Walabot Touchpad

import pyautogui
import socket
import pickle
import time

def moveMouse(sensorArena, sensorTarget):
    sensorWidth = sensorArena[0][1] - sensorArena[0][0] #maxX - minX
    sensorHeight = sensorArena[1][1] - sensorArena[1][0] #maxY - minY
    xRatio = screenWidth / sensorWidth
    yRatio = screenHeight / sensorHeight

    xPos = (sensorTarget[1][1] - sensorArena[0][0]) * xRatio #add minx/miny to set edge point as 0
    yPos = screenHeight -(sensorTarget[1][0] - sensorArena[1][0]) * yRatio
    pyautogui.moveTo(xPos, yPos)
    print("Moving mouse to: " + str(xPos) + " " + str(yPos))


def calibrate(mode):
    min = float("inf")
    max = float("-inf")
    success = False;
    # Setting visible arena in cm
    while True:
        data = client.recv(1024).decode()
        client.send("listening for target".encode())
        target = pickle.loads(client.recv(1024))
        if target[0] == 1:  # If finger detected
            while True:
                data = client.recv(1024).decode()
                client.send("listening for target".encode())
                target = pickle.loads(client.recv(1024))
                print("min: " + str(min) + " max: " + str(max))
                if target[1][1-mode] < min:
                    min = target[1][1-mode]
                if target[1][1-mode] > max:
                    max = target[1][1-mode]
                if target[0] == 0:  # When finger leaves area
                    break
            break
    print("range:" + str((max-min)))
    if mode == 0 and max-min > 8 and max-min < 10:
        success = True
    if mode == 1 and max-min > 4 and max-min < 6:
        success = True
    return [success, min, max]

# Logging the screen size
screenWidth, screenHeight = pyautogui.size()
pyautogui.FAILSAFE = False

# Walabot related variable declarations
arena = []
target = []

server = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
ip = socket.gethostbyname(socket.gethostname())
port = 1234
server.bind((ip, port))
server.listen(1)
print("Started listening on "+ip+":"+str(port))
client, addr = server.accept()
print("Got a connection from " + str(addr[0]) + ":" + str(addr[1]))

xCalibrate = yCalibrate = False

while True:
    data = client.recv(1024).decode()
    if data == "disconnect":
        print("Disconnecting")
        client.send("Closing client".encode())
        client.close()
        break
    elif data == "ping":
        print("Client ping")
        client.send("ping".encode())
    elif data == "target:":
        client.send("listening for target".encode())
        target = pickle.loads(client.recv(1024))
        if not xCalibrate or not yCalibrate:
            print("Calibrating visible arena dimensions")
            while not xCalibrate:
                print("Slowly slide one finger from the far left to the far right.")
                calibration = calibrate(0)
                if calibration[0]:  # If calibration success
                    minX = calibration[1]
                    maxX = calibration[2]
                    xCalibrate = True
                    print("Success. Lift your finger.")
                else:
                    print("Calibration failure. Retrying..")
            time.sleep(3)
            while not yCalibrate:
                print("Slowly slide one finger form the far bottom to the far top.")
                calibration = calibrate(1)
                if calibration[0]:  # If calibration success
                    minY = calibration[1]
                    maxY = calibration[2]
                    yCalibrate = True
                    print("Success.")
                else:
                    print("Calibration failure. Retrying..")
        arena = [
            [minX, maxX, 3],
            [minY, maxY, 3],
        ]
        '''
        arena = [
            [-7, 3.5, 3],
            [-2.5, 2.5, 3],
        ]
        # minx -7, 3.5
        # y -2.5, 2.5
        '''
        print("Arena calibrated:")
        print(arena)
    else:
        print("Target info:")
        if target[0] == 1:  # If one finger detected
            print("x: " + str(target[1][0]) + " y: " + str(target[1][1]))
            moveMouse(arena, target)
        elif target[0] == 2:  # If two fingers detected
            print("Left click")
            pyautogui.click(button='left')
        elif target[0] == 3:  # If three fingers detected
            print("Right click")
            pyautogui.click(button='right')
        else:
            print("Target not detected")

