board)
self.led = modules.LEDModule(self.board)
self.sensorfusion = modules.SensorFusionModule(
self.board,
libmetawear.mbl_mw_metawearboard_lookup_module(
self.board, modules.Modules.MBL_MW_MODULE_SENSOR_FUSION))
class sens1:
## INSTANTIATE THE CLASS ##
def __init__(self, **kwargs):
print("Go Sensor Class!!")
## INITIALISE THE DEVICE CONNECTION ##
def DevConnect(self, device):
self.device = MetaWear(device)
self.board = self.device.board
#self.sensordatastr = "" # Don't seem to need this ? ?
print("Connected to Sensor")
self.euler_signal = None
try:
self.device.connect() # Attempt connection
except:
print("FAILED TO CONNECT...")
## Do Nothing Here - For other Class ##
def startup(self):
print("For Posterity...")
## CONTINUOUS RUN ##
def DevRun(self):
try:
## Get data and print to console ##
self.euler_signal = libmetawear.mbl_mw_sensor_fusion_get_data_signal(
self.board, SensorFusionData.EULER_ANGLE)
self.euler_callback = FnVoid_VoidP_DataP(
lambda context, data: print("epoch: %s, euler %s\n" % (
data.contents.epoch, parse_value(data))))
## Required for data extraction ##
libmetawear.mbl_mw_datasignal_subscribe(self.euler_signal, None,
self.euler_callback)
libmetawear.mbl_mw_sensor_fusion_enable_data(
self.board, SensorFusionData.EULER_ANGLE)
libmetawear.mbl_mw_sensor_fusion_set_mode(self.board,
SensorFusionMode.NDOF)
libmetawear.mbl_mw_sensor_fusion_write_config(self.board)
libmetawear.mbl_mw_sensor_fusion_start(self.board)
#input('') # Don't seem to need this ? ?
except OSError as err:
print("OS ERROR {}".format(err))
self.DevClose()
print("Device closed properly...")
sys.exit()
except ValueError:
print("Error with variable...")
self.DevClose()
print("Device closed properly...")
sys.exit()
except:
print("Unexpected Error:", sys.exc_info()[0])
self.DevClose()
print("Device closed properly...")
sys.exit()
## CLOSE THE CONNECTION PROPERLY ##
def DevClose(self):
libmetawear.mbl_mw_sensor_fusion_stop(self.board)
libmetawear.mbl_mw_sensor_fusion_clear_enabled_mask(self.board)
libmetawear.mbl_mw_datasignal_unsubscribe(self.euler_signal)
self.device.disconnect()
sleep(1)
class sens1:
filename = 'log1.csv' # Log file - remove later
## INSTANTIATE THE CLASS ##
def __init__(self, **kwargs):
self.cnt = 0
print("Go Sensor Class!!")
## INITIALISE THE DEVICE CONNECTION ##
def DevConnect(self, device):
self.device = MetaWear(device)
self.board = self.device.board
#self.sensordatastr = "" # Don't seem to need this ? ?
self.euler_signal = None # only needed in 'close()'
print("Connected to sensor 1")
try:
self.device.connect()
except:
print("FAILED TO CONNECT...")
## SETUP VARIOUS VARIABLES ##
def startup(self):
try:
self.sensordatastr = ""
self.EulerAngels = None
self.euler_signal = None
#self.checkLogFiles(self.filename) # create/check csv backup file
## ERROR HERE - REMOVED ##
#self.euler_callback = FnVoid_VoidP_DataP(self.data_handler)
## Create Data Dictionary ##
self.sensorData = {
"epoch": 0,
"heading": 0,
"pitch": 0,
"roll": 0,
"yaw": 0,
"logs": 0
} # removed 'filename'
except OSError as err:
print("OS ERROR {}".format(err))
self.DevClose()
print("Device closed properly...")
sys.exit()
except ValueError:
print("Error with variable...")
self.DevClose()
print("Device closed properly...")
