diff --git a/integration/Window.py b/integration/Window.py
index 5f2ff0199cdafb0d9718021ee2a4eb98aabea3b8..fd9b1a27ef676159e91e1c41fb86961f31049a09 100644
--- a/integration/Window.py
+++ b/integration/Window.py
@@ -47,23 +47,27 @@ class Window:
label4 = tk.Label(self.frame4, text="Section 4")
label4.place(relx=0.5, rely=0.5, anchor='center')
- #self.imu_thread = threading.Thread(target=self.initial_IMU)
- #self.emg_thread = threading.Thread(target=self._initialise_EMG_graph)
- #self.emg_thread.start()
- #self.imu_thread.start()
+ self.imu_thread = threading.Thread(target=self.initial_IMU)
+ self.emg_thread = threading.Thread(target=self._initialise_EMG_graph)
+ self.emg_thread.start()
+ self.imu_thread.start()
+
+
self.emg_data_1 = [-1] * 41
self.emg_data_2 = [-1] * 41
- self.initial_IMU()
- self._initialise_EMG_graph()
+ #self.initial_IMU()
+ #self._initialise_EMG_graph()
+ self.display_IMU_thread=threading.Thread(target=self.update_display)
+ self.display_EMG_thread=threading.Thread(target=self.EMG_Display)
def initial_IMU(self):
# Serial Port Setup
if'COM6' in self.ports:#port maybe different on different laptop
- self.arduino = serial.Serial('COM6', 115200)
+
self.label2 = tk.Label(self.frame2, text="Port: COM6 ")
self.label2.place(relx=0.35, rely=0.8, anchor='center')
self.label1 = tk.Label(self.frame2,
@@ -89,6 +93,7 @@ class Window:
sleep(1)
# Conversions
+ self.transmitting = False
self.toRad = 2 * np.pi / 360
self.toDeg = 1 / self.toRad
@@ -160,16 +165,23 @@ class Window:
# self.emg_label = tk.Label(self.frame1, text="Average EMG: 0", font=("Arial", 14))
# self.emg_label.pack(pady=10)
+ self.roll_label = tk.Label(self.frame2, text="roll is : " )
+ self.roll_label.config(font=("Arial", 12))
+ self.roll_label.place(relx=0.2, rely=0.3, anchor='w')
+ self.pitch_label = tk.Label(self.frame2, text="pitch is : " )
+ self.pitch_label.config(font=("Arial", 12))
+ self.pitch_label.place(relx=0.2, rely=0.4, anchor='w')
+ self.yaw_label = tk.Label(self.frame2, text="yaw is : " )
+ self.yaw_label.config(font=("Arial", 12))
+ self.yaw_label.place(relx=0.2, rely=0.5, anchor='w')
- # Initialize the data transmission flag
- self.transmitting = False
def _initialise_EMG_graph(self):
if 'COM5' in self.ports:#port maybe different on different laptop
- self.arduino_EMG = serial.Serial('COM5', 9600,timeout=1)
+
self.label2 = tk.Label(self.frame3, text="Port: COM5 ")
self.label2.place(relx=0.23, rely=0.8, anchor='center')
self.label1 = tk.Label(self.frame3,
@@ -193,6 +205,7 @@ class Window:
self.label1.place(relx=0.5, rely=0.9, anchor='center')
# Create a figure and axis
+ self.EMG_transmitting = False
fig = Figure(figsize=((self.width / 200), (self.height / 200))) # Adjusting figsize based on frame size
self.ax1 = fig.add_subplot(111)
@@ -228,32 +241,61 @@ class Window:
self.canvas1 = FigureCanvasTkAgg(fig, master=self.frame4)
self.canvas1.draw()
self.canvas1.get_tk_widget().pack(fill=tk.BOTH, expand=True)
+ self.EMG_Display()
+
+ self.outer_EMG_label = tk.Label(self.frame3, text=f"EMG for Extensor Carpi Ulnaris is :")
+ self.outer_EMG_label.config(font=("Arial", 12))
+ self.outer_EMG_label.place(relx=0.1, rely=0.2, anchor='w')
+ self.outer_EMG_Number = tk.Label(self.frame3, text="",fg="red")
+ self.outer_EMG_Number.config(font=("Arial", 12))
+ self.outer_EMG_Number.place(relx=0.2, rely=0.3, anchor='w')
