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- SpatialEventData
- TimeSpan
- Phidgets.Phidget.Phidget
-
- Spatial
- _ctypes.Structure(_ctypes._CData)
-
- CPhidgetSpatial_SpatialEventData
- CPhidget_Timestamp
class Spatial(Phidgets.Phidget.Phidget) |
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This class represents a Phidget Spatial. A Phidget Spatial has up to 3 accelerometer axes, up to 3 magnetometer axes, and up to 3 gyroscope axes.
See your device's User Guide for more specific API details, technical information, and revision details.
The User Guide, along with other resources, can be found on the product page for your device.
Extends:
Phidget
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Methods defined here:
- __del__(self)
- The Destructor Method for the Spatial Class
- __init__(self)
- The Constructor Method for the Accelerometer Class
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
- getAcceleration(self, index)
- Returns the acceleration of a particular axis.
This value is returned in g's, where one g of acceleration is equal to gravity.
This means that at a standstill each axis will measure between -1.0 and 1.0 g's depending on orientation.
This value will always be between getAccelerationMin and getAccelerationMax.
Index 0 is the x-axis, 1 is the y-axis, and 2 is the z-axis (where available).
Parameters:
index<int>: index of the axis.
Returns:
Acceleration of the selected axis <double>
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this Phidget is not opened and attached, or if the index is out of range.
- getAccelerationAxisCount(self)
- Returns the number of accelerometer axes.
Currently all accelerometers provide two or three axes of acceleration - x, y, (and z).
Returns:
The number of Available Axes <int>.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this phidget is not opened or attached.
- getAccelerationMax(self, index)
- Returns the maximum acceleration value that this axis will report.
This will be set to just higher then the maximum acceleration that this axis can measure.
If the acceleration is equal to this maximum, assume that that axis is saturated beyond what it can measure.
Returns:
The Maximum Accelration <double>.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this Phidget is not opened and attached, or if the index is out of range.
- getAccelerationMin(self, index)
- Returns the minimum acceleration value that this axis will report.
This will be set to just lower then the minimum acceleration that this axis can measure.
If the acceleration is equal to this minimum, assume that that axis is saturated beyond what it can measure.
Returns:
The Minimum Acceleration <double>.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this Phidget is not opened and attached, or if the index is out of range.
- getAngularRate(self, index)
- Gets the angular rate of rotation for this Gyro axis, in degrees per second.
Parameters:
index<int>: index of the axis.
Returns:
Angular rate of rotation for the selected gyro axis, in degrees per second. <double>
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this Phidget is not opened and attached, or if the index is out of range.
- getAngularRateMax(self, index)
- Gets the maximum supported angular rate for this gyro axis.
Returns:
The Maximum supported Angular Rate for this Gyro Axis. <double>.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this Phidget is not opened and attached, or if the index is out of range.
- getAngularRateMin(self, index)
- Gets the minimum supported angular rate for this gyro axis.
Returns:
The Minimum supported Angular Rate for this gyro axis. <double>.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this Phidget is not opened and attached, or if the index is out of range.
- getCompassAxisCount(self)
- Returns the number of compass axes.
Currently all compass provide two or three axes of Magnetic field - x, y, and z.
Returns:
The number of Available Axes <int>.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this phidget is not opened or attached.
- getDataRate(self)
- Gets the event data rate in ms.
Data rate needs to be between DataRateMin and DataRateMax.
Returns:
The current event data rate, in ms. <int>.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this Phidget is not opened and attached.
- getDataRateMax(self)
- Gets the maximum supported data rate in ms.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this Phidget is not opened and attached.
- getDataRateMin(self)
- Gets the minimum supported data rate in ms.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this Phidget is not opened and attached.
- getGyroAxisCount(self)
- Returns the number of gyro axes.
Currently all gyros provide three axes of angular rate - x, y, and z.
Returns:
The number of Available Axes <int>.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this phidget is not opened or attached.
- getMagneticField(self, index)
- Gets the current magnetic field stregth of an axis, in Gauss.
Parameters:
index<int>: index of the axis.
Returns:
The Magnetic Field strength for this compass axis, in Gauss. <double>
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this Phidget is not opened and attached, or if the index is out of range.
- getMagneticFieldMax(self, index)
- Gets the maximum magnetic field strength measurable by this compass axis.
Returns:
The Maximum measurable Magnetic Field strength for this Compass Axis. <double>.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this Phidget is not opened and attached, or if the index is out of range.
- getMagneticFieldMin(self, index)
- Gets the minimum magnetic field strength measurable by this compass axis.
Returns:
The Minimum measurable Magnetic Field strength for this compass axis. <double>.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this Phidget is not opened and attached, or if the index is out of range.
