From df08aa6b2cf8e17cb97a5092edefb20419d5fa67 Mon Sep 17 00:00:00 2001
From: ym13n22 <ym13n22@soton.ac.uk>
Date: Tue, 16 Jul 2024 21:21:57 +0100
Subject: [PATCH] done
---
integration/Window.py | 434 ++++++++++++++++++++++++++++++++++++++++++
1 file changed, 434 insertions(+)
create mode 100644 integration/Window.py
diff --git a/integration/Window.py b/integration/Window.py
new file mode 100644
index 0000000..5f2ff01
--- /dev/null
+++ b/integration/Window.py
@@ -0,0 +1,434 @@
+import threading
+import tkinter as tk
+from matplotlib.figure import Figure
+from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
+from mpl_toolkits.mplot3d.art3d import Poly3DCollection
+import numpy as np
+import serial
+import serial.tools.list_ports
+from time import sleep
+import math
+
+class Window:
+ def __init__(self, root):
+ self.root = root
+ self.root.title("Integration")
+ self.ports = [port.device for port in serial.tools.list_ports.comports()]
+
+ # Set the initial size and position of the popup window
+ self.width = 1000
+ self.height = 600
+ screen_width = self.root.winfo_screenwidth()
+ screen_height = self.root.winfo_screenheight()
+ x = (screen_width // 2) - (self.width // 2)
+ y = (screen_height // 2) - (self.height // 2)
+ self.root.geometry(f"{self.width}x{self.height}+{x}+{y}")
+
+ # Configure the grid to be expandable
+ self.root.columnconfigure(0, weight=1)
+ self.root.columnconfigure(1, weight=1)
+ self.root.rowconfigure(0, weight=1)
+ self.root.rowconfigure(1, weight=1)
+
+ # Create a frame
+ self.frame1 = tk.Frame(self.root, borderwidth=1, relief="solid", width=self.width / 3, height=self.height / 2)
+ self.frame1.grid(row=0, column=0, padx=10, pady=10, sticky="nsew")
+
+ self.frame2 = tk.Frame(self.root, borderwidth=1, relief="solid", width=self.width * 2 / 3, height=self.height / 2)
+ self.frame2.grid(row=0, column=1, padx=10, pady=10, sticky="nsew")
+
+
+ self.frame3 = tk.Frame(self.root, borderwidth=1, relief="solid", width=self.width / 3, height=self.height / 2)
+ self.frame3.grid(row=1, column=0, padx=10, pady=10, sticky="nsew")
+
+ self.frame4 = tk.Frame(self.root, borderwidth=1, relief="solid", width=self.width * 2 / 3, height=self.height / 2)
+ self.frame4.grid(row=1, column=1, padx=10, pady=10, sticky="nsew")
+ self.frame4.grid_propagate(False)
+ 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.emg_data_1 = [-1] * 41
+ self.emg_data_2 = [-1] * 41
+
+ self.initial_IMU()
+ self._initialise_EMG_graph()
+
+
+
+ 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,
+ text="click the Connect button to see the animation",
+ wraplength=self.width / 2)
+ self.label1.place(relx=0.5, rely=0.9, anchor='center')
+ # Add a button to start data transmission
+ self.start_button = tk.Button(self.frame2, text="connect", command=self.start_data_transmission)
+ self.start_button.place(relx=0.5, rely=0.8, anchor='center')
+
+ self.start_button = tk.Button(self.frame2, text="Disconnect", command=self.disconnect)
+ self.start_button.place(relx=0.7, rely=0.8, anchor='center')
+
+ else:
+ print("IMU is not connected")
+ self.label2 = tk.Label(self.frame2, text="Port: None ")
+ self.label2.place(relx=0.35, rely=0.8, anchor='center')
+ self.label1 = tk.Label(self.frame2,
+ text="Please check the IUM connection",
+ wraplength=self.width / 2)
+ self.label1.place(relx=0.5, rely=0.9, anchor='center')
+
+ sleep(1)
+
+ # Conversions
+ self.toRad = 2 * np.pi / 360
