diff --git a/dm_imu_pkg/dm_imu_pkg.egg-info/PKG-INFO b/dm_imu.egg-info/PKG-INFO similarity index 99% rename from dm_imu_pkg/dm_imu_pkg.egg-info/PKG-INFO rename to dm_imu.egg-info/PKG-INFO index 734b504..833b17e 100644 --- a/dm_imu_pkg/dm_imu_pkg.egg-info/PKG-INFO +++ b/dm_imu.egg-info/PKG-INFO @@ -1,5 +1,5 @@ Metadata-Version: 2.4 -Name: dm_imu_pkg +Name: dm_imu Version: 0.1.0 Summary: Balance project with pybind11 IMU driver Author: allenyuan @@ -13,7 +13,7 @@ License-File: LICENSE Requires-Dist: pybind11>=2.10 Requires-Dist: numpy<2.0 Requires-Dist: pyserial>=3.5 -Requires-Dist: gradio<5.0 +Requires-Dist: gradio<6.0 Dynamic: author Dynamic: license-file Dynamic: requires-python diff --git a/dm_imu.egg-info/SOURCES.txt b/dm_imu.egg-info/SOURCES.txt new file mode 100644 index 0000000..e9e7cba --- /dev/null +++ b/dm_imu.egg-info/SOURCES.txt @@ -0,0 +1,11 @@ +LICENSE +README.md +pyproject.toml +setup.py +dm_imu/__init__.py +dm_imu.egg-info/PKG-INFO +dm_imu.egg-info/SOURCES.txt +dm_imu.egg-info/dependency_links.txt +dm_imu.egg-info/not-zip-safe +dm_imu.egg-info/requires.txt +dm_imu.egg-info/top_level.txt \ No newline at end of file diff --git a/dm_imu_pkg/balance_pkg.egg-info/dependency_links.txt b/dm_imu.egg-info/dependency_links.txt similarity index 100% rename from dm_imu_pkg/balance_pkg.egg-info/dependency_links.txt rename to dm_imu.egg-info/dependency_links.txt diff --git a/dm_imu_pkg/balance_pkg.egg-info/not-zip-safe b/dm_imu.egg-info/not-zip-safe similarity index 100% rename from dm_imu_pkg/balance_pkg.egg-info/not-zip-safe rename to dm_imu.egg-info/not-zip-safe diff --git a/dm_imu_pkg/dm_imu_pkg.egg-info/requires.txt b/dm_imu.egg-info/requires.txt similarity index 78% rename from dm_imu_pkg/dm_imu_pkg.egg-info/requires.txt rename to dm_imu.egg-info/requires.txt index 29b70d5..816b7d4 100644 --- a/dm_imu_pkg/dm_imu_pkg.egg-info/requires.txt +++ b/dm_imu.egg-info/requires.txt @@ -1,4 +1,4 @@ pybind11>=2.10 numpy<2.0 pyserial>=3.5 -gradio<5.0 +gradio<6.0 diff --git a/dm_imu_pkg/balance_pkg.egg-info/top_level.txt b/dm_imu.egg-info/top_level.txt similarity index 50% rename from dm_imu_pkg/balance_pkg.egg-info/top_level.txt rename to dm_imu.egg-info/top_level.txt index 2073187..a467289 100644 --- a/dm_imu_pkg/balance_pkg.egg-info/top_level.txt +++ b/dm_imu.egg-info/top_level.txt @@ -1 +1,2 @@ +dm_imu imu_py diff --git a/src/pybind_imu/CMakeLists.txt b/dm_imu/CMakeLists.txt similarity index 79% rename from src/pybind_imu/CMakeLists.txt rename to dm_imu/CMakeLists.txt index 34000c5..c601186 100644 --- a/src/pybind_imu/CMakeLists.txt +++ b/dm_imu/CMakeLists.txt @@ -10,14 +10,12 @@ execute_process(COMMAND ${PYTHON_EXECUTABLE} -c "import pybind11; print(pybind11 set(CMAKE_PREFIX_PATH "${PYBIND11_CMAKE_DIR}" ${CMAKE_PREFIX_PATH}) include_directories( - ${CMAKE_CURRENT_SOURCE_DIR}/.. + ${CMAKE_CURRENT_SOURCE_DIR}/src ) find_package(pybind11 