- resetCompassCorrectionParameters(self)
- Resets correction paramaters for the magnetometer triad. This returns magnetometer output to raw magnetic field strength.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this Phidget is not opened and attached.
- setCompassCorrectionParameters(self, magField, offset0, offset1, offset2, gain0, gain1, gain2, T0, T1, T2, T3, T4, T5)
- Sets correction paramaters for the magnetometer triad. This is for filtering out hard and soft iron offsets, and scaling the output to match the local field strength.
These parameters can be obtained from the compass calibration program provided by Phidgets Inc.
Parameters:
magField<double>: Local magnetic field strength.
offset0<double>: Axis 0 offset correction.
offset1<double>: Axis 1 offset correction.
offset2<double>: Axis 2 offset correction.
gain0<double>: Axis 0 gain correction.
gain1<double>: Axis 1 gain correction.
gain2<double>: Axis 2 gain correction.
T0<double>: Non-orthogonality correction factor 0.
T1<double>: Non-orthogonality correction factor 1.
T2<double>: Non-orthogonality correction factor 2.
T3<double>: Non-orthogonality correction factor 3.
T4<double>: Non-orthogonality correction factor 4.
T5<double>: Non-orthogonality correction factor 5.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this Phidget is not opened and attached.
- setDataRate(self, value)
- Sets the event data rate in ms.
Data rate needs to be between DataRateMin and DataRateMax.
Parameters:
value<int>: The desired event data rate value, in ms.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this Phidget is not opened and attached, or the data rate is out of range.
- setOnAttachHandler(self, attachHandler)
- Sets the Attach Event Handler.
The attach handler is a method that will be called when this Phidget is physically attached to the system, and has gone through its initalization, and so is ready to be used.
This is an 'overloaded' version for the spacial object as we needed to perform a few more actions in the native event in order to load and store the number of axes so we didn't have to poll for it all the time.
Parameters:
attachHandler: hook to the attachHandler callback function
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this Phidget is not opened.
- setOnSpatialDataHandler(self, spatialDataHandler)
- Sets the spatial data event handler.
Contains data for acceleration/gyro/compass depending on what the board supports, as well as a timestamp.
This event is fired at a fixed rate as determined by the DataRate property.
Parameters:
spatialDataHandler: hook to the spatialDataHandler callback function.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException
- zeroGyro(self)
- Zeroes the gyro.
This takes 1-2 seconds to complete and should only be called when the board is stationary.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this Phidget is not opened and attached, or if the Phidget does not have a gyro.
Methods inherited from Phidgets.Phidget.Phidget:
- closePhidget(self)
- Closes this Phidget.
This will shut down all threads dealing with this Phidget and you won't recieve any more events.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this Phidget is not opened.
- getDeviceClass(self)
- Gets the class of this Phidget.
Classes represent a group of Phidgets that use the same API type.
Returns:
The Device Class number<int>.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If there is no Phidget attached.
- getDeviceID(self)
- Gets the ID of this Phidget.
This ID specifies a specific Phidget device, within the phidget class.
Returns:
The Device ID <int>.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If there is no Phidget attached.
- getDeviceLabel(self)
- Gets the label associated with this Phidget.
This label is a String - up to ten digits - that is stored in the Flash memory of newer Phidgets.
This label can be set programatically (see setDeviceLabel), and is non-volatile - so it is remembered even if the Phidget is unplugged.
Returns:
The label associated with this Phidget <string>.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this Phidget is not opened and attached, or if this Phidget does not support labels.
- getDeviceName(self)
- Return the name of this Phidget.
This is a string that describes the device. For example, a PhidgetInterfaceKit
could be described as "Phidget InterfaceKit 8/8/8", or "Phidget InterfaceKit 0/0/4", among others, depending on the specific device.
This lets you determine the specific type of a Phidget, within the broader classes of Phidgets, such as PhidgetInterfaceKit, or PhidgetServo.
Returns:
The name of the device <string>.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this phidget is not opened or attached.
- getDeviceType(self)
- Return the device type of this Phidget.
This is a string that describes the device as a class of devices. For example, all PhidgetInterfaceKit Phidgets
will returns the String "PhidgetInterfaceKit".
Returns:
The Device Type <string>.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If there is no Phidget attached.
- getDeviceVersion(self)
- Returns the device version of this Phidget.
This number is simply a way of distinguishing between different revisions of a specific type of Phidget, and is
only really of use if you need to troubleshoot device problems with Phidgets Inc.
Returns:
The Device Version <int>.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If there is no Phidget attached.
- getLibraryVersion(self)
- Returns the library version.
