openPythonApi.py

# Lab of Biomechatronics Open Source Exoskeleton controller program.
# This program can connect to an Arduino Nano BLE 33 and
# controll the exoskeleton by sending commands that the 
# exoskeleon firmware interprets.
# Author: Payton Cox
# Date Created: Jan 2024
# Last updated: May 2024

import asyncio
import os
import time
import exoDeviceManager
import exoTrial

def cls():
    os.system('cls' if os.name=='nt' else 'clear')

# Menu to calibrate the exo before begining trial.
#   The current system does not rely on a user weight 
#   or a predefined torque. If you would like to futher
#   modify this program to do so this is where it should 
#   be added in order to pass the data to the trial
#   class.
def calibrationMenu():
    isKilograms = True
    weight = 1
    isAssist = True
    cls()
    return isKilograms, weight, isAssist
#-----------------------------------------------------------------------------

# Menu for actions to take upon connection
def connectedMenu():
    while True:
        print("""-------------------------
|1. Start Trial          |
-------------------------""")
        option = int(input())
        if option == 1:
            return option
        print("Choose a valid option")

# Display menu and return what is entered
def displayMenu():
    while True:
        print("""-------------------------
|1. Start Scan          |
|2. End program         |
-------------------------""")
        option = int(input())
        if option == 1 or option == 2:
            return option
        print("Choose a valid option")
#-----------------------------------------------------------------------------

# Start up menu for UI purposes (Has no affect on the program)
async def startUpMenu():
    cls()
    print("Starting Exoskeleton Controller Program...\n")
    await asyncio.sleep(1)
#-----------------------------------------------------------------------------
       
async def main():
    sleep_between_messages = 0.1
    
    try:
        # Initial display
        await startUpMenu()

        # Set up Menu
        menuSelection = displayMenu()
        await asyncio.sleep(sleep_between_messages)

        # Run loop until end program is selected
        while menuSelection != 2:
            # Scan and connect to an Exo
            deviceManager = exoDeviceManager.ExoDeviceManager()
            await deviceManager.scanAndConnect()

            # If connection is successful
            if deviceManager.client.is_connected:
                print("Connected!\n")
                connectedMenuSelection = connectedMenu()
                
                if connectedMenuSelection == 1:
                    cls()
                    isKilograms, weight, isAssistance = calibrationMenu()
                    trial = exoTrial.ExoTrial(isKilograms, weight, isAssistance)
                    await trial.calibrate(deviceManager)    # Calibrate exo
                    await trial.beginTrial(deviceManager)   # Start trial
                    await trial.systemUpdate(deviceManager) # Update exo system after trial begins

            menuSelection = displayMenu()  # show display menu once trial has ended

        print("Shutting down...")  # Shutdown
        await asyncio.sleep(2)
        cls()

    except asyncio.CancelledError:
        print("Main task was cancelled")
    finally:
        # Cleanup resources if needed
        pass
#-----------------------------------------------------------------------------

if __name__ == "__main__":
    asyncio.run(main())