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Adding refactored classes for ble sensing with working data collection again

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This commit is contained in:
Lucas Oskorep
2019-11-08 18:56:58 -06:00
parent 564eed46d5
commit 40c4e01f55
8 changed files with 112 additions and 92 deletions
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kano_wand/ble_client.py
+20 -25
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@@ -1,21 +1,24 @@
import logging
import struct
from converters import BinToInt, BinToFloat
from .sensor_tracker import *
from .wand_sensors import *
from bleak import BleakClient
from bleak import _logger as logger
from .utils import *
from .wand_utils import *
from .sensor_decoders import wand_decoder
class KanoBLEClient(object):
def __init__(self, wand_address, spells=None):
def __init__(self, wand_address, loop, spells=None):
self.wand_address = wand_address
self.int_decoder = BinToInt(48)
self.float_decoder = BinToFloat(16, 31)
self.client = None
self.decoder = wand_decoder()
self.wand_sensors = WandSensors(self.sensor_update_handler)
self.loop = loop
async def connect(self, loop, debug=False):
async def connect_and_read(self, debug=False):
if debug:
import sys
l = logging.getLogger("asyncio")
@@ -25,40 +28,32 @@ class KanoBLEClient(object):
l.addHandler(h)
logger.addHandler(h)
async with BleakClient(self.wand_address, loop=loop) as client:
async with BleakClient(self.wand_address, loop=self.loop) as client:
self.client = client
x = await client.is_connected()
logger.info("Connected: {0}".format(x))
async def start_recieving_data(self):
await start_notify(self.client)
await start_notify(self.client, self.sensor_handling)
async def stop_recieving_data(self):
await stop_notify(self.client)
def sensor_update_handler(self, sensors):
print(sensors)
def sensor_handling(self, sender, data):
"""Simple notification handler which prints the data received."""
# TODO: Convert to a dictionary and a single decode command
sender = CHARACTERISTIC_UUIDS[sender]
if sender == BUTTON:
self.decode_button(data)
self.wand_sensors.set_button(self.decoder.decode_button(data))
elif sender == NINE_AXIS:
#TODO: refactor the gyro to be local to the sensors file only
gyro = Gyro()
gyro.x, gyro.y, gyro.z = self.decode_nine_axis(data)
sensors.set_gyro(gyro)
sensors.append_to_dataframe()
self.wand_sensors.set_gyro(*self.decoder.decode_nine_axis(data))
elif sender == ACCELEROMETER:
accel = Accel()
accel.x, accel.y, accel.z = self.decode_nine_axis(data)
sensors.set_accel(accel)
sensors.append_to_dataframe()
self.wand_sensors.set_accel(*self.decoder.decode_nine_axis(data))
elif sender == BATTERY:
self.decode_battery(data)
self.decoder.decode_battery(data)
elif sender == TEMPERATURE:
self.decode_temp(data)
self.wand_sensors.set_temp(self.decoder.decode_temp(data))
elif sender == MAGNETOMETER:
self.decode_magnet(data)
self.wand_sensors.set_magneto(self.decoder.decode_magnet(data))
kano_wand/constants.py
+1 -1
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@@ -11,5 +11,5 @@ CHARACTERISTIC_UUIDS = {
("64a7000c-f691-4b93-a6f4-0968f5b648f8"): ACCELEROMETER, # Accel
("64a70007-f691-4b93-a6f4-0968f5b648f8"): BATTERY,
("64a70014-f691-4b93-a6f4-0968f5b648f8"): TEMPERATURE,
("64a70021-f691-4b93-a6f4-0968f5b648f8"):MAGNETOMETER
("64a70021-f691-4b93-a6f4-0968f5b648f8"): MAGNETOMETER
} # <--- Change to the characteristic you want to enable notifications from.
