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myo_gui.py
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myo_gui.py
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import asyncio, time, struct, yaml
import dearpygui.dearpygui as dpg
from bleak import BleakClient, BleakError
CLASSIFIER_EVENT_TYPES = {
1: 'ARM_SYNCED',
2: 'ARM_UNSYNCED',
3: 'POSE',
4: 'UNLOCKED',
5: 'LOCKED',
6: 'SYNC_FAILED',
7: 'UNKNOWN', # I've only seen this once
}
ARM_VALUES = {
0: 'UNKNOWN',
1: 'RIGHT',
2: 'LEFT',
255: 'UNKNOWN',
}
POSE_VALUES = {
0: 'REST',
1: 'FIST',
2: 'WAVE_IN',
3: 'WAVE_OUT',
4: 'FINGERS_SPREAD',
5: 'DOUBLE_TAP',
255: 'UNKNOWN'
}
XDIRECTION_VALUES = {
1: 'TOWARD_WRIST',
2: 'TOWARD_ELBOW',
255: 'UNKNOWN'
}
COMMAND = {
'SET_EMG_IMU_MODE': 1, # Set EMG and IMU and Classifier modes
'VIBRATE': 3, # Vibrate
'DEEP_SLEEP': 4, # Put Myo into deep sleep
'LED': 6, # Set LED mode
'EXTENDED_VIBRATION': 7, # Extended vibrate
'SET_SLEEP_MODE': 9, # Set sleep mode
'UNLOCK': 10, # Unlock Myo
'USER_ACTION': 11, # Notify user that an action has been recognized / confirmed
}
# Myo samples at a constant rate of 200 HZ
EMG_MODE = {
'OFF': 0, # Do not send EMG data
'FILTERED_50HZ': 1, # Undocumented filtered 50Hz
'FILTERED': 2, # Send filtered EMG data
'RAW': 3, # Send raw (unfiltered) EMG data
}
IMU_MODE = {
'OFF': 0, # Do not send IMU data or events
'SEND_DATA': 1, # Send IMU data streams (accelerometer, gyroscope, and orientation)
'SEND_EVENTS': 2, # Send motion events detected by the IMU (e.g. taps)
'SEND_ALL': 3, # Send both IMU data streams and motion events
'SEND_RAW': 4, # Send raw IMU data streams
}
VIBRATION_DURATION = {
'NONE': 0, # Do not vibrate
'SHORT': 1, # Vibrate for a short amount of time
'MEDIUM': 2, # Vibrate for a medium amount of time
'LONG': 3, # Vibrate for a long amount of time
}
SLEEP_MODE = {
'NORMAL': 0, # Normal sleep mode; Myo will sleep after a period of inactivity
'NEVER_SLEEP': 1, # Never go to sleep
}
UNLOCK_COMMAND = {
'UNLOCK_RELOCK': 0, # Unlock then re-lock immediately
'UNLOCK_TIMED': 1, # Unlock now and re-lock after a fixed timeout
'UNLOCK_HOLD': 2, # Unlock now and remain unlocked until a lock command is received
}
CLASSIFIER_MODE = {
'DISABLED': 0, # Disable and reset the internal state of the onboard classifier
'ENABLED': 1, # Send classifier events (poses and arm events)
}
class EMGGUI():
def __init__(self, device_config):
self.loop = asyncio.get_event_loop()
self.emg_data_queue = asyncio.Queue()
self.running = False
self.shutdown_event = asyncio.Event()
self.is_paused = False
self.window_size = 200 * 30 # 200 times a second * 30 seconds
self.emg_channels = 8
self.start_time = time.time()
self.t = 0
self.battery_level = 0
self.signal_strength = 0
self.firmware_revision = '0.0.0.0'
self.device_config = device_config
self.device_uuid = ''
self.client = None
self.command_characteristic = device_config['myo_armband']['characteristics']['command']
