private Guid AddMyoArmbandFromDevice(BluetoothLEDevice _device)
{
MyoArmband newMyo = new MyoArmband();
newMyo.Id = Guid.NewGuid();
newMyo.Name = _device.Name;
newMyo.Device = _device;
newMyo.emgCharacs = new GattCharacteristic[4];
newMyo.EmgConnStat = new GattCommunicationStatus[4];
newMyo.Device.ConnectionStatusChanged += deviceConnChanged;
newMyo.myDataHandler = new DataHandler();
bool alreadyFound = false;
foreach (MyoArmband m in connectedMyos)
{
if (m.Name == _device.Name)
{
alreadyFound = true;
}
}
if (connectedMyos.Count <= 2 && !alreadyFound)
{
connectedMyos.Add(newMyo);
}
Console.WriteLine(newMyo.Name + " created.");
return(newMyo.Id);
}
public void vibrate_armband(MyoArmband myo)
{
if (myo.cmdCharac != null)
{
byte[] vibeShort = new byte[] { 0x03, 0x01, 0x01 };
Write(myo.cmdCharac, vibeShort);
}
}
public void ConnectToArmband(Guid armbandGuid)
{
// identify myo
MyoArmband myo = connectedMyos.Where(g => (g.Id == armbandGuid)).FirstOrDefault();
int myoIndex = connectedMyos.IndexOf(myo);
if (myo == null)
{
Console.WriteLine("myo object was null");
return;
}
// hook control service, establishing a connection
Task <GattDeviceServicesResult> grabIt = Task.Run(() => GetServiceAsync(myo.Device, myoGuids["MYO_SERVICE_GCS"]));
grabIt.Wait();
var controlserv = grabIt.Result;
myo.controlService = controlserv.Services.FirstOrDefault();
// ensure the control service is ready
if (myo.controlService != null)
{
GattCharacteristicsResult fwCh = GetCharac(myo.controlService, myoGuids["MYO_FIRMWARE_CH"]).Result;
myo.FW_charac = fwCh.Characteristics.FirstOrDefault();
GattCharacteristicsResult cmdCharac = GetCharac(myo.controlService, myoGuids["COMMAND_CHARACT"]).Result;
myo.cmdCharac = cmdCharac.Characteristics.FirstOrDefault();
// read firmware characteristic to establish a connection
if (myo.FW_charac != null)
{
GattReadResult readData = Read(myo.FW_charac).Result;
if (readData != null)
{
ushort[] fwData = new UInt16[readData.Value.Length / 2];
System.Buffer.BlockCopy(readData.Value.ToArray(), 0, fwData, 0, (int)(readData.Value.Length));
myo.myFirmwareVersion = ($"{fwData[0]}.{fwData[1]}.{fwData[2]} rev.{fwData[3]}");
vibrate_armband(myo);
// update data object
connectedMyos[myoIndex] = myo;
int errCode = SetupMyo(myo.Name);
Console.WriteLine("Setup of " + myo.Name + "(" + myo.myFirmwareVersion + ") returned code: " + errCode);
}
}
}
}
private void deviceConnChanged(BluetoothLEDevice sender, object args)
{
if (sender == null || sender.Name == "<null>")
{
return;
}
MyoArmband modifiedMyo = null;
int indexOfModifiedMyo = 0;
foreach (MyoArmband myo in connectedMyos.Where(a => a.Name == sender.Name).ToList())
{
modifiedMyo = myo;
indexOfModifiedMyo = connectedMyos.IndexOf(myo);
}
if (modifiedMyo == null)
{
return;
}
if (sender.ConnectionStatus == BluetoothConnectionStatus.Disconnected)
{
connectedMyos[indexOfModifiedMyo].IsReady = false;
connectedMyos[indexOfModifiedMyo].IsConnected = false;
foreach (string s in bondedMyos.ToList())
{
if (s == modifiedMyo.Name)
{
bondedMyos.Remove(s);
}
}
connectedMyos.Remove(modifiedMyo);
Disconnect_Myo(modifiedMyo.Id);
currentDevice = null;
isConnecting = false;
}
else if (sender.ConnectionStatus == BluetoothConnectionStatus.Connected)
{
connectedMyos[indexOfModifiedMyo].IsConnected = true;
}
}
private void RefreshDeviceStatus()
{
MyoArmband foundLeft = connectedMyos.Where(g => (g.Name == LeftMyoName)).FirstOrDefault();
MyoArmband foundRight = connectedMyos.Where(g => (g.Name == RightMyoName)).FirstOrDefault();
readyMyos = 0;
Dispatcher.Invoke(() =>
{
if (foundLeft != null)
{
txtDevConnStatLt.Text = foundLeft.DevConnStat.ToString();
txtDevLeftRecords.Text = foundLeft.myDataHandler.totalEMGRecords + ", " + foundLeft.myDataHandler.totalIMURecords;
if (foundLeft.DevConnStat == BluetoothConnectionStatus.Connected)
{
txtDeviceLt.Background = UpdateMyoConnectionImage(BluetoothConnectionStatus.Connected);
readyMyos++;
btnStartStream.IsEnabled = true;
}
}
if (foundRight != null)
{
txtDevConnStatRt.Text = foundRight.DevConnStat.ToString();
txtDevRightRecords.Text = foundRight.myDataHandler.totalEMGRecords + ", " + foundRight.myDataHandler.totalIMURecords;
