def __init__(self, interface):
"""
Constructor
:param interface: Neblina communication interface. See Neblina.Interface.
"""
self.core = NeblinaCore(interface)
def __init__(self, interface):
"""
Constructor
:param interface: Neblina communication interface. See Neblina.Interface.
"""
self.core = NeblinaCore(interface)
class NeblinaAPI(object):
"""
Neblina Application Programming Interface.
This is used to communicate with Neblina.
"""
def __init__(self, interface):
"""
Constructor
:param interface: Neblina communication interface. See Neblina.Interface.
"""
self.core = NeblinaCore(interface)
def close(self):
"""
Close communication with Neblina.
"""
self.core.close()
def open(self, address):
"""
Open communication with Neblina.
:param address: Neblina address to reach. It can be UART
"""
self.core.open(address)
def isOpened(self):
"""
Is communication opened ?
:return: True, if communication opened. False, otherwise.
"""
return self.core.isOpened()
def getBatteryLevel(self):
"""
Retrieve battery level.
:return: Battery Level (0-100%)
"""
return self.core.getBatteryLevel()
def getTemperature(self):
"""
Retrieve internal temperature
:return: Temperature (in Celsius)
"""
self.core.sendCommand(SubSystem.Power, Commands.Power.GetTemperature, True)
packet = self.core.waitForAck(SubSystem.Power, Commands.Power.GetTemperature)
packet = self.core.waitForPacket(PacketType.RegularResponse, SubSystem.Power, Commands.Power.GetTemperature)
return packet.data.temperature
def setDataPortState(self, interface, state):
"""
Set data port state
:param interface: Neblina.Interface to set.
:param state: True, to open data port. False, to close data port.
"""
assert(type(state) is bool)
self.core.sendCommand(SubSystem.Debug, Commands.Debug.InterfaceState, state, interface=interface)
logging.debug('Waiting for the module to set data port state...')
packet = self.core.waitForAck(SubSystem.Debug, Commands.Debug.InterfaceState)
logging.debug('Module has change its data port state')
def setInterface(self, interface=Interface.BLE):
"""
Set communication interface.
:param interface: Neblina.Interface to used.
"""
self.core.sendCommand(SubSystem.Debug, Commands.Debug.SetInterface, interface)
logging.debug('Waiting for the module to switch its interface...')
packet = self.core.waitForAck(SubSystem.Debug, Commands.Debug.SetInterface)
logging.debug("Module has switched its interface.")
numTries = 0
while (packet == None):
numTries += 1
if numTries > 5:
logging.error('The unit is not responding. Exiting...')
exit()
logging.warning('Trying again...')
self.core.sendCommand(SubSystem.Debug, Commands.Debug.SetInterface, interface)
packet = self.core.waitForAck(SubSystem.Debug, Commands.Debug.SetInterface)
def getMotionStatus(self):
"""
Retrieve current motion streaming status.
:return: MotionStatusData instance.
"""
self.core.sendCommand(SubSystem.Debug, Commands.Debug.MotAndFlashRecState)
self.core.waitForAck(SubSystem.Debug, Commands.Debug.MotAndFlashRecState)
packet = self.core.waitForPacket(PacketType.RegularResponse, SubSystem.Debug, Commands.Debug.MotAndFlashRecState)
return packet.data.motionStatus
def getRecorderStatus(self):
"""
Retrieve current recording status
:return: RecorderStatusData instance.
"""
self.core.sendCommand(SubSystem.Debug, Commands.Debug.MotAndFlashRecState)
self.core.waitForAck(SubSystem.Debug, Commands.Debug.MotAndFlashRecState)
packet = self.core.waitForPacket(PacketType.RegularResponse, SubSystem.Debug, Commands.Debug.MotAndFlashRecState)
return packet.data.recorderStatus
def setDownsample(self, factor):
"""
Set motion streaming downsampling.
Downsampling must be between 20 and 1000, and a multiple of 20.
This represent the time in ms between each packet.
:param factor: Downsampling factor to use.
"""
# Limit to factor of 20 and between 20 and 1000.
assert factor % 20 == 0 and 20 <= factor <= 1000
self.core.sendCommand(SubSystem.Motion, Commands.Motion.Downsample, factor)
logging.debug('Sending downsample command. Waiting for acknowledge.')
self.core.waitForAck(SubSystem.Motion, Commands.Motion.Downsample)
logging.debug('Acknowledgment received.')
def setAccelerometerRange(self, factor):
"""
Set accelerometer range. Must be 2, 4, 8 or 16.
:param factor: Accelerometer range to use.
"""
# Limit factor to 2, 4, 8 and 16
assert factor == 2 or factor == 4 or factor == 8 or factor == 16
self.core.sendCommand(SubSystem.Motion, Commands.Motion.AccRange, factor)
self.core.waitForAck(SubSystem.Motion, Commands.Motion.AccRange)
def resetTimestamp(self):
"""
Reset timestamp
"""
self.core.sendCommand(SubSystem.Motion, Commands.Motion.ResetTimeStamp, True)
self.core.waitForAck(SubSystem.Motion, Commands.Motion.ResetTimeStamp)
def streamDisableAll(self):
"""
Disable all streaming.
"""
self.core.sendCommand(SubSystem.Motion, Commands.Motion.DisableStreaming, True)
logging.debug("Sending disable streaming command. Waiting for acknowledge.")
self.core.waitForAck(SubSystem.Motion, Commands.Motion.DisableStreaming)
logging.debug("Acknowledgment received.")
def getEulerAngle(self):
"""
Retrieve Euler Angle.
This is a blocking function until an Euler Angle is retrieve.
Requires that Euler Angle streaming is activated, otherwise will hang forever.
:return: EulerAngleData instance.
"""
packet = self.core.waitForPacket(PacketType.RegularResponse, SubSystem.Motion, Commands.Motion.EulerAngle)
logging.debug("Received EulerAngle.")
return packet.data
def getExternalForce(self):
"""
Retrieve External Force.