self.device_manufacturer_characteristic = device_config['myo_armband']['characteristics']['manufacturer']
self.filtered_50hz_characteristic = device_config['myo_armband']['characteristics']['filtered_50hz_emg']
self.emg_data0_characteristic = device_config['myo_armband']['characteristics']['emg0']
self.emg_data1_characteristic = device_config['myo_armband']['characteristics']['emg1']
self.emg_data2_characteristic = device_config['myo_armband']['characteristics']['emg2']
self.emg_data3_characteristic = device_config['myo_armband']['characteristics']['emg3']
self.classifier_event_characteristic = device_config['myo_armband']['characteristics']['classifier_event']
self.device_info_characteristic = device_config['myo_armband']['characteristics']['device_info']
self.battery_level_characteristic = device_config['myo_armband']['characteristics']['battery_level']
self.revision_characteristic = device_config['myo_armband']['characteristics']['revision']
self.emg_mode = EMG_MODE['OFF']
self.classifier_mode = CLASSIFIER_MODE['DISABLED']
self.imu_mode = IMU_MODE['OFF']
self.emg_x_axis = []
self.emg_y_axis = []
for _ in range(self.emg_channels):
self.emg_x_axis.append([0] * self.window_size)
self.emg_y_axis.append([0] * self.window_size)
dpg.create_context()
def build_gui(self):
with dpg.font_registry():
font_regular_12 = dpg.add_font("fonts/Inter-Regular.ttf", 14)
font_regular_14 = dpg.add_font("fonts/Inter-Regular.ttf", 18)
font_regular_24 = dpg.add_font("fonts/DroidSansMono.otf", 36)
with dpg.theme() as data_theme:
with dpg.theme_component(dpg.mvAll):
dpg.add_theme_color(dpg.mvThemeCol_WindowBg, (26, 30, 32), category=dpg.mvThemeCat_Core)
dpg.add_theme_color(dpg.mvThemeCol_ChildBg, (36, 40, 42), category=dpg.mvThemeCat_Core)
dpg.add_theme_style(dpg.mvStyleVar_ChildRounding, 8, category=dpg.mvThemeCat_Core)
dpg.add_theme_style(dpg.mvStyleVar_FrameRounding, 8, category=dpg.mvThemeCat_Core)
dpg.add_theme_style(dpg.mvStyleVar_ChildBorderSize, 0, category=dpg.mvThemeCat_Core)
with dpg.theme() as stop_button_theme:
with dpg.theme_component(dpg.mvAll):
dpg.add_theme_color(dpg.mvThemeCol_Text, (249, 122, 94), category=dpg.mvThemeCat_Core)
dpg.add_theme_color(dpg.mvThemeCol_Border, (249, 122, 94), category=dpg.mvThemeCat_Core)
dpg.add_theme_style(dpg.mvStyleVar_FrameBorderSize, 1, category=dpg.mvThemeCat_Core)
with dpg.theme() as start_button_theme:
with dpg.theme_component(dpg.mvAll):
dpg.add_theme_color(dpg.mvThemeCol_Text, (0, 128, 0), category=dpg.mvThemeCat_Core)
dpg.add_theme_color(dpg.mvThemeCol_Border, (0, 128, 0), category=dpg.mvThemeCat_Core)
dpg.add_theme_style(dpg.mvStyleVar_FrameBorderSize, 1, category=dpg.mvThemeCat_Core)
with dpg.theme() as connection_connecting_button_theme:
with dpg.theme_component(dpg.mvAll):
dpg.add_theme_color(dpg.mvThemeCol_Button, (36, 40, 42), category=dpg.mvThemeCat_Core)
with dpg.theme() as connection_connected_button_theme:
with dpg.theme_component(dpg.mvAll):