+ self.toDeg = 1 / self.toRad
+
+ # Initialize Parameters
+ self.count = 0
+ self.averageroll = 0
+ self.averageyaw = 0
+ self.averagepitch = 0
+ self.averageemg = 0
+ self.iterations = 10 # EMG measurements to get average
+
+ # Create a figure for the 3D plot
+ self.fig = Figure(figsize=((self.width / 300), (self.height / 200)))
+ self.ax = self.fig.add_subplot(111, projection='3d')
+
+ # Set Limits
+ self.ax.set_xlim(-2, 2)
+ self.ax.set_ylim(-2, 2)
+ self.ax.set_zlim(-2, 2)
+
+ # Set labels
+ self.ax.set_xlabel('X')
+ self.ax.set_ylabel('Y')
+ self.ax.set_zlabel('Z',labelpad=0)
+
+ # Draw Axes
+ self.ax.quiver(0, 0, 0, 2, 0, 0, color='red', label='X-Axis', arrow_length_ratio=0.1) # X Axis (Red)
+ self.ax.quiver(0, 0, 0, 0, -2, 0, color='green', label='Y-Axis', arrow_length_ratio=0.1) # Y Axis (Green)
+ self.ax.quiver(0, 0, 0, 0, 0, 4, color='blue', label='Z-Axis', arrow_length_ratio=0.1) # Z Axis (Blue)
+
+ # Draw the board as a rectangular prism (solid)
+ self.prism_vertices = np.array([
+ [-1.5, -1, 0], [1.5, -1, 0], [1.5, 1, 0], [-1.5, 1, 0], # bottom vertices
+ [-1.5, -1, 0.1], [1.5, -1, 0.1], [1.5, 1, 0.1], [-1.5, 1, 0.1]
+ # top vertices (height=0.1 for visual thickness)
+ ])
+
+ self.prism_faces = [
+ [self.prism_vertices[j] for j in [0, 1, 2, 3]], # bottom face
+ [self.prism_vertices[j] for j in [4, 5, 6, 7]], # top face
+ [self.prism_vertices[j] for j in [0, 1, 5, 4]], # side face
+ [self.prism_vertices[j] for j in [1, 2, 6, 5]], # side face
+ [self.prism_vertices[j] for j in [2, 3, 7, 6]], # side face
+ [self.prism_vertices[j] for j in [3, 0, 4, 7]] # side face
+ ]
+
+ self.prism_collection = Poly3DCollection(self.prism_faces, facecolors='gray', linewidths=1, edgecolors='black',
+ alpha=0.25)
+ self.ax.add_collection3d(self.prism_collection)
+
+ # Front Arrow (Purple)
+ self.front_arrow, = self.ax.plot([0, 2], [0, 0], [0, 0], color='purple', marker='o', markersize=10,
+ label='Front Arrow')
+
+ # Up Arrow (Magenta)
+ self.up_arrow, = self.ax.plot([0, 0], [0, -1], [0, 1], color='magenta', marker='o', markersize=10,
+ label='Up Arrow')
+
+ # Side Arrow (Orange)
+ self.side_arrow, = self.ax.plot([0, 1], [0, -1], [0, 1], color='orange', marker='o', markersize=10,
+ label='Side Arrow')
+
+ # Create a canvas to draw on
+ self.canvas = FigureCanvasTkAgg(self.fig, master=self.frame1)
+ self.canvas.draw()
+ self.canvas.get_tk_widget().pack(fill=tk.BOTH, expand=True)
+
+ # Create a label for average EMG
+ # self.emg_label = tk.Label(self.frame1, text="Average EMG: 0", font=("Arial", 14))
+ # self.emg_label.pack(pady=10)
+
+
+
+ # 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,
+ text="click the Connect button to see the animation",
+ wraplength=self.width / 2)
+ self.label1.place(relx=0.5, rely=0.9, anchor='center')
+ # Add a button to start data transmission
+ self.start_button = tk.Button(self.frame3, text="connect", command=self.start_EMG_data_transmission)
+ self.start_button.place(relx=0.45, rely=0.8, anchor='center')
+
+ self.start_button = tk.Button(self.frame3, text="Disconnect", command=self.EMG_disconnect)
+ self.start_button.place(relx=0.7, rely=0.8, anchor='center')
+
+ else:
+ print("EMG is not connected")
+ self.label2 = tk.Label(self.frame3, text="Port: None ")
+ self.label2.place(relx=0.35, rely=0.8, anchor='center')
+ self.label1 = tk.Label(self.frame3,
+ text="Please check the IUM connection",