This is a blocking function until an External Force is retrieve.
Requires that External Force streaming is activated, otherwise will hang forever.
:return: ExternalForceData instance.
"""
packet = self.core.waitForPacket(PacketType.RegularResponse, SubSystem.Motion, Commands.Motion.ExtForce)
logging.debug("Received ExternalForce.")
return packet.data
def getFingerGesture(self):
"""
Retrieve Finger Gesture.
This is a blocking function until a Finger Gesture is retrieve.
Requires that Finger Gesture streaming is activated, otherwise will hang forever.
:return: FingerGestureData instance.
"""
packet = self.core.waitForPacket(PacketType.RegularResponse, SubSystem.Motion, Commands.Motion.FingerGesture)
logging.debug("Received FingerGesture.")
return packet.data
def getIMU(self):
"""
Retrieve IMU (Inertial Motion Unit).
This is a blocking function until an IMU is retrieve.
Requires that IMU streaming is activated, otherwise will hang forever.
:return: IMUData instance.
"""
packet = self.core.waitForPacket(PacketType.RegularResponse, SubSystem.Motion, Commands.Motion.IMU)
logging.debug("Received IMU.")
return packet.data
def getMAG(self):
"""
Retrieve MAG (Magnetometer).
This is a blocking function until a MAG is retrieve.
Requires that MAG streaming is activated, otherwise will hang forever.
:return: MAGData instance.
"""
packet = self.core.waitForPacket(PacketType.RegularResponse, SubSystem.Motion, Commands.Motion.MAG)
logging.debug("Received MAG.")
return packet.data
def getMotionState(self):
"""
Retrieve Motion State.
This is a blocking function until a Motion State is retrieve.
Requires that Motion State streaming is activated, otherwise will hang forever.
:return: MotionStateData instance.
"""
packet = self.core.waitForPacket(PacketType.RegularResponse, SubSystem.Motion, Commands.Motion.MotionState)
logging.debug("Received MotionState.")
return packet.data
def getPedometer(self):
"""
Retrieve Pedometer.
This is a blocking function until a Pedometer is retrieve.
Requires that Pedometer streaming is activated, otherwise will hang forever.
:return: PedometerData instance.
"""
packet = self.core.waitForPacket(PacketType.RegularResponse, SubSystem.Motion, Commands.Motion.Pedometer)
logging.debug("Received Pedometer.")
return packet.data
def getQuaternion(self):
"""
Retrieve Quaternion.
This is a blocking function until a Quaternion is retrieve.
Requires that Quaternion streaming is activated, otherwise will hang forever.
:return: QuaternionData instance.
"""
packet = self.core.waitForPacket(PacketType.RegularResponse, SubSystem.Motion, Commands.Motion.Quaternion)
logging.debug("Received Quaternion.")
return packet.data
def getRotationInfo(self):
"""
Retrieve Rotation Information.
This is a blocking function until a Rotation Information is retrieve.
Requires that Rotation Information streaming is activated, otherwise will hang forever.
:return: RotationData instance.
"""
packet = self.core.waitForPacket(PacketType.RegularResponse, SubSystem.Motion, Commands.Motion.RotationInfo)
logging.debug("Received RotationInfo.")
return packet.data
def getSittingStanding(self):
"""
Retrieve Sitting/Standing.
This is a blocking function until a Sitting/Standing is retrieve.
Requires that Sitting/Standing streaming is activated, otherwise will hang forever.
:return:
"""
packet = self.core.waitForPacket(PacketType.RegularResponse, SubSystem.Motion, Commands.Motion.SittingStanding)
logging.debug("Received SittingStanding.")
return packet.data
def getTrajectoryInfo(self):
"""
Retrieve Trajectory Information.
This is a blocking function until a Trajectory Information is retrieve.
Requires that Trajectory Information is recording and streaming, otherwise will hang forever.
:return: EulerAngleData instance.
"""
packet = self.core.waitForPacket(PacketType.RegularResponse, SubSystem.Motion, Commands.Motion.TrajectoryInfo)
logging.debug("Received TrajectoryInfo.")
return packet.data
def recordTrajectory(self, state):
"""
Record trajectory information.
:param state: True, to start recording. False, to stop recording.
:return:
"""
self.core.sendCommand(SubSystem.Motion, Commands.Motion.TrajectoryRecStartStop, state)
logging.debug("Sending recordTrajectory. Waiting for aknowledge.")
self.core.waitForAck(SubSystem.Motion, Commands.Motion.TrajectoryRecStartStop)
logging.debug("Acknowledgment received.")
def streamEulerAngle(self, state):
"""
Start/Stop Euler Angle streaming.
:param state: True, to start streaming. False, to stop streaming.
"""
self.core.sendCommand(SubSystem.Motion, Commands.Motion.EulerAngle, state)
logging.debug("Sending streamEulerAngle. Waiting for acknowledge.")
self.core.waitForAck(SubSystem.Motion, Commands.Motion.EulerAngle)
logging.debug("Acknowledgment received.")
def streamExternalForce(self, state):
"""
Start/Stop External Force streaming.
:param state: True, to start streaming. False, to stop streaming.
"""
self.core.sendCommand(SubSystem.Motion, Commands.Motion.ExtForce, state)
logging.debug("Sending streamExternalForce. Waiting for acknowledge.")
self.core.waitForAck(SubSystem.Motion, Commands.Motion.ExtForce)
logging.debug("Acknowledgment received.")
def streamFingerGesture(self, state):
"""
Start/Stop Finger Gesture streaming.
:param state: True, to start streaming. False, to stop streaming.
"""
self.core.sendCommand(SubSystem.Motion, Commands.Motion.FingerGesture, state)
logging.debug("Sending streamFingerGesture. Waiting for acknowledge.")
self.core.waitForAck(SubSystem.Motion, Commands.Motion.FingerGesture)
logging.debug("Acknowledgment received.")
def streamIMU(self, state):
"""
Start/Stop IMU streaming.