dpg.add_theme_color(dpg.mvThemeCol_Text, (0, 128, 0), category=dpg.mvThemeCat_Core)
with dpg.theme() as connection_disconnected_button_theme:
with dpg.theme_component(dpg.mvAll):
dpg.add_theme_color(dpg.mvThemeCol_Text, (249, 122, 94), category=dpg.mvThemeCat_Core)
with dpg.theme() as input_theme:
with dpg.theme_component(dpg.mvAll, enabled_state=True):
dpg.add_theme_style(dpg.mvStyleVar_FramePadding, 7, 9, category=dpg.mvThemeCat_Core)
with dpg.theme_component(dpg.mvAll, enabled_state=False):
dpg.add_theme_style(dpg.mvStyleVar_FramePadding, 7, 9, category=dpg.mvThemeCat_Core)
with dpg.theme() as center_button_theme:
with dpg.theme_component(dpg.mvAll):
dpg.add_theme_style(dpg.mvStyleVar_ButtonTextAlign, 0.5, category=dpg.mvThemeCat_Core)
dpg.add_theme_color(dpg.mvThemeCol_Button, (36, 40, 42), category=dpg.mvThemeCat_Core)
dpg.add_theme_color(dpg.mvThemeCol_ButtonActive, (36, 40, 42), category=dpg.mvThemeCat_Core)
dpg.add_theme_color(dpg.mvThemeCol_ButtonHovered, (36, 40, 42), category=dpg.mvThemeCat_Core)
with dpg.window(tag="main_window", width=1440, height=1024) as window:
dpg.add_text("FreeMyo", pos=[40, 40])
dpg.bind_item_font(dpg.last_item(), font_regular_24)
dpg.add_text("Connection Status:", pos=[40, 92])
dpg.bind_item_font(dpg.last_item(), font_regular_12)
dpg.add_button(label="Disconnected", pos=[155, 90], width=150, show=True, tag="disconnected_button")
dpg.bind_item_font(dpg.last_item(), font_regular_14)
dpg.bind_item_theme(dpg.last_item(), connection_disconnected_button_theme)
dpg.add_button(label="Connected", pos=[155, 90], width=150, show=False, tag="connected_button")
dpg.bind_item_font(dpg.last_item(), font_regular_14)
dpg.bind_item_theme(dpg.last_item(), connection_connected_button_theme)
dpg.add_button(label="Connecting...", pos=[155, 90], width=150, show=False, tag="connecting_button")
dpg.bind_item_font(dpg.last_item(), font_regular_14)
dpg.bind_item_theme(dpg.last_item(), connection_connecting_button_theme)
with dpg.child_window(height=100, width=200, pos=[35, 160]):
dpg.add_text("Battery Level", pos=[10, 10])
dpg.bind_item_theme(dpg.last_item(), center_button_theme)
dpg.bind_item_font(dpg.last_item(), font_regular_12)
dpg.add_button(label = self.battery_level, pos=[148, 12], width=60, tag="battery_level", small=True)
dpg.bind_item_theme(dpg.last_item(), input_theme)
dpg.bind_item_font(dpg.last_item(), font_regular_14)
dpg.add_text("Signal Strength (dBm)", pos=[10, 35])
dpg.bind_item_theme(dpg.last_item(), center_button_theme)
dpg.bind_item_font(dpg.last_item(), font_regular_12)
dpg.add_button(label = self.signal_strength, pos=[140, 37], width=60, tag="signal_strength_value", small=True)
dpg.bind_item_theme(dpg.last_item(), input_theme)
dpg.bind_item_font(dpg.last_item(), font_regular_14)
dpg.add_text("Firmware Version", pos=[10, 70])
dpg.bind_item_theme(dpg.last_item(), center_button_theme)
dpg.bind_item_font(dpg.last_item(), font_regular_12)