REQUIRED) pybind11_add_module(imu_py pybind_imu.cpp - ../dm_imu/imu_driver.cpp - ../dm_imu/bsp_crc.cpp) - -target_link_libraries(imu_py PRIVATE pthread) + src/imu_driver.cpp + src/bsp_crc.cpp) diff --git a/src/pybind_imu/README.md b/dm_imu/README.md similarity index 100% rename from src/pybind_imu/README.md rename to dm_imu/README.md diff --git a/dm_imu_pkg/__init__.py b/dm_imu/__init__.py similarity index 68% rename from dm_imu_pkg/__init__.py rename to dm_imu/__init__.py index 4c8dd9f..1e0bf92 100644 --- a/dm_imu_pkg/__init__.py +++ b/dm_imu/__init__.py @@ -5,9 +5,7 @@ import sys def _load_imu_module(): """ Load the compiled pybind11 module ``imu_py``. - When the package is installed via ``pip install .`` the shared object - will be placed next to this ``__init__.py``. During development it may - still reside in the build directory under ``src/pybind_imu/build``. + The shared object should be placed in the ``build`` directory next to this ``__init__.py``. """ # 1. Try to import if the .so is already in the package directory. try: @@ -16,19 +14,12 @@ def _load_imu_module(): except Exception: pass - # 2. Fallback: locate the build output relative to the repository root. + # 2. Fallback: locate the build output relative to the package root. possible_paths = [ - pathlib.Path(__file__).parent.parent - / "src" - / "pybind_imu" - / "build" - / "imu_py.cpython-310-aarch64-linux-gnu.so", + pathlib.Path(__file__).parent / "build" / "imu_py.cpython-310-darwin.so", + pathlib.Path(__file__).parent / "build" / "imu_py.cpython-312-darwin.so", # Generic pattern for other Python versions / architectures - pathlib.Path(__file__).parent.parent - / "src" - / "pybind_imu" - / "build" - / "imu_py.*.so", + pathlib.Path(__file__).parent / "build" / "imu_py.*.so", ] for p in possible_paths: diff --git a/src/pybind_imu/pybind_imu.cpp b/dm_imu/pybind_imu.cpp similarity index 96% rename from src/pybind_imu/pybind_imu.cpp rename to dm_imu/pybind_imu.cpp index 10b7e98..1a27eb5 100644 --- a/src/pybind_imu/pybind_imu.cpp +++ b/dm_imu/pybind_imu.cpp @@ -1,6 +1,6 @@ #include #include -#include "dm_imu/imu_driver.h" +#include "imu_driver.h" namespace py = pybind11; using namespace dmbot_serial; diff --git a/src/dm_imu/bsp_crc.cpp b/dm_imu/src/bsp_crc.cpp similarity index 100% rename from src/dm_imu/bsp_crc.cpp rename to dm_imu/src/bsp_crc.cpp diff --git a/src/dm_imu/bsp_crc.h b/dm_imu/src/bsp_crc.h similarity index 100% rename from src/dm_imu/bsp_crc.h rename to dm_imu/src/bsp_crc.h diff --git a/src/dm_imu/imu_data.csv b/dm_imu/src/imu_data.csv similarity index 100% rename from src/dm_imu/imu_data.csv rename to dm_imu/src/imu_data.csv diff --git a/src/dm_imu/imu_driver.cpp b/dm_imu/src/imu_driver.cpp similarity index 100% rename from src/dm_imu/imu_driver.cpp rename to dm_imu/src/imu_driver.cpp diff --git a/src/dm_imu/imu_driver.h b/dm_imu/src/imu_driver.h similarity index 100% rename from