main.py

import asyncio
import blesensor
import time
import sys

###############################################################################################
####### Notice: 2023-03-24                                                          ###########
####### Author: Bryan He                                                            ###########
####### before running this program in Windows                                      ###########
####### please firstly go to Windows Bluetooth, Add device, and connect that DOT!!! ###########
###############################################################################################

async def main():
    #scan sensors
    scanner = blesensor.Scanner()  # Create an instance of Scanner
    devices = await scanner.scan_and_filter_xsens_dot(5)  # Use the instance to call the method
    if not devices:
        print("No Xsens DOT, considering turn them on or shake them from sleep mode")
        return

    sensors = []
    for d in devices:
        sensors.append(blesensor.BleSensor(d.address))

    print("start to connect:")
    for s in sensors:
        await s.connect()
    print("connect finish.")

    # print("\nServices and characteristics:")
    # for s in sensors:
    #     await s.get_services()

    # await asyncio.sleep(2)  # wait for response
    # # print("Identify Sensors")
    # for s in sensors:
    #     await s.identifySensor()
    # await asyncio.sleep(2)  # wait for response

    # await asyncio.sleep(2)  # wait for response
    # # print("Change Device Tag")
    # for i in range(len(sensors)):
    #     sensors[i].name = "dot" + str(i+1)
    #     await sensors[i].setDeviceTag(sensors[i].name)
    # await asyncio.sleep(2)  # wait for response

    await asyncio.sleep(2)  # wait for response
    print("Battery Status")
    for i in range(len(sensors)):
        batteryInfo = await sensors[i].getBatteryInfo()
        print(batteryInfo)
    await asyncio.sleep(2)  # wait for response

    print("set sensor output rate, only these values allowed: 1, 4, 10, 12, 15, 20, 30, 60, 120")
    for s in sensors:
        await s.setOuputRate(30)

    #Start Measurement in specific mode, cutomMode1 or orientationEuler or orientationQuaternion
    for s in sensors:
        s.payloadType = blesensor.PayloadMode.orientationEuler
        await s.startMeasurement()
    print("\nNotifications enabled. Waiting for data...")

    #heading reset
    await asyncio.sleep(0.2)  # wait for response
    print("do heading reset")
    for s in sensors:
        await s.doHeadingReset()
        #default is no recording, here to enable the recording after heading reset
        s.fileName = s.create_csvfile()
        s.recordFlag = True


    # Run within the timeToRunInMinute time range.
    startTimeSeconds = int(round(time.time()))
    timeToRunInMinute = 1
    print(f"run the test for {timeToRunInMinute} minutes")
    while int(round(time.time())) - startTimeSeconds < timeToRunInMinute*60:
        await asyncio.sleep(0.1)

    #stop measurement
    for s in sensors:
        await s.stopMeasurement()
    await asyncio.sleep(0.5)

    # print("Power Off Sensors")
    # for s in sensors:
    #     await s.poweroffSensor()
    # await asyncio.sleep(2)  # wait for response
    
    print("disconnect all sensors")
    for s in sensors:
        await s.disconnect()

    print("exit program")
    await sys.exit(0)


if __name__ == "__main__":
    loop = asyncio.get_event_loop()
    loop.run_until_complete(main())