dpg.add_button(label = self.firmware_revision, pos=[110, 72], width=40, tag="firmware_revision", small=True)
dpg.bind_item_theme(dpg.last_item(), input_theme)
dpg.bind_item_font(dpg.last_item(), font_regular_14)
dpg.add_text("EMG Mode", pos=[40, 300])
dpg.bind_item_theme(dpg.last_item(), center_button_theme)
dpg.bind_item_font(dpg.last_item(), font_regular_12)
dpg.add_combo(("RAW", "FILTERED", "FILTERED_50HZ", "OFF"), default_value="OFF", width=140, pos=[110, 298], show=True, tag="emg_mode", callback=self.emg_mode_callback)
dpg.bind_item_theme(dpg.last_item(), center_button_theme)
dpg.bind_item_font(dpg.last_item(), font_regular_14)
dpg.add_text("Classifier Mode", pos=[40, 340])
dpg.bind_item_theme(dpg.last_item(), center_button_theme)
dpg.bind_item_font(dpg.last_item(), font_regular_12)
dpg.add_combo(("ENABLED", "DISABLED"), default_value="DISABLED", width=115, pos=[135, 338], show=True, tag="classifier_mode", callback=self.classifier_mode_callback)
dpg.bind_item_theme(dpg.last_item(), center_button_theme)
dpg.bind_item_font(dpg.last_item(), font_regular_14)
dpg.add_text("IMU Mode", pos=[40, 380])
dpg.bind_item_theme(dpg.last_item(), center_button_theme)
dpg.bind_item_font(dpg.last_item(), font_regular_12)
dpg.add_combo(("OFF", "SEND_DATA", "SEND_EVENTS", "SEND_ALL", "SEND_RAW"), default_value="OFF", width=140, pos=[110, 378], show=True, tag="imu_mode", callback=self.imu_mode_callback)
dpg.bind_item_theme(dpg.last_item(), center_button_theme)
dpg.bind_item_font(dpg.last_item(), font_regular_14)
dpg.add_text("Pose", pos=[40, 452])
dpg.bind_item_font(dpg.last_item(), font_regular_12)
dpg.add_button(label = "REST", pos=[75, 454], width=60, tag="pose_display", small=True)
dpg.bind_item_font(dpg.last_item(), font_regular_14)
dpg.bind_item_theme(dpg.last_item(), input_theme)
dpg.add_button(label="Deep Sleep", width=120, height=40, pos=[40, 900], show=True, tag="sleep_button",callback=self.put_to_sleep)
dpg.bind_item_font(dpg.last_item(), font_regular_14)
dpg.bind_item_theme(dpg.last_item(), stop_button_theme)
with dpg.child_window(height=980, width=980, pos=[420, 40]): #120
dpg.add_text("EMG Signal 1", pos=[10, 10])
with dpg.plot(pos=[10, 30], height=100, width=950):
dpg.add_plot_axis(dpg.mvXAxis, tag="x_axis1", no_tick_labels=True)
dpg.add_plot_axis(dpg.mvYAxis, tag="y_axis1")
dpg.add_line_series([], [], label="signal", parent="y_axis1", tag="signal_series1")
dpg.add_text("EMG Signal 2", pos=[10, 130])
with dpg.plot(pos=[10, 150], height=100, width=950):
dpg.add_plot_axis(dpg.mvXAxis, tag="x_axis2", no_tick_labels=True)
dpg.add_plot_axis(dpg.mvYAxis, tag="y_axis2")
dpg.add_line_series([], [], label="signal", parent="y_axis2", tag="signal_series2")
dpg.add_text("EMG Signal 3", pos=[10, 250])
with dpg.plot(pos=[10, 270], height=100, width=950):
dpg.add_plot_axis(dpg.mvXAxis, tag="x_axis3", no_tick_labels=True)
dpg.add_plot_axis(dpg.mvYAxis, tag="y_axis3")
dpg.add_line_series([], [], label="signal", parent="y_axis3", tag="signal_series3")