:param state: True, to start streaming. False, to stop streaming.
"""
self.core.sendCommand(SubSystem.Motion, Commands.Motion.IMU, state)
logging.debug("Sending streamIMU. Waiting for acknowledge.")
self.core.waitForAck(SubSystem.Motion, Commands.Motion.IMU)
logging.debug("Acknowledgment received.")
def streamMAG(self, state):
"""
Start/Stop MAG streaming.
:param state: True, to start streaming. False, to stop streaming.
"""
self.core.sendCommand(SubSystem.Motion, Commands.Motion.MAG, state)
logging.debug("Sending streamMAG. Waiting for acknowledge.")
self.core.waitForAck(SubSystem.Motion, Commands.Motion.MAG)
logging.debug("Acknowledgment received.")
def streamMotionState(self, state):
"""
Start/Stop Motion State streaming.
:param state: True, to start streaming. False, to stop streaming.
"""
self.core.sendCommand(SubSystem.Motion, Commands.Motion.MotionState, state)
logging.debug("Sending streamMotionState. Waiting for acknowledge.")
self.core.waitForAck(SubSystem.Motion, Commands.Motion.MotionState)
logging.debug("Acknowledgment received.")
def streamPedometer(self, state):
"""
Start/Stop Pedometer streaming.
:param state: True, to start streaming. False, to stop streaming.
"""
self.core.sendCommand(SubSystem.Motion, Commands.Motion.Pedometer, state)
logging.debug("Sending streamPedometer. Waiting for acknowledge.")
self.core.waitForAck(SubSystem.Motion, Commands.Motion.Pedometer)
logging.debug("Acknowledgment received.")
def streamQuaternion(self, state):
"""
Start/Stop Quaternion streaming.
:param state: True, to start streaming. False, to stop streaming.
"""
self.core.sendCommand(SubSystem.Motion, Commands.Motion.Quaternion, state)
logging.debug("Sending streamQuaternion. Waiting for acknowledge.")
self.core.waitForAck(SubSystem.Motion, Commands.Motion.Quaternion)
logging.debug("Acknowledgment received.")
def streamRotationInfo(self, state):
"""
Start/Stop Rotation Information streaming.
:param state: True, to start streaming. False, to stop streaming.
"""
self.core.sendCommand(SubSystem.Motion, Commands.Motion.RotationInfo, state)
logging.debug("Sending streamRotationInfo. Waiting for acknowledge.")
self.core.waitForAck(SubSystem.Motion, Commands.Motion.RotationInfo)
logging.debug("Acknowledgment received.")
def streamSittingStanding(self, state):
"""
Start/Stop Sitting/Standing streaming.
:param state: True, to start streaming. False, to stop streaming.
"""
self.core.sendCommand(SubSystem.Motion, Commands.Motion.SittingStanding, state)
logging.debug("Sending streamSittingStanding. Waiting for acknowledge.")
self.core.waitForAck(SubSystem.Motion, Commands.Motion.SittingStanding)
logging.debug("Acknowledgment received.")
def streamTrajectoryInfo(self, state):
"""
Start/Stop Trajectory Information streaming.
:param state: True, to start streaming. False, to stop streaming.
"""
self.core.sendCommand(SubSystem.Motion, Commands.Motion.TrajectoryInfo, state)
logging.debug("Sending streamTrajectoryInfo. Waiting for acknowledge.")
self.core.waitForAck(SubSystem.Motion, Commands.Motion.TrajectoryInfo)
logging.debug("Acknowledgment received.")
def eepromRead(self, readPageNumber):
"""
Read a page from EEPROM
:param readPageNumber: EEPROM page number to read.
:return: EEPROMReadData instance.
"""
assert 0 <= readPageNumber <= 255
self.core.sendCommand(SubSystem.EEPROM, Commands.EEPROM.Read, pageNumber=readPageNumber)
logging.debug("Sending EEPROM Read command. Waiting for acknowledgment.")
packet = self.core.waitForAck(SubSystem.EEPROM, Commands.EEPROM.Read)
logging.debug("Acknowledge received.")
packet = self.core.waitForPacket(PacketType.RegularResponse, SubSystem.EEPROM, Commands.EEPROM.Read)
logging.debug("EEPROM Read packet received.")
return packet.data.dataBytes
def eepromWrite(self, writePageNumber, dataString):
"""
Write a page to EEPROM.
:param writePageNumber: EEPROM page number to write.
:param dataString: 8-byte data string to write.
"""
assert 0 <= writePageNumber <= 255
self.core.sendCommand(SubSystem.EEPROM, Commands.EEPROM.Write, \
pageNumber=writePageNumber, dataBytes=dataString)
packet = self.core.waitForAck(SubSystem.EEPROM, Commands.EEPROM.Write)
def getLED(self, index):
"""
Retrieve LED state.
:param index: LED index to retrieve.
:return: LEDGetValData instance.
"""
assert 0 <= index <= 7
self.core.sendCommand(SubSystem.LED, Commands.LED.GetVal, ledIndices=[index])
packet = self.core.waitForPacket(PacketType.RegularResponse, SubSystem.LED, Commands.LED.GetVal)
if not packet:
return 0xF # Return anything but 0x0 or 0x1
return packet.data.ledState[index]
def setLED(self, ledIndex, ledValue):
"""
Set LED state.
:param ledIndex: LED index to use.
:param ledValue: LED state. True, open. False, close.
"""
assert 0 <= ledIndex <= 7
ledValues = [(ledIndex, ledValue)]
self.core.sendCommand(SubSystem.LED, Commands.LED.SetVal, ledValueTupleList=ledValues)
self.core.waitForAck(SubSystem.LED, Commands.LED.SetVal)
self.core.waitForPacket(PacketType.RegularResponse, SubSystem.LED, Commands.LED.GetVal)
def eraseStorage(self, eraseType=Erase.Quick):
"""
Erase storage.