This is the library version of the underlying phidget21 C library and not the version of the Python wrapper module implementation.
The version is retured as a string which contains the version number and build date.
Returns:
The Library Version <string>.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this Phidget is not opened and attached.
- getSerialNum(self)
- Returns the unique serial number of this Phidget.
This number is set during manufacturing, and is unique across all Phidgets. This number can be used in calls to open to specify this specific Phidget to be opened.
Returns:
The Serial Number <int>.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this Phidget is not opened and attached.
- getServerAddress(self)
- Returns the Address of a Phidget Webservice.
Returns the Address of a Phidget Webservice when this Phidget was opened as remote.
This may be an IP Address or a hostname.
Returns:
The Address of the Webservice <string>.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: if this Phidget was open opened as a remote Phidget.
- getServerID(self)
- Returns the Server ID of a Phidget Webservice.
Returns the Server ID of a Phidget Webservice when this Phidget was opened as remote.
This is an arbitrary server identifier, independant of IP address and Port.
Returns:
The ServerID of the Webservice <string>.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: if this Phidget was open opened as a remote Phidget.
- isAttached(self)
- Returns the attached status of this Phidget.
This method returns True or False, depending on whether the Phidget is phisically plugged into the computer, initialized, and ready to use - or not.
If a Phidget is not attached, many functions calls will fail with a PhidgetException, so either checking this function, or using the Attach and Detach events, is recommended, if a device is likely to be attached or detached during use.
Returns:
Attached Status of the Phidget <boolean>
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this Phidget is not opened.
- isAttachedToServer(self)
- Returns the network attached status for remotely opened Phidgets.
This method returns True or False, depending on whether a connection to the Phidget WebService is open - or not.
If this is false for a remote Phidget then the connection is not active - either because a connection has not yet been established,
or because the connection was terminated.
Returns:
Phidget Network Attached Status <boolean>.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this Phidget is not opened remotely.
- openPhidget(self, serial=-1)
- Open a Phidget with or without a serial number.
Open is pervasive. What this means is that you can call open on a device before it is plugged in, and keep the device opened across device dis- and re-connections.
Open is Asynchronous. What this means is that open will return immediately -- before the device being opened is actually available,
so you need to use either the attach event or the waitForAttachment method to determine if a device is available before using it.
If no arguement is provided, the first available Phidget will be opened. If there are two Phidgets of the same type attached to the system,
you should specify a serial number, as there is no guarantee which Phidget will be selected by the call to open().
The serial number is a unique number assigned to each Phidget during production and can be used to uniquely identify specific phidgets.
Parameters:
serial<int>: The serial number of the device
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException
- openRemote(self, serverID, serial=-1, password='')
- Open this Phidget remotely using a Server ID, securely providing a password, and whether or not to connect to a specific serial number.
Providing a password will open the connection securely depending on if a password is set on the host machine's webservice.
If no serial number is provided, the first available Phidget will be opened. If there are two Phidgets of the same type attached to the system,
you should specify a serial number, as there is no guarantee which Phidget will be selected by the call to open().
Parameters:
serverID<string>: ServerID of the Phidget Webservice
serial<int>: The serial number of the device
password<string>: The secure password for the Phidget Webservice
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: if the Phidget Webservice cannot be contacted
- openRemoteIP(self, IPAddress, port, serial=-1, password='')
- Open this Phidget remotely using an IP Address, securely providing a password,and whether or not to connect to a specific serial number.
Providing a password will open the connection securely depending on if a password is set on the host machine's webservice.
If no serial number is provided, the first available Phidget will be opened. If there are two Phidgets of the same type attached to the system,
you should specify a serial number, as there is no guarantee which Phidget will be selected by the call to open().
Parameters:
IPAddress<string>: IP Address or hostname of the Phidget Webservice
port<int>: Port of the Phidget Webservice
serial<int>: The serial number of the device
password<string>: The secure password for the Phidget Webservice
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: if the Phidget Webservice cannot be contacted
- setOnDetachHandler(self, detachHandler)
- Sets the Detach Event Handler.
The detach handler is a method that will be called when this Phidget is phisically detached from the system, and is no longer available.
This is particularly usefull for applications when a phisical detach would be expected.
Remember that many of the methods, if called on an unattached device, will throw a PhidgetException.
This Exception can be checked to see if it was caused by a device being unattached, but a better method would be to regiter the detach handler,
which could notify the main program logic that the device is no longer available, disable GUI controls, etc.
Parameters:
detachHandler: hook to the detachHandler callback function
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this Phidget is not opened.
- setOnErrorhandler(self, errorHandler)
- Sets the Error Event Handler.