dpg.add_text("EMG Signal 4", pos=[10, 370])
with dpg.plot(pos=[10, 390], height=100, width=950):
dpg.add_plot_axis(dpg.mvXAxis, tag="x_axis4", no_tick_labels=True)
dpg.add_plot_axis(dpg.mvYAxis, tag="y_axis4")
dpg.add_line_series([], [], label="signal", parent="y_axis4", tag="signal_series4")
dpg.add_text("EMG Signal 5", pos=[10, 490])
with dpg.plot(pos=[10, 510], height=100, width=950):
dpg.add_plot_axis(dpg.mvXAxis, tag="x_axis5", no_tick_labels=True)
dpg.add_plot_axis(dpg.mvYAxis, tag="y_axis5")
dpg.add_line_series([], [], label="signal", parent="y_axis5", tag="signal_series5")
dpg.add_text("EMG Signal 6", pos=[10, 610])
with dpg.plot(pos=[10, 630], height=100, width=950):
dpg.add_plot_axis(dpg.mvXAxis, tag="x_axis6", no_tick_labels=True)
dpg.add_plot_axis(dpg.mvYAxis, tag="y_axis6")
dpg.add_line_series([], [], label="signal", parent="y_axis6", tag="signal_series6")
dpg.add_text("EMG Signal 7", pos=[10, 730])
with dpg.plot(pos=[10, 750], height=100, width=950):
dpg.add_plot_axis(dpg.mvXAxis, tag="x_axis7", no_tick_labels=True)
dpg.add_plot_axis(dpg.mvYAxis, tag="y_axis7")
dpg.add_line_series([], [], label="signal", parent="y_axis7", tag="signal_series7")
dpg.add_text("EMG Signal 8", pos=[10, 850])
with dpg.plot(pos=[10, 870], height=100, width=950):
dpg.add_plot_axis(dpg.mvXAxis, tag="x_axis8", no_tick_labels=True)
dpg.add_plot_axis(dpg.mvYAxis, tag="y_axis8")
dpg.add_line_series([], [], label="signal", parent="y_axis8", tag="signal_series8")
dpg.create_viewport(title='EMG', width=1440, height=1064, x_pos=40, y_pos=40)
dpg.bind_item_theme(window, data_theme)
dpg.setup_dearpygui()
dpg.show_viewport()
dpg.set_exit_callback(self.teardown)
dpg.set_primary_window("main_window", True)
def put_to_sleep(self, sender, data):
# Deep sleep command ######################################################################
# WARNING: This will immediately disconnect and put the Myo into a deep sleep that can only
# be awakened by plugging it into USB
command = COMMAND['DEEP_SLEEP']
payload_byte_size = 1
command_header = struct.pack('<2B', command, payload_byte_size)
self.loop.create_task(self.client.write_gatt_char(self.command_characteristic, command_header, response=True))
###########################################################################################
def imu_mode_callback(self, sender, data):
old_mode = self.imu_mode
self.imu_mode = IMU_MODE[data]
# Command to set EMG, IMU, and CLASSIFIER modes
command = COMMAND['SET_EMG_IMU_MODE']
payload_byte_size = 3
command_header = struct.pack('<5B', command, payload_byte_size, self.emg_mode, self.imu_mode, self.classifier_mode) # b'\x01\x02\x00\x00'
self.loop.create_task(self.client.write_gatt_char(self.command_characteristic, command_header, response=True))
###########################################################################################
# TODO: Implement IMU mode
print("IMU Mode not implemented yet.")