# Dependencies
from __future__ import print_function # WalabotAPI works on both Python 2 an 3.
from sys import platform
from os import system
from imp import load_source
from os.path import join
from bluetooth import *


def PrintSensorTargets(targets):
    system('cls' if platform == 'win32' else 'clear')
    targetPos = [0, 0]
    detected = 0;
    if targets:
        for i, target in enumerate(targets):
            info = 'Target #{}:\nx: {}\ny: {}\nz: {}\namplitude: {}\n'.format(
                i + 1, target.xPosCm, target.yPosCm, target.zPosCm,
                target.amplitude)
            print(info + "\r")
        if len(targets) == 1:  # If only one target detected
            detected = 1
            targetPos = [target.xPosCm, target.yPosCm]
            print("One target detected")
        elif len(targets) == 2:  # Left click
            detected = 2
            print("Two targets detected")
        elif len(targets) == 3:  # Right click
            detected = 3
            print("The targets detected")
    else:
        print("Target not detected" + "\r")
    message = [detected, targetPos]
    client.send("target:".encode())
    client.recv(1024).decode()
    client.send(pickle.dumps(message))


# Connecting to the server
host = "48:5A:B6:AE:A4:7D"
print("Connecting to " + host)
client = BluetoothSocket(RFCOMM)
client.connect((host, 3))
print("Pinging server:")
client.send("ping".encode())
print("Server says: " + client.recv(1024).decode())

# Finding walabot api file and initializing walabot
if platform == 'win32':
    modulePath = join('C:/', 'Program Files', 'Walabot', 'WalabotSDK',
                      'python', 'WalabotAPI.py')
elif platform.startswith('linux'):
    modulePath = join('/usr', 'share', 'walabot', 'python', 'WalabotAPI.py')
wlbt = load_source('WalabotAPI', modulePath)
print("Initializing walabot")
wlbt.Init()

#Setting arena parameters
minInCm, maxInCm, resInCm = 2, 10, 3  # r parameters
minIndegrees, maxIndegrees, resIndegrees = -15, 15, 5  # theta parameters
minPhiInDegrees, maxPhiInDegrees, resPhiInDegrees = -60, 60, 5  # phi parameters
# Set MTI mode
mtiMode = False
# Configure Walabot database install location (for windows)
wlbt.SetSettingsFolder()
# 1) Connect : Establish communication with walabot.
wlbt.ConnectAny()
# 2) Configure: Set scan profile and arena
# Set Profile - to Sensor.
wlbt.SetProfile(wlbt.PROF_SENSOR)
# Setup arena - specify it by Cartesian coordinates.
wlbt.SetArenaR(minInCm, maxInCm, resInCm)
# Sets polar range and resolution of arena (parameters in degrees).
wlbt.SetArenaTheta(minIndegrees, maxIndegrees, resIndegrees)
# Sets azimuth range and resolution of arena.(parameters in degrees).
wlbt.SetArenaPhi(minPhiInDegrees, maxPhiInDegrees, resPhiInDegrees)
# Moving Target Identification: standard dynamic-imaging filter
filterType = wlbt.FILTER_TYPE_MTI if mtiMode else wlbt.FILTER_TYPE_NONE
wlbt.SetDynamicImageFilter(filterType)
# 3) Start: Start the system in preparation for scanning.
wlbt.Start()
# calibrates scanning to ignore or reduce the signals
if not mtiMode:  # if MTI mode is not set - start calibrartion
    # calibrates scanning to ignore or reduce the signals
    wlbt.StartCalibration()
    while wlbt.GetStatus()[0] == wlbt.STATUS_CALIBRATING:
        wlbt.Trigger()
print("Walabot started and calibrated")
client.send("Walabot started and calibrated".encode())
print("Sending target data:")
while True:
    appStatus, calibrationProcess = wlbt.GetStatus()
    # Triggers sensor for target detection
    wlbt.Trigger()
    # Get targets
    targets = wlbt.GetSensorTargets()
    rasterImage, _, _, sliceDepth, power = wlbt.GetRawImageSlice()
    PrintSensorTargets(targets)
# 7) Stop and Disconnect.
wlbt.Stop()
wlbt.Disconnect()
client.send("Terminating".encode)
client.stop()
print('Terminate successfully')