Full erase can take up to 3 minute to complete.
:param eraseType: Erase Type. Quick or Full.
"""
assert eraseType==Erase.Mass or eraseType==Erase.Quick
# Step 1 - Initialization
self.core.sendCommand(SubSystem.Motion, Commands.Motion.DisableStreaming, True)
logging.debug('Sending the DisableAllStreaming command, and waiting for a response...')
# Step 2 - wait for ack
self.core.waitForAck(SubSystem.Motion, Commands.Motion.DisableStreaming)
logging.debug('Acknowledge packet was received!')
# Step 3 - erase the flash command
self.core.sendCommand(SubSystem.Storage, Commands.Storage.EraseAll, eraseType)
logging.debug('Sent the EraseAll command, and waiting for a response...')
# Step 4 - wait for ack
self.core.waitForAck(SubSystem.Storage, Commands.Storage.EraseAll)
logging.debug("Acknowledge packet was received!")
logging.info("Started erasing... This takes up to around 3 minutes...")
# Step 5 - wait for the completion notice
self.core.waitForPacket(PacketType.RegularResponse, SubSystem.Storage, Commands.Storage.EraseAll, 300)
logging.info('Flash erase has completed successfully!')
def sessionRecord(self, state):
"""
Start/Stop recording a session.
:param state: True, to start recording. False, to stop recording.
:return: Recording session identifier.
"""
# Step 1 - Start recording
self.core.sendCommand(SubSystem.Storage, Commands.Storage.Record, state)
if state:
logging.debug('Sending the command to start the flash recorder, and waiting for a response...')
else:
logging.debug('Sending the command to stop the flash recorder, and waiting for a response...')
# Step 2 - wait for ack and the session number
self.core.waitForAck(SubSystem.Storage, Commands.Storage.Record)
logging.debug("Acknowledge received.")
packet = self.core.waitForPacket(PacketType.RegularResponse, SubSystem.Storage, Commands.Storage.Record)
if packet.header.packetType == PacketType.ErrorLogResp:
logging.warn("Flash is full, not recording.")
else:
logging.debug('Acknowledge packet was received with the session number {0}!'.format(packet.data.sessionID))
sessionID = packet.data.sessionID
return sessionID
def sessionPlayback(self, pbSessionID, dump=False):
"""
Playback a recorded session.
:param pbSessionID: Recorded session identifier.
:param dump: True, to dump recorded data to file. False, to skip.
:return: Number of data retrieved.
"""
self.core.sendCommand(SubSystem.Storage, Commands.Storage.Playback, True, sessionID=pbSessionID)
logging.debug('Sent the start playback command, waiting for response...')
# wait for confirmation
self.core.waitForAck(SubSystem.Storage, Commands.Storage.Playback)
packet = self.core.waitForPacket(PacketType.RegularResponse, SubSystem.Storage, Commands.Storage.Playback)
if packet.header.packetType == PacketType.ErrorLogResp:
logging.error('Playback failed due to an invalid session number request!')
return 0
else:
pbSessionID = packet.data.sessionID
logging.info('Playback routine started from session number {0}'.format(pbSessionID))
packetList = self.core.storePacketsUntil(PacketType.RegularResponse, SubSystem.Storage,
Commands.Storage.Playback)
logging.info('Finished playback from session number {0}!'.format(pbSessionID))
if dump:
logging.info('Saving dump file. Waiting for completion...')
NebUtilities.saveFlashPlayback(pbSessionID, packetList)
logging.info('Dump file saving completed.')
return len(packetList)
def getSessionCount(self):
"""
Retrieve number of session recording
:return: Recorded session count.
"""
self.core.sendCommand(SubSystem.Storage, Commands.Storage.NumSessions)
packet = self.core.waitForAck(SubSystem.Storage, Commands.Storage.NumSessions)
packet = self.core.waitForPacket(PacketType.RegularResponse, SubSystem.Storage, Commands.Storage.NumSessions)
return packet.data.numSessions
def getSessionInfo(self, sessionID):
"""
Retrieve a session information.
:param sessionID: Recorded session identifier
:return: FlashSessionInfo instance.
"""
self.core.sendCommand(SubSystem.Storage, Commands.Storage.SessionInfo, sessionID=sessionID)
self.core.waitForAck(SubSystem.Storage, Commands.Storage.SessionInfo)
packet = self.core.waitForPacket(PacketType.RegularResponse, SubSystem.Storage, Commands.Storage.SessionInfo)
if packet.data.sessionLength == 0xFFFFFFFF:
return None
else:
return packet.data
def getFirmwareVersions(self):
"""
Retrieve firmware versions.
:return: FirmwareVersionsData instance.
"""
self.core.sendCommand(SubSystem.Debug, Commands.Debug.FWVersions)
packet = self.core.waitForPacket(PacketType.RegularResponse, SubSystem.Debug, Commands.Debug.FWVersions)
return packet.data
def debugUnitTestEnable(self, enable=True):
"""
Debugging/Testing function only.
"""
self.core.sendCommand(SubSystem.Debug, Commands.Debug.StartUnitTestMotion, enable)
logging.debug("Sending Start UnitTest Motion. Waiting for acknowledgment.")
self.core.waitForAck(SubSystem.Debug, Commands.Debug.StartUnitTestMotion)
logging.debug("Acknowledgment received")
def debugUnitTestSendBytes(self, bytes):
"""
Debugging/Testing function only.
"""
self.core.sendCommandBytes(bytes)
logging.debug("Sending UnitTest Motion Bytes. Waiting for packet.")
packet = self.core.waitForPacket(PacketType.RegularResponse, SubSystem.Debug, Commands.Debug.UnitTestMotionData)
logging.debug("Packet received.")
return packet
class NeblinaAPI(object):
"""
Neblina Application Programming Interface.