+ self.inner_EMG_label = tk.Label(self.frame3, text=f"EMG for Flexor Carpi Radialis is :")
+ self.inner_EMG_label.config(font=("Arial", 12))
+ self.inner_EMG_label.place(relx=0.1, rely=0.4, anchor='w')
+ self.inner_EMG_Number = tk.Label(self.frame3, text="",fg="blue")
+ self.inner_EMG_Number.config(font=("Arial", 12))
+ self.inner_EMG_Number.place(relx=0.2, rely=0.5, anchor='w')
+ self.gesture_label = tk.Label(self.frame3, text=f"Gesture is :")
+ self.gesture_label.config(font=("Arial", 12))
+ self.gesture_label.place(relx=0.1, rely=0.6, anchor='w')
+
+
- self.EMG_transmitting = False
def start_data_transmission(self):
# Set the transmitting flag to True and start the update loop
+ self.arduino = serial.Serial('COM6', 115200)
self.transmitting = True
self.update_display()
def start_EMG_data_transmission(self):
# Set the transmitting flag to True and start the update loop
+ self.arduino_EMG = serial.Serial('COM5', 9600, timeout=1)
self.EMG_transmitting = True
self.EMG_Display()
def disconnect(self):
self.transmitting = False
+ self.root.after_cancel(self.update_display_id)
+ if self.arduino is not None:
+ self.arduino.close()
+ self.arduino = None
def EMG_disconnect(self):
self.EMG_transmitting = False
+ self.root.after_cancel(self.EMG_display_id)
+ if self.arduino_EMG is not None:
+ self.arduino_EMG.close()
+ self.arduino_EMG = None
def update_display(self):
if self.transmitting:
try:
- while self.arduino.inWaiting() > 0:
+ while ((self.arduino.inWaiting() > 0)and
+ (self.transmitting==True)):
dataPacket = self.arduino.readline()
dataPacket = dataPacket.decode()
cleandata = dataPacket.replace("\r\n", "")
@@ -273,15 +315,9 @@ class Window:
pitch = -math.asin(2 * (q0 * q2 - q3 * q1))
yaw = -math.atan2(2 * (q0 * q3 + q1 * q2), 1 - 2 * (q2 * q2 + q3 * q3))
- roll_label=tk.Label(self.frame2, text="roll is : "+str(roll))
- roll_label.config(font=("Arial", 12))
- roll_label.place(relx=0.2, rely=0.3, anchor='w')
- pitch_label=tk.Label(self.frame2, text="pitch is : "+str(pitch))
- pitch_label.config(font=("Arial", 12))
- pitch_label.place(relx=0.2, rely=0.4, anchor='w')
- yaw_label=tk.Label(self.frame2, text="yaw is : "+str(yaw))
- yaw_label.config(font=("Arial", 12))
- yaw_label.place(relx=0.2, rely=0.5, anchor='w')
+ self.roll_label.config( text="roll is : "+str(roll))
+ self.pitch_label.config(text="pitch is : "+str(pitch))
+ self.yaw_label.config(text="yaw is : "+str(yaw))
# Rotation matrices
Rz = np.array([
@@ -374,16 +410,24 @@ class Window:
print(f"An error occurred: {e}")
# Call update_display() again after 50 milliseconds
- self.root.after(50, self.update_display)
+ self.update_display_id =self.root.after(50, self.update_display)
def EMG_Display(self):
if self.EMG_transmitting:
try:
+ while ((self.arduino_EMG.inWaiting() > 0) and
+ (self.EMG_transmitting == True)):
data = self.arduino_EMG.readline()
emg_data = self._decode(data)
if emg_data is not None:
print(f"EMG 1: {emg_data[0]} , EMG 2: {emg_data[1]}")
+
+ self.outer_EMG_Number.config(text=f"{emg_data[0]}")
+ self.inner_EMG_Number.config(text=f"{emg_data[1]}")
+
+
+
# Append the new data to the lists
self.emg_data_1.append(emg_data[0])
@@ -403,7 +447,7 @@ class Window:
# Call update_display() again after 50 milliseconds
- self.root.after(50, self.EMG_Display)
+ self.EMG_display_id=self.root.after(50, self.EMG_Display)
def _decode(self, serial_data):
serial_string = serial_data.decode(errors="ignore")