def classifier_mode_callback(self, sender, data):
old_mode = self.classifier_mode
self.classifier_mode = CLASSIFIER_MODE[data]
# Command to set EMG, IMU, and CLASSIFIER modes
command = COMMAND['SET_EMG_IMU_MODE']
payload_byte_size = 3
command_header = struct.pack('<5B', command, payload_byte_size, self.emg_mode, self.imu_mode, self.classifier_mode) # b'\x01\x02\x00\x00'
self.loop.create_task(self.client.write_gatt_char(self.command_characteristic, command_header, response=True))
###########################################################################################
if old_mode == CLASSIFIER_MODE['DISABLED'] and self.classifier_mode == CLASSIFIER_MODE['ENABLED']:
self.loop.create_task(self.client.start_notify(self.classifier_event_characteristic, self.ble_notification_callback))
elif old_mode == CLASSIFIER_MODE['ENABLED'] and self.classifier_mode == CLASSIFIER_MODE['DISABLED']:
self.loop.create_task(self.client.stop_notify(self.classifier_event_characteristic))
def emg_mode_callback(self, sender, data):
old_mode = self.emg_mode
self.emg_mode = EMG_MODE[data]
# Command to set EMG, IMU, and CLASSIFIER modes
command = COMMAND['SET_EMG_IMU_MODE']
imu_mode = IMU_MODE['OFF']
classifier_mode = CLASSIFIER_MODE['ENABLED']
payload_byte_size = 3
command_header = struct.pack('<5B', command, payload_byte_size, self.emg_mode, imu_mode, classifier_mode) # b'\x01\x02\x00\x00'
self.loop.create_task(self.client.write_gatt_char(self.command_characteristic, command_header, response=True))
###########################################################################################
if self.emg_mode in [EMG_MODE['RAW'], EMG_MODE['FILTERED']]:
self.running = True
if old_mode == EMG_MODE['OFF']:
self.loop.create_task(self.client.start_notify(self.emg_data0_characteristic, self.ble_notification_callback))
self.loop.create_task(self.client.start_notify(self.emg_data1_characteristic, self.ble_notification_callback))
self.loop.create_task(self.client.start_notify(self.emg_data2_characteristic, self.ble_notification_callback))
self.loop.create_task(self.client.start_notify(self.emg_data3_characteristic, self.ble_notification_callback))
elif self.emg_mode == EMG_MODE['OFF']:
self.running = False
self.loop.create_task(self.client.stop_notify(self.emg_data0_characteristic))
self.loop.create_task(self.client.stop_notify(self.emg_data1_characteristic))
self.loop.create_task(self.client.stop_notify(self.emg_data2_characteristic))
self.loop.create_task(self.client.stop_notify(self.emg_data3_characteristic))
elif self.emg_mode == EMG_MODE['FILTERED_50HZ']:
self.running = True
self.loop.create_task(self.client.start_notify(self.filtered_50hz_characteristic, self.ble_notification_callback))
def handle_battery_notification(self, data):
battery_level_value = int.from_bytes(data, 'little')
self.battery_level = battery_level_value
dpg.configure_item("battery_level", label=int(battery_level_value))
def handle_classifier_indication(self, data):
event_id, value_id, x_direction_id, _, _, _ = struct.unpack('<6B', data) #TODO what are the 3 bytes at the end?
classifier_event = CLASSIFIER_EVENT_TYPES[event_id]
classifier_value = None
x_direction = None
match classifier_event:
case 'ARM_SYNCED':
classifier_value = ARM_VALUES[value_id]
x_direction = XDIRECTION_VALUES[x_direction_id]
case 'ARM_UNSYNCED':
pass
case 'POSE':
classifier_value = POSE_VALUES[value_id]
case 'UNLOCKED':
pass
case 'LOCKED':
pass
case 'SYNC_FAILED':
pass
case _:
classifier_event = "Unknown Event"
# print_value = f"{classifier_value} " if classifier_value else ""
# print_value += f"-- {x_direction}" if x_direction else ""
# print(print_value)
dpg.configure_item("pose_display", label=classifier_value)
def ble_notification_callback(self, handle, data):
match handle:
case 16: # battery notifications
self.handle_battery_notification(data)
case 28: # IMU data
values = struct.unpack('10h', data)
quat = values[:4]
acc = values[4:7]
gyro = values[7:10]
print(f"IMU: quat: {quat} acc: {acc} gyro: {gyro}")
case 34: # classifier notifications
self.handle_classifier_indication(data)
case 38: # undocumented filtered 50hz emg mode
values = list(struct.unpack('<8h', data[:16]))
emg = values[:8]
intensity_candidate = int(data[15]) # This extra byte seems to be a sort of measure of intensity.