This is used to communicate with Neblina.
"""
def __init__(self, interface):
"""
Constructor
:param interface: Neblina communication interface. See Neblina.Interface.
"""
self.core = NeblinaCore(interface)
def close(self):
"""
Close communication with Neblina.
"""
self.core.close()
def open(self, address):
"""
Open communication with Neblina.
:param address: Neblina address to reach. It can be UART
"""
self.core.open(address)
def isOpened(self):
"""
Is communication opened ?
:return: True, if communication opened. False, otherwise.
"""
return self.core.isOpened()
def getBatteryLevel(self):
"""
Retrieve battery level.
:return: Battery Level (0-100%)
"""
return self.core.getBatteryLevel()
def getTemperature(self):
"""
Retrieve internal temperature
:return: Temperature (in Celsius)
"""
self.core.sendCommand(SubSystem.Power, Commands.Power.GetTemperature,
True)
packet = self.core.waitForAck(SubSystem.Power,
Commands.Power.GetTemperature)
packet = self.core.waitForPacket(PacketType.RegularResponse,
SubSystem.Power,
Commands.Power.GetTemperature)
return packet.data.temperature
def setDataPortState(self, interface, state):
"""
Set data port state
:param interface: Neblina.Interface to set.
:param state: True, to open data port. False, to close data port.
"""
assert (type(state) is bool)
self.core.sendCommand(SubSystem.Debug,
Commands.Debug.InterfaceState,
state,
interface=interface)
logging.debug('Waiting for the module to set data port state...')
packet = self.core.waitForAck(SubSystem.Debug,
Commands.Debug.InterfaceState)
logging.debug('Module has change its data port state')
def setInterface(self, interface=Interface.BLE):
"""
Set communication interface.
:param interface: Neblina.Interface to used.
"""
self.core.sendCommand(SubSystem.Debug, Commands.Debug.SetInterface,
interface)
logging.debug('Waiting for the module to switch its interface...')
packet = self.core.waitForAck(SubSystem.Debug,
Commands.Debug.SetInterface)
logging.debug("Module has switched its interface.")
numTries = 0
while (packet == None):
numTries += 1
if numTries > 5:
logging.error('The unit is not responding. Exiting...')
exit()
logging.warning('Trying again...')
self.core.sendCommand(SubSystem.Debug, Commands.Debug.SetInterface,
interface)
packet = self.core.waitForAck(SubSystem.Debug,
Commands.Debug.SetInterface)
def getMotionStatus(self):
"""
Retrieve current motion streaming status.
:return: MotionStatusData instance.
"""
self.core.sendCommand(SubSystem.Debug,
Commands.Debug.MotAndFlashRecState)
self.core.waitForAck(SubSystem.Debug,
Commands.Debug.MotAndFlashRecState)
packet = self.core.waitForPacket(PacketType.RegularResponse,
SubSystem.Debug,
Commands.Debug.MotAndFlashRecState)
return packet.data.motionStatus
def getRecorderStatus(self):
"""
Retrieve current recording status
:return: RecorderStatusData instance.
"""
self.core.sendCommand(SubSystem.Debug,
Commands.Debug.MotAndFlashRecState)
self.core.waitForAck(SubSystem.Debug,
Commands.Debug.MotAndFlashRecState)
packet = self.core.waitForPacket(PacketType.RegularResponse,
SubSystem.Debug,
Commands.Debug.MotAndFlashRecState)
return packet.data.recorderStatus
def setDownsample(self, factor):
"""
Set motion streaming downsampling.
Downsampling must be between 20 and 1000, and a multiple of 20.
This represent the time in ms between each packet.
:param factor: Downsampling factor to use.
"""
# Limit to factor of 20 and between 20 and 1000.
assert factor % 20 == 0 and 20 <= factor <= 1000
self.core.sendCommand(SubSystem.Motion, Commands.Motion.Downsample,
factor)
logging.debug('Sending downsample command. Waiting for acknowledge.')
self.core.waitForAck(SubSystem.Motion, Commands.Motion.Downsample)
logging.debug('Acknowledgment received.')
def setAccelerometerRange(self, factor):
"""
Set accelerometer range. Must be 2, 4, 8 or 16.
:param factor: Accelerometer range to use.
"""
# Limit factor to 2, 4, 8 and 16
assert factor == 2 or factor == 4 or factor == 8 or factor == 16
self.core.sendCommand(SubSystem.Motion, Commands.Motion.AccRange,
factor)
self.core.waitForAck(SubSystem.Motion, Commands.Motion.AccRange)
def resetTimestamp(self):
"""
Reset timestamp
"""
self.core.sendCommand(SubSystem.Motion, Commands.Motion.ResetTimeStamp,
True)
self.core.waitForAck(SubSystem.Motion, Commands.Motion.ResetTimeStamp)
def streamDisableAll(self):
"""
Disable all streaming.
"""
self.core.sendCommand(SubSystem.Motion,
Commands.Motion.DisableStreaming, True)
logging.debug(
"Sending disable streaming command. Waiting for acknowledge.")
self.core.waitForAck(SubSystem.Motion,
Commands.Motion.DisableStreaming)
logging.debug("Acknowledgment received.")
def getEulerAngle(self):
"""
Retrieve Euler Angle.
This is a blocking function until an Euler Angle is retrieve.
Requires that Euler Angle streaming is activated, otherwise will hang forever.
:return: EulerAngleData instance.
"""
packet = self.core.waitForPacket(PacketType.RegularResponse,
SubSystem.Motion,
Commands.Motion.EulerAngle)
logging.debug("Received EulerAngle.")
return packet.data
def getExternalForce(self):
"""
Retrieve External Force.
This is a blocking function until an External Force is retrieve.
Requires that External Force streaming is activated, otherwise will hang forever.
:return: ExternalForceData instance.