+ wraplength=self.width / 2)
+ self.label1.place(relx=0.5, rely=0.9, anchor='center')
+
+ # Create a figure and axis
+ fig = Figure(figsize=((self.width / 200), (self.height / 200))) # Adjusting figsize based on frame size
+ self.ax1 = fig.add_subplot(111)
+
+ self.ax1.set_title("Electromyography Envelope", fontsize=14, pad=0)
+
+
+ self.ax1.set_xlim(0, 5)
+ self.ax1.set_ylim(0, 5)
+
+ self.ax1.set_xlabel("Sample(20 samples per second)",fontsize=8,labelpad=-2)
+ self.ax1.set_ylabel("Magnitude",labelpad=0)
+
+ self.ax1.set_xticks(np.arange(0, 41, 8))
+ self.ax1.set_yticks(np.arange(0, 1001, 200))
+
+ for x_tick in self.ax1.get_xticks():
+ self.ax1.axvline(x_tick, color='gray', linestyle='--', linewidth=0.5)
+ for y_tick in self.ax1.get_yticks():
+ self.ax1.axhline(y_tick, color='gray', linestyle='--', linewidth=0.5)
+
+
+
+
+ # Plot two lines
+ self.line1, = self.ax1.plot([], [], color='red', label='Outer Wrist Muscle (Extensor Carpi Ulnaris)')
+ self.line2, = self.ax1.plot([], [], color='blue', label='Inner Wrist Muscle (Flexor Carpi Radialis)')
+ self.ax1.legend(fontsize=9, loc='upper right')
+
+
+
+
+ # Embed the plot in the tkinter frame
+ self.canvas1 = FigureCanvasTkAgg(fig, master=self.frame4)
+ self.canvas1.draw()
+ self.canvas1.get_tk_widget().pack(fill=tk.BOTH, expand=True)
+
+ self.EMG_transmitting = False
+
+
+ def start_data_transmission(self):
+ # Set the transmitting flag to True and start the update loop
+ self.transmitting = True
+ self.update_display()
+
+ def start_EMG_data_transmission(self):
+ # Set the transmitting flag to True and start the update loop
+ self.EMG_transmitting = True
+ self.EMG_Display()
+
+ def disconnect(self):
+ self.transmitting = False
+
+ def EMG_disconnect(self):
+ self.EMG_transmitting = False
+
+
+
+ def update_display(self):
+ if self.transmitting:
+ try:
+ while self.arduino.inWaiting() > 0:
+ dataPacket = self.arduino.readline()
+ dataPacket = dataPacket.decode()
+ cleandata = dataPacket.replace("\r\n", "")
+ row = cleandata.strip().split(',')
+
+ if len(row) == 9:
+ splitPacket = cleandata.split(',')
+
+ emg = float(splitPacket[0]) # EMG sensor data
+ q0 = float(splitPacket[1]) # qw
+ q1 = float(splitPacket[2]) # qx
+ q2 = float(splitPacket[3]) # qy
+ q3 = float(splitPacket[4]) # qz
+
+ # Calculate Angles
+ roll = math.atan2(2 * (q0 * q1 + q2 * q3), 1 - 2 * (q1 * q1 + q2 * q2))
+ 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')
+
+ # Rotation matrices
+ Rz = np.array([
+ [np.cos(yaw), -np.sin(yaw), 0],
+ [np.sin(yaw), np.cos(yaw), 0],
+ [0, 0, 1]
+ ])
+
+ Ry = np.array([
+ [np.cos(pitch), 0, np.sin(pitch)],
+ [0, 1, 0],
+ [-np.sin(pitch), 0, np.cos(pitch)]
+ ])
+
+ Rx = np.array([
+ [1, 0, 0],
+ [0, np.cos(roll), -np.sin(roll)],
+ [0, np.sin(roll), np.cos(roll)]
+ ])
+
+ R = Rz @ Ry @ Rx # Combined rotation matrix
+
+ # Apply the rotation
+ rotated_vertices = (R @ self.prism_vertices.T).T
+
+ prism_faces_rotated = [
+ [rotated_vertices[j] for j in [0, 1, 2, 3]], # bottom face
+ [rotated_vertices[j] for j in [4, 5, 6, 7]], # top face
+ [rotated_vertices[j] for j in [0, 1, 5, 4]], # side face
+ [rotated_vertices[j] for j in [1, 2, 6, 5]], # side face
+ [rotated_vertices[j] for j in [2, 3, 7, 6]], # side face
+ [rotated_vertices[j] for j in [3, 0, 4, 7]] # side face
+ ]
+
+ # Update the collection
+ self.prism_collection.set_verts(prism_faces_rotated)
+
+ # Update Arrows
