CleverHand-library

This is library is used to communicate with the CleverHand device. It is written in C++ and integrates a Python wrapper. The library is meant to be modular and easy to use. It enables the user to communicate with the CleverHand device and its different type of modules (read sensors, write actuators, configure parameters, etc.).

Warning

This library is still in development. It is not fully tested and some features may not be available yet. Please raise an issue if you encounter any problem.

Note

The library is originally written for Ubuntu but should work on other OS as well.

Architecture

classDiagram
direction LR
	namespace CLvHd {
        class Device {
            initSerial(portpath, baudrate)
            initWifi(ip, port)
        }

        class Controller {
        }

        class MonoController {
        }

        class SerialController {
        }

        class ADS1293 {
        }

        class ADS1293Config {
            gain, route, etc
        }

        class ADS1293Pack {
            configure(config)
            start_acquisition()
            config
        }

        class ADS1298 {
        }


        class ModulePack {
            setup()
        }

        class ADS1298Pack {
        }

        class Module {
            Value sensor
            Value actuator
        }

        class Value {
            Type //sensor, actuator
            uint64 time_ns
            uint64 time_s
            Vector<double> data

        }

	}
	namespace Communication {
        class TCPserver {
        }

        class UDPserver {
        }

        class Serial {
        }

	}

    ADS1293 --|> Module : Inheritance
    ADS1298 --|> Module : Inheritance
    ADS1298Pack --|> ModulePack : Inheritance
    ADS1293Pack --|> ModulePack : Inheritance
    Module ..> Controller : pointer
    Device ..> Controller : pointer
    Device --> Module : vector of
    ADS1293Pack --> ADS1293 : vector of
    ADS1298Pack --> ADS1298 : vector of
    Controller <|-- MonoController : Inheritance
    Controller <|-- SerialController : Inheritance
    MonoController -- TCPserver
    MonoController -- UDPserver
    SerialController -- Serial
    ModulePack ..> Device : pointer
    Module --> Value : owns
    ADS1293Pack --> ADS1293Config : uses

Loading

Device

The Device class is the main interface with the cleverhand device; it contains a Controller object and a a vector of Module objects. To initialize the Device class, you need to call the method initSerial(portpath) or initWifi(ip, port) to open the serial or TCP connection with the adequate controller. During this initialization, the Device class will read the version of the controller and the number of modules attached to it. The Device class will then create a vector of Module objects, one for each module attached to the controller.

Tip

ClvHd::Device device();
device.initSerial("/dev/ttyACM0");

Module Pack

The ModulePack class is used to group and communicate with multiple modules of the same type attached to the controller. Each type of module has its own class that inherits from the Module class. For example, the EMG_ADS1293Pack represents a pack of EMG_ADS1293 modules. When the device is initialized, you can create a ModulePack object for each type of module attached to the controller and call the setup() method of each pack to detect the modules of this type attached to the controller. You can then use these pack to configure and read data from the modules.

Tip

ClvHd::Device device;
device.initSerial("/dev/ttyACM0");
ClvHd::EMG_ADS1293Pack emg_pack(&device);
emg_pack.setup();// Detect ADS1293 modules attached to the controller
ClvHd::EMG_ADS1293Config config;// Create a configuration object for the ADS1293 modules
emg_pack.configure(config);// Configure the ADS1293 modules with the given configuration
emg_pack.start_acquisition();// Start the acquisition of the ADS1293 modules
while(true)
{
    vector<ClvHd::Value *> values = emg_pack.read_all();
    double timestamp = values[0]->time_s + values[0]->time_ns / 1000000.0;// Convert to seconds
    values[0]->data[0]; // Access the first value of the first
}

Building the library

Requirements

• CMake
• Make
• build-essential
• (optional: liblsl)

Building

mkdir build
cd build
cmake .. -DBUILD_EXAMPLES=1 -DBUILD_PYTHON=1
make

Usage

C++

There are several examples in the src folder. The examples start with main_ and showcase different features of the library.

Python

The library integrates a Python wrapper. To use the library in Python, you need to build the library with the -DBUILD_PYTHON=1 option. This will create a clvhd.so file in the build folder. You can then use this file in your Python code.

Warning

The Python wrapper is not fully implemented yet. The library is still in development and some features may not be available in the Python wrapper.