71 lines
2.5 KiB
Python
71 lines
2.5 KiB
Python
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#!/usr/bin/env python3
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"""
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example.py – Demonstrates how to use the pybind11‑wrapped DM‑IMU driver.
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Prerequisites
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-------------
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* The compiled shared library `imu_py*.so` must exist (see README.md for build steps).
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* The current user must have read/write access to the IMU serial device
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(e.g. /dev/ttyACM1). Use `sudo` or add the user to the `dialout` group
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if necessary.
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Usage
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-----
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$ python3 example.py
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"""
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import pathlib
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import importlib.util
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import sys
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import signal
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import time
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# ----------------------------------------------------------------------
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# Load the compiled extension module.
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# Adjust the path if you installed the .so elsewhere.
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# ----------------------------------------------------------------------
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module_path = pathlib.Path(__file__).parent / "build" / "imu_py.cpython-310-aarch64-linux-gnu.so"
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if not module_path.is_file():
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sys.stderr.write(f"Error: compiled module not found at {module_path}\n")
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sys.exit(1)
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spec = importlib.util.spec_from_file_location("imu_py", module_path)
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imu_py = importlib.util.module_from_spec(spec)
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spec.loader.exec_module(imu_py)
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# ----------------------------------------------------------------------
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# Helper to cleanly stop the IMU thread on SIGINT / SIGTERM.
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# ----------------------------------------------------------------------
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def _signal_handler(sig, frame):
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print("\nReceived interrupt – stopping IMU...")
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imu.stop()
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sys.exit(0)
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signal.signal(signal.SIGINT, _signal_handler)
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signal.signal(signal.SIGTERM, _signal_handler)
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# ----------------------------------------------------------------------
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# Create an IMU instance.
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# You can change the serial port or baud rate if your hardware differs.
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# ----------------------------------------------------------------------
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imu = imu_py.DmImu("/dev/ttyACM0", 921600)
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print("Starting IMU data acquisition...")
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imu.start()
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print("Press Ctrl‑C to stop.\n")
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try:
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while True:
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data = imu.getData()
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# Pretty‑print the dictionary; you may replace this with logging, saving, etc.
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print(
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f"acc: ({data['accx']:.3f}, {data['accy']:.3f}, {data['accz']:.3f}) "
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f"gyro: ({data['gyrox']:.3f}, {data['gyroy']:.3f}, {data['gyroz']:.3f}) "
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f"euler: (roll={data['roll']:.2f}, pitch={data['pitch']:.2f}, yaw={data['yaw']:.2f})"
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)
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# Adjust the sleep interval as needed (here we poll at ~10 Hz).
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time.sleep(0.01)
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except KeyboardInterrupt:
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# Fallback in case the signal handler missed the interrupt.
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_signal_handler(None, None)
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