balance/src/example.py

#!/usr/bin/env python3
"""
example.py – Demonstrates how to use the pybind11‑wrapped DM‑IMU driver.

Prerequisites
-------------
* The compiled shared library `imu_py*.so` must exist (see README.md for build steps).
* The current user must have read/write access to the IMU serial device
  (e.g. /dev/ttyACM1).  Use `sudo` or add the user to the `dialout` group
  if necessary.

Usage
-----
$ python3 example.py
"""

import sys
import signal
import time
import imu_py

def _signal_handler(sig, frame):
    print("\nReceived interrupt – stopping IMU...")
    imu.stop()
    sys.exit(0)

signal.signal(signal.SIGINT, _signal_handler)
signal.signal(signal.SIGTERM, _signal_handler)

# ----------------------------------------------------------------------
# Create an IMU instance.
# You can change the serial port or baud rate if your hardware differs.
# ----------------------------------------------------------------------
imu = imu_py.DmImu("/dev/ttyACM0", 921600)

print("Starting IMU data acquisition...")
imu.start()

print("Press Ctrl‑C to stop.\n")
try:
    while True:
        data = imu.getData()
        # Pretty‑print the dictionary; you may replace this with logging, saving, etc.
        print(
            f"euler: (roll={data['roll']:.2f}, pitch={data['pitch']:.2f}, yaw={data['yaw']:.2f})"
        )
        # Adjust the sleep interval as needed (here we poll at ~10 Hz).
        time.sleep(0.01)
except KeyboardInterrupt:
    # Fallback in case the signal handler missed the interrupt.
    _signal_handler(None, None)