kano_wand/sensor_decoders.py
+6 -9
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@@ -1,16 +1,14 @@
import struct
from .wand_utils import chunker
from converters import BinToInt, BinToFloat
class decoder(object):
class wand_decoder(object):
def __init__(self, int_decoder=BinToInt(48), float_decoder= BinToFloat(16, 31)):
self.int_decoder = int_decoder
self.float_decoder = float_decoder
def decode_button(self, data):
if int.from_bytes(data, byteorder='big'):
print("Button Pressed")
else:
print("Button Released")
return int.from_bytes(data, byteorder='big')
def decode_nine_axis(self, data):
converted = [self.int_decoder.process(x, True) / 10 ** 14 for x in chunker(data, 6)]
@@ -21,13 +19,12 @@ class decoder(object):
return converted
def decode_battery(self, data):
int.from_bytes(data, byteorder='big')
return int.from_bytes(data, byteorder='big')
def decode_temp(self, data):
print(len(data))
print(data)
print(struct.unpack("h", data))
return struct.unpack("h", data)
def decode_magnet(self, data):
print(data)
print(len(data))
return 0
kano_wand/sensor_tracker.py
-54
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@@ -1,54 +0,0 @@
import pandas as pd
class Gyro(object):
def __init__(self):
self.x = 0
self.y = 0
self.z = 0
def __str__(self):
print(self.x, self.y, self.z)
class Accel(object):
def __init__(self):
self.x = 0
self.y = 0
self.z = 0
def __str__(self):
print(self.x, self.y, self.z)
class SensorTracker(object):
def __init__(self):
self.gyro = None
self.gyro_updates = 0
self.accel = None
self.accel_updates = 0
self.dataframe = pd.DataFrame(columns=["gyro_x", "gyro_y", "gyro_z", "accel_x", "accel_y", "accel_z"])
def append_to_dataframe(self):
if self.gyro_updates == self.accel_updates:
self.dataframe = self.dataframe.append(
pd.DataFrame({
"gyro_x": self.gyro.x,
"gyro_y": self.gyro.y,
"gyro_z": self.gyro.z,
"accel_x": self.accel.x,
"accel_y": self.accel.y,
"accel_z": self.accel.z,
}, index=[0])
)
def save_df_to_file(self, filename):
self.dataframe.to_csv(filename, index=False)
def set_gyro(self, gyro):
self.gyro = gyro
self.gyro_updates += 1
def set_accel(self, accel):
self.accel = accel
self.accel_updates += 1
kano_wand/wand_sensors.py
+72
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@@ -0,0 +1,72 @@
import pandas as pd
class ThreeAxisSensor(object):
def __init__(self, x, y, z):
self.x = x
self.y = y
self.z = z
def __str__(self):
print(self.x, self.y, self.z)
class WandSensors(object):
def __init__(self, wand_update_callback):
self.gyro = None
self.gyro_updates = 0
self.accel = None
self.accel_updates = 0
self.magneto = 0
self.button = 0
self.temperature = 0
self.dataframe = pd.DataFrame(columns=["gyro_x", "gyro_y", "gyro_z", "accel_x", "accel_y", "accel_z"])
self.wand_update_callback = wand_update_callback
def __str__(self):
return super().__str__()
def append_to_dataframe(self):
if self.gyro_updates == self.accel_updates:
self.dataframe = self.dataframe.append(
pd.DataFrame({
"gyro_x": self.gyro.x,
"gyro_y": self.gyro.y,
"gyro_z": self.gyro.z,
"accel_x": self.accel.x,
"accel_y": self.accel.y,
"accel_z": self.accel.z,
"magneto": self.magneto,
"button": self.button
}, index=[0])
)
self.wand_update_callback(self.dataframe)
def save_df_to_file(self, filename):
self.dataframe.to_csv(filename, index=False)
def set_gyro(self, x, y, z):
self.gyro = ThreeAxisSensor(x, y, z)
self.gyro_updates += 1
self.append_to_dataframe()
def set_accel(self, x, y, z):
self.accel = ThreeAxisSensor(x, y, z)
self.accel_updates += 1
self.append_to_dataframe()
def set_temp(self, temp):
self.temp = temp
def set_button(self, button):
self.button = button
def set_magneto(self, magneto):
self.magneto = magneto
def get_dataframe(self):
return self.dataframe
kano_wand/utils.py → kano_wand/wand_utils.py
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