"""
packet = self.core.waitForPacket(PacketType.RegularResponse,
SubSystem.Motion,
Commands.Motion.ExtForce)
logging.debug("Received ExternalForce.")
return packet.data
def getFingerGesture(self):
"""
Retrieve Finger Gesture.
This is a blocking function until a Finger Gesture is retrieve.
Requires that Finger Gesture streaming is activated, otherwise will hang forever.
:return: FingerGestureData instance.
"""
packet = self.core.waitForPacket(PacketType.RegularResponse,
SubSystem.Motion,
Commands.Motion.FingerGesture)
logging.debug("Received FingerGesture.")
return packet.data
def getIMU(self):
"""
Retrieve IMU (Inertial Motion Unit).
This is a blocking function until an IMU is retrieve.
Requires that IMU streaming is activated, otherwise will hang forever.
:return: IMUData instance.
"""
packet = self.core.waitForPacket(PacketType.RegularResponse,
SubSystem.Motion, Commands.Motion.IMU)
logging.debug("Received IMU.")
return packet.data
def getMAG(self):
"""
Retrieve MAG (Magnetometer).
This is a blocking function until a MAG is retrieve.
Requires that MAG streaming is activated, otherwise will hang forever.
:return: MAGData instance.
"""
packet = self.core.waitForPacket(PacketType.RegularResponse,
SubSystem.Motion, Commands.Motion.MAG)
logging.debug("Received MAG.")
return packet.data
def getMotionState(self):
"""
Retrieve Motion State.
This is a blocking function until a Motion State is retrieve.
Requires that Motion State streaming is activated, otherwise will hang forever.
:return: MotionStateData instance.
"""
packet = self.core.waitForPacket(PacketType.RegularResponse,
SubSystem.Motion,
Commands.Motion.MotionState)
logging.debug("Received MotionState.")
return packet.data
def getPedometer(self):
"""
Retrieve Pedometer.
This is a blocking function until a Pedometer is retrieve.
Requires that Pedometer streaming is activated, otherwise will hang forever.
:return: PedometerData instance.
"""
packet = self.core.waitForPacket(PacketType.RegularResponse,
SubSystem.Motion,
Commands.Motion.Pedometer)
logging.debug("Received Pedometer.")
return packet.data
def getQuaternion(self):
"""
Retrieve Quaternion.
This is a blocking function until a Quaternion is retrieve.
Requires that Quaternion streaming is activated, otherwise will hang forever.
:return: QuaternionData instance.
"""
packet = self.core.waitForPacket(PacketType.RegularResponse,
SubSystem.Motion,
Commands.Motion.Quaternion)
logging.debug("Received Quaternion.")
return packet.data
def getRotationInfo(self):
"""
Retrieve Rotation Information.
This is a blocking function until a Rotation Information is retrieve.
Requires that Rotation Information streaming is activated, otherwise will hang forever.
:return: RotationData instance.
"""
packet = self.core.waitForPacket(PacketType.RegularResponse,
SubSystem.Motion,
Commands.Motion.RotationInfo)
logging.debug("Received RotationInfo.")
return packet.data
def getSittingStanding(self):
"""
Retrieve Sitting/Standing.
This is a blocking function until a Sitting/Standing is retrieve.
Requires that Sitting/Standing streaming is activated, otherwise will hang forever.
:return:
"""
packet = self.core.waitForPacket(PacketType.RegularResponse,
SubSystem.Motion,
Commands.Motion.SittingStanding)
logging.debug("Received SittingStanding.")
return packet.data
def getTrajectoryInfo(self):
"""
Retrieve Trajectory Information.
This is a blocking function until a Trajectory Information is retrieve.
Requires that Trajectory Information is recording and streaming, otherwise will hang forever.
:return: EulerAngleData instance.
"""
packet = self.core.waitForPacket(PacketType.RegularResponse,
SubSystem.Motion,
Commands.Motion.TrajectoryInfo)
logging.debug("Received TrajectoryInfo.")
return packet.data
def recordTrajectory(self, state):
"""
Record trajectory information.
:param state: True, to start recording. False, to stop recording.
:return:
"""
self.core.sendCommand(SubSystem.Motion,
Commands.Motion.TrajectoryRecStartStop, state)
logging.debug("Sending recordTrajectory. Waiting for aknowledge.")
self.core.waitForAck(SubSystem.Motion,
Commands.Motion.TrajectoryRecStartStop)
logging.debug("Acknowledgment received.")
def streamEulerAngle(self, state):
"""
Start/Stop Euler Angle streaming.
:param state: True, to start streaming. False, to stop streaming.
"""
self.core.sendCommand(SubSystem.Motion, Commands.Motion.EulerAngle,
state)
logging.debug("Sending streamEulerAngle. Waiting for acknowledge.")
self.core.waitForAck(SubSystem.Motion, Commands.Motion.EulerAngle)
logging.debug("Acknowledgment received.")
def streamExternalForce(self, state):
"""
Start/Stop External Force streaming.
:param state: True, to start streaming. False, to stop streaming.
"""
self.core.sendCommand(SubSystem.Motion, Commands.Motion.ExtForce,
state)
logging.debug("Sending streamExternalForce. Waiting for acknowledge.")
self.core.waitForAck(SubSystem.Motion, Commands.Motion.ExtForce)
logging.debug("Acknowledgment received.")
def streamFingerGesture(self, state):
"""
Start/Stop Finger Gesture streaming.
:param state: True, to start streaming. False, to stop streaming.
"""
self.core.sendCommand(SubSystem.Motion, Commands.Motion.FingerGesture,
state)
logging.debug("Sending streamFingerGesture. Waiting for acknowledge.")
self.core.waitForAck(SubSystem.Motion, Commands.Motion.FingerGesture)
logging.debug("Acknowledgment received.")
def streamIMU(self, state):
"""
Start/Stop IMU streaming.