if (foundRight.DevConnStat == BluetoothConnectionStatus.Connected)
{
txtDeviceRt.Background = UpdateMyoConnectionImage(BluetoothConnectionStatus.Connected);
readyMyos++;
btnStartStream.IsEnabled = true;
}
}
if (readyMyos == 2)
{
Console.WriteLine($"Both Myos are connected");
btnStartStream.IsEnabled = true;
}
});
}
public int SetupMyo(string myoName)
{
MyoArmband myo = connectedMyos.Where(g => (g.Name == myoName)).FirstOrDefault();
int myoIndex = connectedMyos.IndexOf(myo);
if (myo.Device == null)
{
return(1);
}
try
{
// Establishing an IMU data connection
var myServices = Task.Run(() => GetServiceAsync(myo.Device, myoGuids["IMU_DATA_SERVIC"])).Result;
myo.imuService = myServices.Services.FirstOrDefault();
if (myo.imuService == null)
{
return(2);
}
GattCharacteristicsResult imuDataChar = Task.Run(() => GetCharac(myo.imuService, myoGuids["IMU_DATA_CHARAC"])).Result;
myo.imuCharac = imuDataChar.Characteristics.FirstOrDefault();
if (myo.imuCharac == null)
{
return(3);
}
Notify(myo.imuCharac, charDesVal_notify);
// Establishing an EMG data connection
var myservs = Task.Run(() => GetServiceAsync(myo.Device, myoGuids["MYO_EMG_SERVICE"])).Result;
myo.emgService = myservs.Services.FirstOrDefault();
if (myo.emgService == null)
{
return(4);
}
Task <GattCommunicationStatus>[] EmgNotificationTasks = new Task <GattCommunicationStatus> [4];
for (int t = 0; t < 4; t++)
{
string currEMGChar = "EMG_DATA_CHAR_" + t.ToString();
var tempCharac = Task.Run(() => GetCharac(myo.emgService, myoGuids[currEMGChar])).Result;
myo.emgCharacs[t] = tempCharac.Characteristics.FirstOrDefault();
EmgNotificationTasks[t] = Notify(myo.emgCharacs[t], charDesVal_notify);
myo.EmgConnStat[t] = EmgNotificationTasks[t].Result;
}
Task.WaitAll(EmgNotificationTasks);
int errhandCode = myo.TryConnectEventHandlers();
if (errhandCode > 0)
{
Console.WriteLine("error attached event handlers, code " + errhandCode);
}
int emgErrCode = (int)myo.EmgConnStat[0] + (int)myo.EmgConnStat[1] + (int)myo.EmgConnStat[2] + (int)myo.EmgConnStat[3];
if (emgErrCode != 0)
{
return(5);
}
// signify readiness
vibrate_armband(myo);
myo.IsReady = true;
myo.DevConnStat = BluetoothConnectionStatus.Connected;
// prepare files for data collection
myo.myDataHandler.Prep_EMG_Datastream(myo.Name, SessionId);
myo.myDataHandler.Prep_IMU_Datastream(myo.Name, SessionId);
if (!bondedMyos.Contains(myo.Name))
{
bondedMyos.Add(myo.Name);
}
// update data objects
connectedMyos[myoIndex] = myo;
currentDevice = null;
isConnecting = false;
}
catch { return(9); }
return(0);
}
private void Disconnect_Myo(Guid armbandGuid)
{
if (btnStopStream.Visibility == System.Windows.Visibility.Visible)
{
StopDataStream(true);
}
MyoArmband myo = connectedMyos.Where(g => (g.Id == armbandGuid)).FirstOrDefault();
if (myo == null)
{
return;
}
if (myo.controlService != null)
{
myo.controlService.Dispose();
}
if (myo.imuService != null)
{
myo.imuService.Dispose();
}
if (myo.emgService != null)
{
myo.emgService.Dispose();
}
if (myo.Device != null)
{
myo.Device.Dispose();
}
myo.FW_charac = null;
myo.cmdCharac = null;
myo.imuCharac = null;
myo.emgCharacs = null;
connectedMyos.Remove(myo);
deviceList.Clear();
addressBook.Clear();
captureDuration = 0;
GC.Collect();
Dispatcher.Invoke(() =>
{
btnStartStream.Visibility = System.Windows.Visibility.Visible;
btnStopStream.Visibility = System.Windows.Visibility.Hidden;
txtBTPairLt.Text = "Disconnected";
txtBTPairRt.Text = "Disconnected";
txtBTAddrLt.Text = "Disconnected";
txtBTAddrRt.Text = "Disconnected";
txtDevConnStatLt.Text = "Disconnected";
txtDevConnStatRt.Text = "Disconnected";
txtTimer.Text = "0";
RadialGradientBrush newBrush = new RadialGradientBrush();
newBrush.GradientOrigin = new System.Windows.Point(0.5, 0.5);
newBrush.Center = new System.Windows.Point(0.5, 0.5);
GradientStop whiteGS = new GradientStop();
whiteGS.Color = Colors.White;
whiteGS.Offset = 0.0;
newBrush.GradientStops.Add(whiteGS);
GradientStop seethruGS = new GradientStop();
seethruGS.Color = Colors.Transparent;
seethruGS.Offset = 1.0;
newBrush.GradientStops.Add(seethruGS);
txtDeviceLt.Background = newBrush;
txtDeviceRt.Background = newBrush;
});
Setup_Watchers();
Start_Watchers();
}