+ k = np.array([np.cos(yaw) * np.cos(pitch), np.sin(pitch), np.sin(yaw) * np.cos(pitch)]) # X vector
+ y = np.array([0, 1, 0]) # Y vector: pointing down
+ s = np.cross(k, y) # Side vector
+ v = np.cross(s, k) # Up vector
+ vrot = v * np.cos(roll) + np.cross(k, v) * np.sin(roll) # Rotated Up vector
+
+ self.front_arrow.set_data([0, k[0] * 2], [0, k[1] * 2])
+ self.front_arrow.set_3d_properties([0, k[2] * 2])
+ self.up_arrow.set_data([0, vrot[0] * 1], [0, vrot[1] * 1])
+ self.up_arrow.set_3d_properties([0, vrot[2] * 1])
+ self.side_arrow.set_data([0, s[0] * 1], [0, s[1] * 1])
+ self.side_arrow.set_3d_properties([0, s[2] * 1])
+
+ # Update canvas
+ self.canvas.draw()
+
+ self.averageroll += roll * self.toDeg
+ self.averageyaw += yaw * self.toDeg
+ self.averagepitch += pitch * self.toDeg
+ self.averageemg += emg
+
+ if self.count == self.iterations:
+ self.averageroll = self.averageroll / self.iterations
+ self.averageyaw = self.averageyaw / self.iterations
+ self.averagepitch = self.averagepitch / self.iterations
+ self.averageemg = self.averageemg / self.iterations
+
+ self.averageroll = round(self.averageroll)
+ self.averageyaw = round(self.averageyaw)
+ self.averagepitch = round(self.averagepitch)
+
+ # Print the averaged results
+ print("iterations:", self.iterations)
+ print("averageroll is", self.averageroll)
+ print("averageyaw is", self.averageyaw)
+ print("averagepitch is", self.averagepitch)
+ print("averageemg=", self.averageemg)
+
+ self.count = 0
+
+ self.averageyaw = 0
+ self.averageroll = 0
+ self.averagepitch = 0
+ self.averageemg = 0
+ else:
+ self.count += 1
+
+ # Update EMG Label
+ #self.emg_label.config(text=f"Average EMG: {self.averageemg:.2f}")
+
+ except Exception as e:
+ print(f"An error occurred: {e}")
+
+ # Call update_display() again after 50 milliseconds
+ self.root.after(50, self.update_display)
+
+ def EMG_Display(self):
+ if self.EMG_transmitting:
+ try:
+ 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]}")
+
+ # Append the new data to the lists
+
+ self.emg_data_1.append(emg_data[0])
+ self.emg_data_1.pop(0)
+ self.emg_data_2.append(emg_data[1])
+ self.emg_data_2.pop(0)
+
+ # Update the line data to shift the line from right to left
+ self.line1.set_data(range(len(self.emg_data_1)), self.emg_data_1)
+ self.line2.set_data(range(len(self.emg_data_2)), self.emg_data_2)
+
+ # Redraw the canvas
+ self.canvas1.draw() # Redraw the canvas
+
+ except Exception as e:
+ print(f"An error occurred: {e}")
+
+
+ # Call update_display() again after 50 milliseconds
+ self.root.after(50, self.EMG_Display)
+
+ def _decode(self, serial_data):
+ serial_string = serial_data.decode(errors="ignore")
+ adc_string_1 = ""
+ adc_string_2 = ""
+ self.adc_values = [0, 0]
+ if '\n' in serial_string:
+ # remove new line character
+ serial_string = serial_string.replace("\n", "")
+ if serial_string != '':
+ # Convert number to binary, placing 0s in empty spots
+ serial_string = format(int(serial_string, 10), "024b")
+
+ # Separate the input number from the data
+ for i0 in range(0, 12):
+ adc_string_1 += serial_string[i0]
+ for i0 in range(12, 24):
+ adc_string_2 += serial_string[i0]
+
+ self.adc_values[0] = int(adc_string_1, base=2)
+ self.adc_values[1] = int(adc_string_2, base=2)
+
+ return self.adc_values
+
+if __name__ == "__main__":
+ root = tk.Tk()
+ app = Window(root)
+ root.mainloop()
\ No newline at end of file
--
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