:param state: True, to start streaming. False, to stop streaming.
"""
self.core.sendCommand(SubSystem.Motion, Commands.Motion.IMU, state)
logging.debug("Sending streamIMU. Waiting for acknowledge.")
self.core.waitForAck(SubSystem.Motion, Commands.Motion.IMU)
logging.debug("Acknowledgment received.")
def streamMAG(self, state):
"""
Start/Stop MAG streaming.
:param state: True, to start streaming. False, to stop streaming.
"""
self.core.sendCommand(SubSystem.Motion, Commands.Motion.MAG, state)
logging.debug("Sending streamMAG. Waiting for acknowledge.")
self.core.waitForAck(SubSystem.Motion, Commands.Motion.MAG)
logging.debug("Acknowledgment received.")
def streamMotionState(self, state):
"""
Start/Stop Motion State streaming.
:param state: True, to start streaming. False, to stop streaming.
"""
self.core.sendCommand(SubSystem.Motion, Commands.Motion.MotionState,
state)
logging.debug("Sending streamMotionState. Waiting for acknowledge.")
self.core.waitForAck(SubSystem.Motion, Commands.Motion.MotionState)
logging.debug("Acknowledgment received.")
def streamPedometer(self, state):
"""
Start/Stop Pedometer streaming.
:param state: True, to start streaming. False, to stop streaming.
"""
self.core.sendCommand(SubSystem.Motion, Commands.Motion.Pedometer,
state)
logging.debug("Sending streamPedometer. Waiting for acknowledge.")
self.core.waitForAck(SubSystem.Motion, Commands.Motion.Pedometer)
logging.debug("Acknowledgment received.")
def streamQuaternion(self, state):
"""
Start/Stop Quaternion streaming.
:param state: True, to start streaming. False, to stop streaming.
"""
self.core.sendCommand(SubSystem.Motion, Commands.Motion.Quaternion,
state)
logging.debug("Sending streamQuaternion. Waiting for acknowledge.")
self.core.waitForAck(SubSystem.Motion, Commands.Motion.Quaternion)
logging.debug("Acknowledgment received.")
def streamRotationInfo(self, state):
"""
Start/Stop Rotation Information streaming.
:param state: True, to start streaming. False, to stop streaming.
"""
self.core.sendCommand(SubSystem.Motion, Commands.Motion.RotationInfo,
state)
logging.debug("Sending streamRotationInfo. Waiting for acknowledge.")
self.core.waitForAck(SubSystem.Motion, Commands.Motion.RotationInfo)
logging.debug("Acknowledgment received.")
def streamSittingStanding(self, state):
"""
Start/Stop Sitting/Standing streaming.
:param state: True, to start streaming. False, to stop streaming.
"""
self.core.sendCommand(SubSystem.Motion,
Commands.Motion.SittingStanding, state)
logging.debug(
"Sending streamSittingStanding. Waiting for acknowledge.")
self.core.waitForAck(SubSystem.Motion, Commands.Motion.SittingStanding)
logging.debug("Acknowledgment received.")
def streamTrajectoryInfo(self, state):
"""
Start/Stop Trajectory Information streaming.
:param state: True, to start streaming. False, to stop streaming.
"""
self.core.sendCommand(SubSystem.Motion, Commands.Motion.TrajectoryInfo,
state)
logging.debug("Sending streamTrajectoryInfo. Waiting for acknowledge.")
self.core.waitForAck(SubSystem.Motion, Commands.Motion.TrajectoryInfo)
logging.debug("Acknowledgment received.")
def eepromRead(self, readPageNumber):
"""
Read a page from EEPROM
:param readPageNumber: EEPROM page number to read.
:return: EEPROMReadData instance.
"""
assert 0 <= readPageNumber <= 255
self.core.sendCommand(SubSystem.EEPROM,
Commands.EEPROM.Read,
pageNumber=readPageNumber)
logging.debug(
"Sending EEPROM Read command. Waiting for acknowledgment.")
packet = self.core.waitForAck(SubSystem.EEPROM, Commands.EEPROM.Read)
logging.debug("Acknowledge received.")
packet = self.core.waitForPacket(PacketType.RegularResponse,
SubSystem.EEPROM,
Commands.EEPROM.Read)
logging.debug("EEPROM Read packet received.")
return packet.data.dataBytes
def eepromWrite(self, writePageNumber, dataString):
"""
Write a page to EEPROM.
:param writePageNumber: EEPROM page number to write.
:param dataString: 8-byte data string to write.
"""
assert 0 <= writePageNumber <= 255
self.core.sendCommand(SubSystem.EEPROM, Commands.EEPROM.Write, \
pageNumber=writePageNumber, dataBytes=dataString)
packet = self.core.waitForAck(SubSystem.EEPROM, Commands.EEPROM.Write)
def getLED(self, index):
"""
Retrieve LED state.
:param index: LED index to retrieve.
:return: LEDGetValData instance.
"""
assert 0 <= index <= 7
self.core.sendCommand(SubSystem.LED,
Commands.LED.GetVal,
ledIndices=[index])
packet = self.core.waitForPacket(PacketType.RegularResponse,
SubSystem.LED, Commands.LED.GetVal)
if not packet:
return 0xF # Return anything but 0x0 or 0x1
return packet.data.ledState[index]
def setLED(self, ledIndex, ledValue):
"""
Set LED state.
:param ledIndex: LED index to use.
:param ledValue: LED state. True, open. False, close.
"""
assert 0 <= ledIndex <= 7
ledValues = [(ledIndex, ledValue)]
self.core.sendCommand(SubSystem.LED,
Commands.LED.SetVal,
ledValueTupleList=ledValues)
self.core.waitForAck(SubSystem.LED, Commands.LED.SetVal)
self.core.waitForPacket(PacketType.RegularResponse, SubSystem.LED,
Commands.LED.GetVal)
def eraseStorage(self, eraseType=Erase.Quick):
"""
Erase storage.
