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https://github.com/hybridgroup/gobot.git
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138 lines
3.2 KiB
Go
138 lines
3.2 KiB
Go
package neurosky
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import (
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"bytes"
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"github.com/hybridgroup/gobot"
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)
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const BTSync byte = 0xAA
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const CodeEx byte = 0x55 // Extended code
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const CodeSignalQuality byte = 0x02 // POOR_SIGNAL quality 0-255
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const CodeAttention byte = 0x04 // ATTENTION eSense 0-100
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const CodeMeditation byte = 0x05 // MEDITATION eSense 0-100
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const CodeBlink byte = 0x16 // BLINK strength 0-255
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const CodeWave byte = 0x80 // RAW wave value: 2-byte big-endian 2s-complement
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const CodeAsicEEG byte = 0x83 // ASIC EEG POWER 8 3-byte big-endian integers
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type NeuroskyDriver struct {
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gobot.Driver
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}
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type EEG struct {
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Delta int
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Theta int
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LoAlpha int
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HiAlpha int
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LoBeta int
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HiBeta int
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LoGamma int
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MidGamma int
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}
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func NewNeuroskyDriver(a *NeuroskyAdaptor, name string) *NeuroskyDriver {
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n := &NeuroskyDriver{
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Driver: *gobot.NewDriver(
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name,
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"NeuroskyDriver",
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a,
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),
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}
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n.AddEvent("extended")
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n.AddEvent("signal")
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n.AddEvent("attention")
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n.AddEvent("meditation")
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n.AddEvent("blink")
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n.AddEvent("wave")
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n.AddEvent("eeg")
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return n
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}
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func (n *NeuroskyDriver) adaptor() *NeuroskyAdaptor {
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return n.Adaptor().(*NeuroskyAdaptor)
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}
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func (n *NeuroskyDriver) Start() bool {
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go func() {
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for {
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buff := make([]byte, 1024)
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_, err := n.adaptor().sp.Read(buff[:])
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if err != nil {
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panic(err)
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} else {
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n.parse(bytes.NewBuffer(buff))
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}
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}
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}()
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return true
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}
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func (n *NeuroskyDriver) Halt() bool { return true }
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func (n *NeuroskyDriver) parse(buf *bytes.Buffer) {
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for buf.Len() > 2 {
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b1, _ := buf.ReadByte()
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b2, _ := buf.ReadByte()
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if b1 == BTSync && b2 == BTSync {
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length, _ := buf.ReadByte()
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payload := make([]byte, length)
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buf.Read(payload)
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//checksum, _ := buf.ReadByte()
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buf.Next(1)
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n.parsePacket(bytes.NewBuffer(payload))
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}
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}
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}
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func (n *NeuroskyDriver) parsePacket(buf *bytes.Buffer) {
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for buf.Len() > 0 {
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b, _ := buf.ReadByte()
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switch b {
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case CodeEx:
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gobot.Publish(n.Event("extended"), nil)
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case CodeSignalQuality:
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ret, _ := buf.ReadByte()
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gobot.Publish(n.Event("signal"), ret)
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case CodeAttention:
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ret, _ := buf.ReadByte()
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gobot.Publish(n.Event("attention"), ret)
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case CodeMeditation:
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ret, _ := buf.ReadByte()
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gobot.Publish(n.Event("meditation"), ret)
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case CodeBlink:
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ret, _ := buf.ReadByte()
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gobot.Publish(n.Event("blink"), ret)
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case CodeWave:
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buf.Next(1)
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var ret = make([]byte, 2)
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buf.Read(ret)
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gobot.Publish(n.Event("wave"), int16(ret[0])<<8|int16(ret[1]))
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case CodeAsicEEG:
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ret := make([]byte, 25)
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i, _ := buf.Read(ret)
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if i == 25 {
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gobot.Publish(n.Event("eeg"), n.parseEEG(ret))
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}
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}
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}
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}
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func (n *NeuroskyDriver) parseEEG(data []byte) EEG {
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return EEG{
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Delta: n.parse3ByteInteger(data[0:3]),
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Theta: n.parse3ByteInteger(data[3:6]),
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LoAlpha: n.parse3ByteInteger(data[6:9]),
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HiAlpha: n.parse3ByteInteger(data[9:12]),
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LoBeta: n.parse3ByteInteger(data[12:15]),
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HiBeta: n.parse3ByteInteger(data[15:18]),
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LoGamma: n.parse3ByteInteger(data[18:21]),
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MidGamma: n.parse3ByteInteger(data[21:25]),
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}
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}
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func (n *NeuroskyDriver) parse3ByteInteger(data []byte) int {
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return ((int(data[0]) << 16) |
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(((1 << 16) - 1) & (int(data[1]) << 8)) |
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(((1 << 8) - 1) & int(data[2])))
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}
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