sys.exit()
except:
print("Unexpected Error:", sys.exc_info()[0])
self.DevClose()
print("Device closed properly...")
sys.exit()
## CONTINUOUS RUN - Threaded? ##
def DevRun(self):
try:
## Retrieve Sensor Data? ##
self.euler_signal = libmetawear.mbl_mw_sensor_fusion_get_data_signal(
self.board, SensorFusionData.EULER_ANGLE)
## View Data Directly - Removed ##
#self.euler_callback = FnVoid_VoidP_DataP(lambda context,data:print("epoch: %s, euler %s\n" % (data.contents.epoch, parse_value(data))))
## From initi function ##
self.euler_callback = FnVoid_VoidP_DataP(self.data_handler)
## All required for Data Extraction? ##
libmetawear.mbl_mw_datasignal_subscribe(self.euler_signal, None,
self.euler_callback)
libmetawear.mbl_mw_sensor_fusion_enable_data(
self.board, SensorFusionData.EULER_ANGLE)
libmetawear.mbl_mw_sensor_fusion_set_mode(self.board,
SensorFusionMode.NDOF)
libmetawear.mbl_mw_sensor_fusion_write_config(self.board)
libmetawear.mbl_mw_sensor_fusion_start(self.board)
#self.e.wait() # what is this for ? ? - removed
#input('') # what is this for ? ? - Does nothing
## Catch ANY errors ##
except OSError as err:
print("OS ERROR {}".format(err))
self.DevClose()
print("Device closed properly...")
sys.exit()
except ValueError:
print("Error with variable...")
self.DevClose()
print("Device closed properly...")
sys.exit()
except:
print("Unexpected Error:", sys.exc_info()[0])
self.DevClose()
print("Device closed properly...")
sys.exit()
## CLOSE THE CONNECTION PROPERLY ##
def DevClose(self):
libmetawear.mbl_mw_sensor_fusion_stop(self.board)
libmetawear.mbl_mw_sensor_fusion_clear_enabled_mask(self.board)
libmetawear.mbl_mw_datasignal_unsubscribe(self.euler_signal)
self.device.disconnect()
time.sleep(1)
def data_handler(self, content, data):
## Extract data values? ##
EulerAngels = parse_value(data)
#print (EulerAngels) # REMOVE
pi = pointer(EulerAngels)
#self.sensordatastr = str(data.contents.epoch)+","+ str(("%.4f" %pi.contents.heading)) +","+ str(("%.4f" %pi.contents.pitch))+","+ str(("%.4f" %pi.contents.roll))+","+str(("%.4f" %pi.contents.yaw))
## Backup 'data' to csv file ##
#print (sensordatastr) # REMOVE
#self.logData(self.filename,self.sensordatastr)
#sleep(0.05)
## Update Dictionary data fields ##
self.sensorData["epoch"] = (data.contents.epoch)
self.sensorData["heading"] = ("%.4f" % pi.contents.heading)
self.sensorData["pitch"] = ("%.4f" % pi.contents.pitch)
self.sensorData["roll"] = ("%.4f" % pi.contents.roll)
self.sensorData["yaw"] = ("%.4f" % pi.contents.yaw)
self.sensorData["logs"] = self.cnt
self.cnt = self.cnt + 1
print(self.sensorData) # View Dictionary
#sleep(0.02) # REMOVED
## REMOVE - CHECK/CREATE CSV FILE ##
def checkLogFiles(self, filename):
## Does CSV file exist ##
res = os.path.exists(filename)
## Create if doesn't exist ##
if res == False:
print("no file found, creating file")
f = open(filename, "w+")
f.close()
print("file created")
with open(filename, mode='w+') as csv_file:
fieldnames = ['epoch', 'pitch', 'roll', 'yaw']
writer = csv.DictWriter(csv_file,
fieldnames=fieldnames,
delimiter=',')
writer.writeheader()
## File already existed ##
else:
print("File found in the path")