# Or a measure of how much the sensor is stretched apart.
# Maybe its the latter trying to be the former?
# The values vary from 0 to 7 and seem to rise with intensity of pose.
# This is really only noticeable when making a fist (perhaps because all the muscles tense)
print(f"EMG: {emg} - Intensity: {intensity_candidate}")
case 42: # EMG 0
emg0 = list(struct.unpack('<16b', data))
emg0.append(0)
self.loop.create_task(self.emg_data_queue.put(emg0))
case 45: # EMG 1
emg1 = list(struct.unpack('<16b', data))
emg1.append(1)
self.loop.create_task(self.emg_data_queue.put(emg1))
case 48: # EMG 2
emg2 = list(struct.unpack('<16b', data))
emg2.append(2)
self.loop.create_task(self.emg_data_queue.put(emg2))
case 51: # EMG 3
emg3 = list(struct.unpack('<16b', data))
emg3.append(3)
self.loop.create_task(self.emg_data_queue.put(emg3))
case _:
print(f"Unknown Characteristic: Handle: {handle} Data: {data}")
async def run(self):
asyncio.create_task(self.collect_emg_data())
asyncio.create_task(self.process_emg_data())
asyncio.create_task(self.update_plots())
while dpg.is_dearpygui_running():
await asyncio.sleep(0.001)
dpg.render_dearpygui_frame()
await asyncio.sleep(0.01)
self.running = False
self.shutdown_event.set()
time.sleep(0.1)
dpg.destroy_context()
async def process_emg_data(self):
try:
last_recv_characteristic = 0
while not self.shutdown_event.is_set():
# print(self.emg_data_queue.qsize())
if self.running == True and self.emg_data_queue.qsize() > 0:
incoming_data = await self.emg_data_queue.get()
emg1 = incoming_data[:8]
emg2 = incoming_data[8:16]
recv_characteristic = incoming_data[16]
progression = (recv_characteristic - last_recv_characteristic) % 4
if progression > 1:
for i in range(1,progression):
# print("packet not received")
self.t += 5
for _ in range(1,8):
self.emg_x_axis[i].append(self.t)
self.emg_y_axis[i].append(0)
last_recv_characteristic = recv_characteristic
self.t += 10
for i in range(0,8):
self.emg_x_axis[i].append(self.t - 5)
self.emg_x_axis[i].append(self.t)
self.emg_y_axis[i].append(emg1[i])
self.emg_y_axis[i].append(emg2[i])
else:
await asyncio.sleep(0.0001)
except KeyboardInterrupt:
pass
async def update_plots(self):
try:
while not self.shutdown_event.is_set():
await asyncio.sleep(0.01)
for i in range(0,8):
self.emg_x_axis[i] = self.emg_x_axis[i][-self.window_size:]
self.emg_y_axis[i] = self.emg_y_axis[i][-self.window_size:]
dpg.set_value('signal_series' + str(i + 1), [self.emg_x_axis[i], self.emg_y_axis[i]])
dpg.fit_axis_data( 'x_axis' + str(i + 1))
dpg.set_axis_limits( 'y_axis' + str(i + 1), -200, 200)
except KeyboardInterrupt:
pass
async def collect_emg_data(self):
self.device_uuid = self.device_config['myo_armband']['device_uuid']
print(f"Connecting to {self.device_uuid}")
dpg.configure_item("disconnected_button", show=False)
dpg.configure_item("connected_button", show=False)
dpg.configure_item("connecting_button", show=True)
try:
async with BleakClient(self.device_uuid) as client:
dpg.configure_item("disconnected_button", show=False)
dpg.configure_item("connecting_button", show=False)
dpg.configure_item("connected_button", show=True)
self.client = client
# Get signal strength
rssi = await client.get_rssi()
dpg.configure_item("signal_strength_value", label=int(rssi))
# Get battery level and subscribe to notifications for it
battery_level_char = await client.read_gatt_char(self.battery_level_characteristic)
self.battery_level = int.from_bytes(battery_level_char, 'big')