import pyautogui
from bluetooth import *
import time


def moveMouse(sensorArena, sensorTarget):
    sensorWidth = sensorArena[0][1] - sensorArena[0][0] #maxX - minX
    sensorHeight = sensorArena[1][1] - sensorArena[1][0] #maxY - minY
    xRatio = screenWidth / sensorWidth
    yRatio = screenHeight / sensorHeight

    xPos = (sensorTarget[1][1] - sensorArena[0][0]) * xRatio #add minx/miny to set edge point as 0
    yPos = screenHeight -(sensorTarget[1][0] - sensorArena[1][0]) * yRatio
    pyautogui.moveTo(xPos, yPos)
    print("Moving mouse to: " + str(xPos) + " " + str(yPos))


def calibrate(mode):
    min = float("inf")
    max = float("-inf")
    success = False;
    # Setting visible arena in cm
    while True:
        data = client.recv(1024).decode()
        client.send("listening for target".encode())
        target = pickle.loads(client.recv(1024))
        if target[0] == 1:  # If finger detected
            while True:
                data = client.recv(1024).decode()
                client.send("listening for target".encode())
                target = pickle.loads(client.recv(1024))
                print("min: " + str(min) + " max: " + str(max))
                if target[1][1-mode] < min:
                    min = target[1][1-mode]
                if target[1][1-mode] > max:
                    max = target[1][1-mode]
                if target[0] == 0:  # When finger leaves area
                    break
            break
    print("range:" + str((max-min)))
    if mode == 0 and max-min > 8 and max-min < 10:
        success = True
    if mode == 1 and max-min > 4 and max-min < 6:
        success = True
    return [success, min, max]

# Logging the screen size
screenWidth, screenHeight = pyautogui.size()
pyautogui.FAILSAFE = False

# Walabot related variable declarations
arena = []
target = []

server = BluetoothSocket(RFCOMM)
host = ""
#48-5A-B6-AE-A4-7D
port = 3
server.bind((host, port))
server.listen(1)
print("Started listening on "+host+":"+str(port))
client, addr = server.accept()
print("Got a connection from " + str(addr[0]) + ":" + str(addr[1]))

xCalibrate = yCalibrate = False

while True:
    data = client.recv(1024).decode()
    if data == "disconnect":
        print("Disconnecting")
        client.send("Closing client".encode())
        client.close()
        break
    elif data == "ping":
        print("Client ping")
        client.send("ping".encode())
    elif data == "target:":
        client.send("listening for target".encode())
        target = pickle.loads(client.recv(1024))
        if not xCalibrate or not yCalibrate:
            print("Calibrating visible arena dimensions")
            while not xCalibrate:
                print("Slowly slide one finger from the far left to the far right.")
                calibration = calibrate(0)
                if calibration[0]:  # If calibration success
                    minX = calibration[1]
                    maxX = calibration[2]
                    xCalibrate = True
                    print("Success. Lift your finger.")
                else:
                    print("Calibration failure. Retrying..")
            time.sleep(3)
            while not yCalibrate:
                print("Slowly slide one finger form the far bottom to the far top.")
                calibration = calibrate(1)
                if calibration[0]:  # If calibration success
                    minY = calibration[1]
                    maxY = calibration[2]
                    yCalibrate = True
                    print("Success.")
                else:
                    print("Calibration failure. Retrying..")
        arena = [
            [minX, maxX, 3],
            [minY, maxY, 3],
        ]
        print("Arena calibrated:")
        print(arena)
    else:
        print("Target info:")
        if target[0] == 1:  # If one finger detected
            print("x: " + str(target[1][0]) + " y: " + str(target[1][1]))
            moveMouse(arena, target)
        elif target[0] == 2:  # If two fingers detected
            print("Left click")
            pyautogui.click(button='left')
        elif target[0] == 3:  # If three fingers detected
            print("Right click")
            pyautogui.click(button='right')
        else:
            print("Target not detected")