Full erase can take up to 3 minute to complete.
:param eraseType: Erase Type. Quick or Full.
"""
assert eraseType == Erase.Mass or eraseType == Erase.Quick
# Step 1 - Initialization
self.core.sendCommand(SubSystem.Motion,
Commands.Motion.DisableStreaming, True)
logging.debug(
'Sending the DisableAllStreaming command, and waiting for a response...'
)
# Step 2 - wait for ack
self.core.waitForAck(SubSystem.Motion,
Commands.Motion.DisableStreaming)
logging.debug('Acknowledge packet was received!')
# Step 3 - erase the flash command
self.core.sendCommand(SubSystem.Storage, Commands.Storage.EraseAll,
eraseType)
logging.debug(
'Sent the EraseAll command, and waiting for a response...')
# Step 4 - wait for ack
self.core.waitForAck(SubSystem.Storage, Commands.Storage.EraseAll)
logging.debug("Acknowledge packet was received!")
logging.info("Started erasing... This takes up to around 3 minutes...")
# Step 5 - wait for the completion notice
self.core.waitForPacket(PacketType.RegularResponse, SubSystem.Storage,
Commands.Storage.EraseAll, 300)
logging.info('Flash erase has completed successfully!')
def sessionRecord(self, state):
"""
Start/Stop recording a session.
:param state: True, to start recording. False, to stop recording.
:return: Recording session identifier.
"""
# Step 1 - Start recording
self.core.sendCommand(SubSystem.Storage, Commands.Storage.Record,
state)
if state:
logging.debug(
'Sending the command to start the flash recorder, and waiting for a response...'
)
else:
logging.debug(
'Sending the command to stop the flash recorder, and waiting for a response...'
)
# Step 2 - wait for ack and the session number
self.core.waitForAck(SubSystem.Storage, Commands.Storage.Record)
logging.debug("Acknowledge received.")
packet = self.core.waitForPacket(PacketType.RegularResponse,
SubSystem.Storage,
Commands.Storage.Record)
if packet.header.packetType == PacketType.ErrorLogResp:
logging.warn("Flash is full, not recording.")
else:
logging.debug(
'Acknowledge packet was received with the session number {0}!'.
format(packet.data.sessionID))
sessionID = packet.data.sessionID
return sessionID
def sessionPlayback(self, pbSessionID, dump=False):
"""
Playback a recorded session.
:param pbSessionID: Recorded session identifier.
:param dump: True, to dump recorded data to file. False, to skip.
:return: Number of data retrieved.
"""
self.core.sendCommand(SubSystem.Storage,
Commands.Storage.Playback,
True,
sessionID=pbSessionID)
logging.debug(
'Sent the start playback command, waiting for response...')
# wait for confirmation
self.core.waitForAck(SubSystem.Storage, Commands.Storage.Playback)
packet = self.core.waitForPacket(PacketType.RegularResponse,
SubSystem.Storage,
Commands.Storage.Playback)
if packet.header.packetType == PacketType.ErrorLogResp:
logging.error(
'Playback failed due to an invalid session number request!')
return 0
else:
pbSessionID = packet.data.sessionID
logging.info(
'Playback routine started from session number {0}'.format(
pbSessionID))
packetList = self.core.storePacketsUntil(
PacketType.RegularResponse, SubSystem.Storage,
Commands.Storage.Playback)
logging.info('Finished playback from session number {0}!'.format(
pbSessionID))
if dump:
logging.info('Saving dump file. Waiting for completion...')
NebUtilities.saveFlashPlayback(pbSessionID, packetList)
logging.info('Dump file saving completed.')
return len(packetList)
def getSessionCount(self):
"""
Retrieve number of session recording
:return: Recorded session count.
"""
self.core.sendCommand(SubSystem.Storage, Commands.Storage.NumSessions)
packet = self.core.waitForAck(SubSystem.Storage,
Commands.Storage.NumSessions)
packet = self.core.waitForPacket(PacketType.RegularResponse,
SubSystem.Storage,
Commands.Storage.NumSessions)
return packet.data.numSessions
def getSessionInfo(self, sessionID):
"""
Retrieve a session information.
:param sessionID: Recorded session identifier
:return: FlashSessionInfo instance.
"""
self.core.sendCommand(SubSystem.Storage,
Commands.Storage.SessionInfo,
sessionID=sessionID)
self.core.waitForAck(SubSystem.Storage, Commands.Storage.SessionInfo)
packet = self.core.waitForPacket(PacketType.RegularResponse,
SubSystem.Storage,
Commands.Storage.SessionInfo)
if packet.data.sessionLength == 0xFFFFFFFF:
return None
else:
return packet.data
def getFirmwareVersions(self):
"""
Retrieve firmware versions.
:return: FirmwareVersionsData instance.
"""
self.core.sendCommand(SubSystem.Debug, Commands.Debug.FWVersions)
packet = self.core.waitForPacket(PacketType.RegularResponse,
SubSystem.Debug,
Commands.Debug.FWVersions)
return packet.data
def debugUnitTestEnable(self, enable=True):
"""
Debugging/Testing function only.
"""
self.core.sendCommand(SubSystem.Debug,
Commands.Debug.StartUnitTestMotion, enable)
logging.debug(
"Sending Start UnitTest Motion. Waiting for acknowledgment.")
self.core.waitForAck(SubSystem.Debug,
Commands.Debug.StartUnitTestMotion)
logging.debug("Acknowledgment received")
def debugUnitTestSendBytes(self, bytes):
"""
Debugging/Testing function only.
"""
self.core.sendCommandBytes(bytes)
logging.debug("Sending UnitTest Motion Bytes. Waiting for packet.")
packet = self.core.waitForPacket(PacketType.RegularResponse,
SubSystem.Debug,
Commands.Debug.UnitTestMotionData)
logging.debug("Packet received.")
return packet