print(f"Battery Level: {self.battery_level}")
dpg.configure_item("battery_level", label=int(self.battery_level))
await client.start_notify(self.battery_level_characteristic, self.ble_notification_callback)
# Get firmware version
firmware_revision_value = await client.read_gatt_char(self.revision_characteristic)
major = int.from_bytes(firmware_revision_value[0:2], 'little') # Major
minor = int.from_bytes(firmware_revision_value[2:4], 'little') # Minor
patch = int.from_bytes(firmware_revision_value[4:6], 'little') # Patch
hardware_revision = int.from_bytes(firmware_revision_value[6:8], 'little') # Hardware Revision
self.firmware_revision = f"{major}.{minor}.{patch}.{hardware_revision}"
dpg.configure_item("firmware_revision", label=self.firmware_revision)
# Get serial number
device_info_char = await client.read_gatt_char(self.device_info_characteristic)
info = struct.unpack("<6BHBBBBB7B", device_info_char)
serial_number = '-'.join(map(str, info[0:6]))
print(f"Serial Number: {serial_number}")
# Set the LED to a very nice purple
command = COMMAND['LED']
payload = [128, 128, 255, 128, 128, 255] # first 3 bytes is the logo color, second 3 bytes is the bar color
payload_byte_size = len(payload)
command_header = struct.pack('<8B', command, payload_byte_size, *payload)
await client.write_gatt_char(self.command_characteristic, command_header, response=True)
# # send a short vibration to signify connection
# command = COMMAND['VIBRATE']
# vibration_type = VIBRATION_DURATION['SHORT']
# payload_byte_size = 1
# command_header = struct.pack('<3B', command, payload_byte_size, vibration_type)
# await client.write_gatt_char(self.command_characteristic, command_header, response=True)
# Extended Vibration mode ######################################################################
command = COMMAND['EXTENDED_VIBRATION']
steps = b''
# number_of_steps = 3 # set the number of times to vibrate
# for _ in range(number_of_steps):
# duration = 1000 # duration (in ms) of the vibration step
# strength = 255 # strength of vibration step (0 - motor off, 255 - full speed)
# steps += struct.pack('<HB', duration, strength)
steps = struct.pack('<HBHB', 100, 100, 300, 200)
payload_byte_size = len(steps)
command_header = struct.pack('<' + 'BB' + payload_byte_size * 'B', command, payload_byte_size, *steps)
await client.write_gatt_char(self.command_characteristic, command_header, response=True)
try:
while not self.shutdown_event.is_set():
await asyncio.sleep(1)
except Exception as e:
print(e)
self.teardown()
dpg.configure_item("connecting_button", show=False)
dpg.configure_item("connected_button", show=False)
dpg.configure_item("disconnected_button", show=True)
except BleakError as be:
print(be)
self.teardown()
def teardown(self):
try:
dpg.configure_item("connecting_button", show=False)
dpg.configure_item("connected_button", show=False)
dpg.configure_item("disconnected_button", show=True)
self.running = False
self.shutdown_event.set()
time.sleep(0.1)
for task in asyncio.all_tasks():
task.cancel()
loop = asyncio.get_event_loop()
loop.stop()
except:
pass
async def main():
with open("myo_config.yaml", "r") as stream:
try:
device_config = yaml.safe_load(stream)
except Exception as e:
print(f"Error reading config file: {e}")
return
emg = EMGGUI(device_config)
emg.build_gui()
await emg.run()
if __name__ == '__main__':
try:
asyncio.run(main())
except (KeyboardInterrupt, RuntimeError):
pass