The error handler is a method that will be called when an asynchronous error occurs.
Error events are not currently used, but will be in the future to report any problems that happen out of context from a direct function call.
Parameters:
errorHandler: hook to the errorHandler callback function.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this Phidget is not opened.
- setOnServerConnectHandler(self, serverConnectHandler)
- Sets the Server Connect Event Handler.
The serverConnect handler is a method that will be called when a connection to a server is made. This is only usefull for Phidgets opened remotely.
Parameters:
serverConnectHandler: hook to the serverConnectHandler callback function
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this Phidget is not opened
- setOnServerDisconnectHandler(self, serverDisconnectHandler)
- Set the Server Disconnect event handler.
The serverDisconnect handler is a method that will be called when a connection to a server is terminated. This is only usefull for Phidgets opened remotely.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this Phidget is not opened
- waitForAttach(self, timeout)
- Waits for this Phidget to become available.
This method can be called after open has been called to wait for thid Phidget to become available.
This is usefull because open is asynchronous (and thus returns immediately), and most methods will throw a PhidgetException is they are called before a device is actually ready.
This method is synonymous with polling the isAttached method until it returns True, or using the Attach event.
This method blocks for up to the timeout, at which point it will throw a PhidgetException. Otherwise, it returns when the phidget is attached and initialized.
A timeout of 0 is infinite.
Parameters:
timeout<long>: Timeout in milliseconds
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException: If this Phidget is not opened.
Static methods inherited from Phidgets.Phidget.Phidget:
- disableLogging()
- Turns off logging in the native C Library.
This only needs to be called if enableLogging was called to turn logging on.
This will turn logging back off.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException
- dispose(self)
- enableLogging(level, file)
- Turns on logging in the native C Library.
This is mostly usefull for debugging purposes - when an issue needs to be resolved by Phidgets Inc.
The output is mostly low-level library information, that won't be usefull for most users.
Logging may be usefull for users trying to debug their own problems, as logs can be inserted by the user using log.
The level can be one of:
PhidgetLogLevel.PHIDGET_LOG_VERBOSE ,
PhidgetLogLevel.PHIDGET_LOG_INFO ,
PhidgetLogLevel.PHIDGET_LOG_DEBUG ,
PhidgetLogLevel.PHIDGET_LOG_WARNING ,
PhidgetLogLevel.PHIDGET_LOG_ERROR or
PhidgetLogLevel.PHIDGET_LOG_CRITICAL
Parameters:
level<int>: highest level of logging that will be output, the PhidgetLogLevel object has been provided for a readable way to set this.
file<string>: path and name of file to output to. specify NULL to output to the console.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException
- log(level, id, log)
- Adds a log entry into the phidget log.
This log is enabled by calling enableLogging and this allows the entry of user logs in amongst the phidget library logs.
The level can be one of:
PhidgetLogLevel.PHIDGET_LOG_VERBOSE,
PhidgetLogLevel.PHIDGET_LOG_INFO,
PhidgetLogLevel.PHIDGET_LOG_DEBUG,
PhidgetLogLevel.PHIDGET_LOG_WARNING,
PhidgetLogLevel.PHIDGET_LOG_ERROR or
PhidgetLogLevel.PHIDGET_LOG_CRITICAL
Note: PhidgetLogLevel.PHIDGET_LOG_DEBUG should not be used, as these logs are only printed when using the debug library,
which is not generally available.
Parameters:
level<int>: level to enter the log at.
id<string>: an arbitrary identifier for this log. This can be NULL. The C library uses this field for source filename and line number.
log<string>: the message to log.
Exceptions:
RuntimeError - If current platform is not supported/phidget c dll cannot be found
PhidgetException
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class SpatialEventData |
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This class represents a set of spatial data for a moment in time.
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Methods defined here:
- __init__(self, data, numAccelAxes, numGyroAxes, numCompassAxes)
- Creates a new SpatialEventData object from a data structure and the counts for the accelerometer, gyro, and compass axes.
Parameters:
data<CPhidgetSpatial_SpatialEventData>: The event data structre received from the event callback.
numAccelAxes<int>: The number of accelerometer axes.
numGyroAxes<int>: The number of gyro axes.
numCompassAxes<int>: The number of compass axes.
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class TimeSpan |
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This class represents a timespan corresponding to the tiomestamp for a set of spacial event data.
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Methods defined here:
- __init__(self, seconds, microSeconds)
- Creates a new TimeSpan object from the seconds and microseconds count from the timestamp of spatial event data.
Parameters:
seconds<int>: Number of seconds since PhidgetSpatial was opened.
microSeconds<int>: Number of microseconds since last data event packet.
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