# V005.py (VERSION: 3D-PCB+GRAPH-1) print("=== V005 VERSION: 3D-PCB+GRAPH-1 ===") import sys import time import math import asyncio import threading import numpy as np from bleak import BleakClient from PyQt5 import QtWidgets, QtCore import pyqtgraph as pg import pyqtgraph.opengl as gl # ====== HARD-CODED DEVICE ====== ADDRESS = "10:51:DB:1B:E7:1E" CHAR_UUID = "7e2a1002-1111-2222-3333-444455556666" # ====== GRAPH SETTINGS ====== HISTORY_SECONDS = 10.0 # how many seconds of history to show GRAPH_UPDATE_MS = 50 # graph refresh rate MAX_G = 4.0 # y-axis range for graph # Shared latest values (written by BLE notify, read by UI) latest = {"ax": 0.0, "ay": 0.0, "az": 1.0, "ts": 0.0, "count": 0, "raw": ""} # Ring buffer for plotting t_buf = [] ax_buf = [] ay_buf = [] az_buf = [] def parse_csv_triplet(s: str): s = s.strip().strip('"') parts = s.split(",") if len(parts) != 3: return None try: return float(parts[0]), float(parts[1]), float(parts[2]) except ValueError: return None def notify_handler(_sender: int, data: bytearray): s = data.decode(errors="ignore").strip() latest["raw"] = s v = parse_csv_triplet(s) if v is None: return latest["ax"], latest["ay"], latest["az"] = v latest["ts"] = time.time() latest["count"] += 1 def roll_pitch_from_accel(ax, ay, az): roll = math.degrees(math.atan2(ay, az)) pitch = math.degrees(math.atan2(-ax, math.sqrt(ay * ay + az * az))) return roll, pitch async def ble_loop(): while True: try: print(f"Connecting to {ADDRESS} ...") async with BleakClient(ADDRESS, timeout=15.0) as client: if not client.is_connected: raise RuntimeError("Connect failed.") print("Connected. Enabling notifications...") await client.start_notify(CHAR_UUID, notify_handler) print("Notify enabled. Streaming...\n") while True: await asyncio.sleep(1.0) except Exception as e: print(f"[BLE] Error/disconnect: {e}") print("Reconnecting in 2 seconds...\n") await asyncio.sleep(2.0) def start_ble_thread(): t = threading.Thread(target=lambda: asyncio.run(ble_loop()), daemon=True) t.start() def make_cuboid(size=(2.0, 1.2, 0.1)): L, W, T = size x, y, z = L/2, W/2, T/2 verts = np.array([ [-x,-y,-z], [ x,-y,-z], [ x, y,-z], [-x, y,-z], [-x,-y, z], [ x,-y, z], [ x, y, z], [-x, y, z], ], dtype=float) faces = np.array([ [0,1,2],[0,2,3], [4,6,5],[4,7,6], [0,4,5],[0,5,1], [1,5,6],[1,6,2], [2,6,7],[2,7,3], [3,7,4],[3,4,0], ], dtype=int) return verts, faces class MainWindow(QtWidgets.QMainWindow): def __init__(self): super().__init__() self.setWindowTitle("ADXL345 – 3D PCB + Live Accel Graph (BLE)") # ---- Layout container ---- central = QtWidgets.QWidget() self.setCentralWidget(central) vbox = QtWidgets.QVBoxLayout(central) vbox.setContentsMargins(6, 6, 6, 6) vbox.setSpacing(6) # ---- 3D view ---- self.view3d = gl.GLViewWidget() self.view3d.setMinimumHeight(430) self.view3d.setCameraPosition(distance=6, elevation=25, azimuth=40) vbox.addWidget(self.view3d, stretch=3) grid = gl.GLGridItem() grid.setSize(10, 10) grid.setSpacing(1, 1) self.view3d.addItem(grid) axis = gl.GLAxisItem() axis.setSize(2, 2, 2) self.view3d.addItem(axis) verts, faces = make_cuboid() colors = np.ones((faces.shape[0], 4), dtype=float) colors[:,0]=0.25; colors[:,1]=0.7; colors[:,2]=0.35; colors[:,3]=0.9 meshdata = gl.MeshData(vertexes=verts, faces=faces) self.mesh = gl.GLMeshItem(meshdata=meshdata, faceColors=colors, drawEdges=True, edgeColor=(0,0,0,1)) self.view3d.addItem(self.mesh) self.vec = gl.GLLinePlotItem(pos=np.array([[0,0,0],[0,0,1]]), width=3, antialias=True) self.view3d.addItem(self.vec) # Small overlay label (top-left of window) self.label = QtWidgets.QLabel() self.label.setStyleSheet("color:white; background:rgba(0,0,0,140); padding:6px;") vbox.addWidget(self.label) # ---- Graph ---- self.plot = pg.PlotWidget() self.plot.setMinimumHeight(200) self.plot.showGrid(x=True, y=True, alpha=0.25) self.plot.setLabel("left", "Acceleration", units="g") self.plot.setLabel("bottom", "Time", units="s") self.plot.setYRange(-MAX_G, MAX_G) self.plot.addLegend(offset=(10, 10)) vbox.addWidget(self.plot, stretch=1) # Curves self.curve_ax = self.plot.plot([], [], name="ax", pen=pg.mkPen('r', width=2)) self.curve_ay = self.plot.plot([], [], name="ay", pen=pg.mkPen('g', width=2)) self.curve_az = self.plot.plot([], [], name="az", pen=pg.mkPen('b', width=2)) # ---- State ---- self.roll = 0.0 self.pitch = 0.0 self.t0 = time.time() # ---- Timers ---- self.timer = QtCore.QTimer() self.timer.timeout.connect(self.update_ui) self.timer.start(GRAPH_UPDATE_MS) def update_ui(self): axg, ayg, azg = latest["ax"], latest["ay"], latest["az"] # Add to history buffers t = time.time() - self.t0 t_buf.append(t) ax_buf.append(axg) ay_buf.append(ayg) az_buf.append(azg) # Trim buffers to last HISTORY_SECONDS while t_buf and (t - t_buf[0]) > HISTORY_SECONDS: t_buf.pop(0) ax_buf.pop(0) ay_buf.pop(0) az_buf.pop(0) # Update plot curves self.curve_ax.setData(t_buf, ax_buf) self.curve_ay.setData(t_buf, ay_buf) self.curve_az.setData(t_buf, az_buf) if t_buf: self.plot.setXRange(max(0, t_buf[-1] - HISTORY_SECONDS), t_buf[-1]) # Update 3D block tilt (smoothed) roll, pitch = roll_pitch_from_accel(axg, ayg, azg) alpha = 0.15 self.roll = (1 - alpha) * self.roll + alpha * roll self.pitch = (1 - alpha) * self.pitch + alpha * pitch self.mesh.resetTransform() self.mesh.rotate(self.pitch, 0, 1, 0) self.mesh.rotate(self.roll, 1, 0, 0) # Update accel vector self.vec.setData(pos=np.array([[0, 0, 0], [axg, ayg, azg]], dtype=float)) # Update label age = (time.time() - latest["ts"]) * 1000 if latest["ts"] else 0 self.label.setText( f"Packets: {latest['count']} Age: {age:.0f} ms\n" f"ax={axg:+.3f}g ay={ayg:+.3f}g az={azg:+.3f}g\n" f"roll={self.roll:+.1f}° pitch={self.pitch:+.1f}°" ) def main(): print("IMPORTANT: Disconnect nRF Connect (or any other BLE client) first.") start_ble_thread() app = QtWidgets.QApplication.instance() if app is None: app = QtWidgets.QApplication(sys.argv) win = MainWindow() win.resize(1000, 750) win.show() sys.exit(app.exec_()) if __name__ == "__main__": main()