src/dm_imu/imu_driver.h rename to dm_imu/src/imu_driver.h diff --git a/src/dm_imu/imu_plot.png b/dm_imu/src/imu_plot.png similarity index 100% rename from src/dm_imu/imu_plot.png rename to dm_imu/src/imu_plot.png diff --git a/src/dm_imu/plot_imu.py b/dm_imu/src/plot_imu.py similarity index 100% rename from src/dm_imu/plot_imu.py rename to dm_imu/src/plot_imu.py diff --git a/src/dm_imu/test_imu.cpp b/dm_imu/src/test_imu.cpp similarity index 100% rename from src/dm_imu/test_imu.cpp rename to dm_imu/src/test_imu.cpp diff --git a/dm_imu_pkg/__pycache__/__init__.cpython-310.pyc b/dm_imu_pkg/__pycache__/__init__.cpython-310.pyc deleted file mode 100644 index a16a2ab..0000000 Binary files a/dm_imu_pkg/__pycache__/__init__.cpython-310.pyc and /dev/null differ diff --git a/dm_imu_pkg/__pycache__/__init__.cpython-312.pyc b/dm_imu_pkg/__pycache__/__init__.cpython-312.pyc deleted file mode 100644 index 948024a..0000000 Binary files a/dm_imu_pkg/__pycache__/__init__.cpython-312.pyc and /dev/null differ diff --git a/dm_imu_pkg/balance_pkg.egg-info/PKG-INFO b/dm_imu_pkg/balance_pkg.egg-info/PKG-INFO deleted file mode 100644 index 1bd051b..0000000 --- a/dm_imu_pkg/balance_pkg.egg-info/PKG-INFO +++ /dev/null @@ -1,128 +0,0 @@ -Metadata-Version: 2.4 -Name: balance-pkg -Version: 0.1.0 -Summary: Balance project with pybind11 IMU driver -Author: Your Name -Author-email: Your Name -License-Expression: MIT -Classifier: Programming Language :: Python :: 3 -Classifier: Operating System :: OS Independent -Requires-Python: >=3.8 -Description-Content-Type: text/markdown -License-File: LICENSE -Requires-Dist: pybind11>=2.10 -Dynamic: author -Dynamic: license-file -Dynamic: requires-python - -# DM‑IMU USB 驱动库 - -## 项目简介 -`dm_imu` 目录下实现了一个 **纯 C++ 的 USB IMU 驱动库**，原始代码基于 ROS，但已完全去除 ROS 依赖，使用 POSIX 串口 API 与 IMU 通信。库提供： - -- 串口初始化、波特率配置 -- IMU 启动、停止以及配置指令（加速度、陀螺仪、欧拉角等） -- 线程安全的数据采集（`IMU_Data` 结构体） -- 简单的 C++ 接口 `DmImu`，无需任何 ROS 环境即可使用 - -## 目录结构 -``` -dm_imu/ -├─ bsp_crc.cpp / bsp_crc.h # CRC 校验实现 -├─ imu_driver.cpp / imu_driver.h# 主驱动实现（已去除 ROS） -├─ test_imu.cpp # 示例程序，演示如何使用库 -└─ README.md # 本文档 -``` - -## 编译方法 - -### 依赖 -- **C++17** 编译器（gcc/clang） -- POSIX 系统（Linux）提供的串口头文件 `、、` -- 标准库（`、、` 等） - -### 编译示例 -```bash -# 进入项目根目录 -cd /home/allenyuan/balance - -# 编译库源码（生成目标文件） -g++ -std=c++17 -c dm_imu/bsp_crc.cpp -o bsp_crc.o -g++ -std=c++17 -c dm_imu/imu_driver.cpp -o imu_driver.o - -# 编译示例程序并链接 -g++ -std=c++17 test_imu.cpp bsp_crc.o imu_driver.o -o test_imu -lpthread -``` - -> **说明**：如果你希望将库封装为静态或动态库，只需将 `bsp_crc.o` 与 `imu_driver.o` 打包为 `libdm_imu.a`（或 `libdm_imu.so`），然后在链接时使用 `-L. -ldm_imu`。 - -## 示例程序 `test_imu.cpp` - -```cpp -// test_imu.cpp -// 演示如何使用纯 C++ 的 DM‑IMU 驱动库读取数据 - -#include "imu_driver.h" -#include -#include -#include - -int main() -{ - // 根据实际设备路径与波特率创建对象 - dmbot_serial::DmImu imu("/dev/ttyACM1", 921600); - - // 启动采集线程 - if (!imu.start()) { - std::cerr << "Failed to start IMU driver." << std::endl; - return 1; - } - - // 连续读取 1000 次数据（约 10 秒） - for (int i = 0; i < 1000; ++i) { - IMU_Data d = imu.getData(); - - std::cout << "Roll: " << d.roll << " Pitch: " << d.pitch - << " Yaw: " << d.yaw << std::endl; - std::cout << "Acc : [" << d.accx << ", " << d.accy << ", " << d.accz << "]" - << std::endl; - std::cout << "Gyro : [" << d.gyrox << ", " << d.gyroy << ", " << d.gyroz << "]" - << std::endl; - std::cout << "-----------------------------------------" << std::endl; - - // 10 ms 间隔（约 100 Hz） - std::this_thread::sleep_for(std::chrono::milliseconds(10)); - } - - // 停止采集并关闭串口 - imu.stop(); - - return 0; -} -``` - -### 运行示例 -```bash -# 编译（参考上面的编译示例） -g++ -std=c++17 test_imu.cpp bsp_crc.o imu_driver.o -o test_imu -lpthread - -# 运行 -./test_imu -``` - -运行后，程序会在终端持续打印 IMU 的欧拉角、加速度和陀螺仪数据。若串口未打开或设备路径错误，程序会在初始化阶段输出错误信息并退出。 - -## 常见问题 - -| 问题 | 可能原因 | 解决办法 | -|------|----------|----------| -| 程序启动后没有数据输出 | 串口未打开或设备路径错误 | 确认 IMU 已正确连接，`/dev/ttyACM1` 是否存在；如有不同，请在 `test_imu.cpp` 中修改构造函数的 `port` 参数 | -| `write` / `read` 返回错误 | 波特率不匹配 | 检查 IMU 手册，确认波特率是否为 921600；如需修改，请在 `DmImu` 构造函数的 `baud` 参数中传入正确值 | -| 编译报缺少头文件 | 开发环境缺少 POSIX 串口头文件 | 在 Linux 上默认可用；若使用交叉编译，请确保交叉工具链包含对应头文件 | - -## 许可证 -本项目采用 MIT 许可证，详情见 `LICENSE`（若项目中未提供，请自行添加）。 - ---- - -**祝你使用愉快！** 如有其他需求（如添加四元数计算、回调机制等），欢迎进一步扩展此库。 diff --git a/dm_imu_pkg/balance_pkg.egg-info/SOURCES.txt b/dm_imu_pkg/balance_pkg.egg-info/SOURCES.txt deleted file mode 100644 index d70f2b2..0000000 --- a/dm_imu_pkg/balance_pkg.egg-info/SOURCES.txt +++ /dev/null @@ -1,10 +0,0 @@ -LICENSE -README.md -pyproject.toml -setup.py -balance_pkg/balance_pkg.egg-info/PKG-INFO -balance_pkg/balance_pkg.egg-info/SOURCES.txt -balance_pkg/balance_pkg.egg-info/dependency_links.txt -balance_pkg/balance_pkg.egg-info/not-zip-safe -balance_pkg/balance_pkg.egg-info/requires.txt -balance_pkg/balance_pkg.egg-info/top_level.txt \ No newline at end of file diff --git a/dm_imu_pkg/balance_pkg.egg-info/requires.txt b/dm_imu_pkg/balance_pkg.egg-info/requires.txt deleted file mode 100644 index 9f5f7f9..0000000 --- a/dm_imu_pkg/balance_pkg.egg-info/requires.txt +++ /dev/null @@ -1 +0,0 @@ -pybind11>=2.10 diff --git a/dm_imu_pkg/dm_imu_pkg.egg-info/SOURCES.txt b/dm_imu_pkg/dm_imu_pkg.egg-info/SOURCES.txt deleted file mode 100644 index 011d44d..0000000 --- a/dm_imu_pkg/dm_imu_pkg.egg-info/SOURCES.txt +++ /dev/null @@ -1,10 +0,0 @@ -LICENSE -README.md -pyproject.toml -setup.py -dm_imu_pkg/dm_imu_pkg.egg-info/PKG-INFO -dm_imu_pkg/dm_imu_pkg.egg-info/SOURCES.txt -dm_imu_pkg/dm_imu_pkg.egg-info/dependency_links.txt -dm_imu_pkg/dm_imu_pkg.egg-info/not-zip-safe -dm_imu_pkg/dm_imu_pkg.egg-info/requires.txt -dm_imu_pkg/dm_imu_pkg.egg-info/top_level.txt \ No newline at end of file diff --git a/dm_imu_pkg/dm_imu_pkg.egg-info/dependency_links.txt b/dm_imu_pkg/dm_imu_pkg.egg-info/dependency_links.txt deleted file mode 100644 index 8b13789..0000000 --- a/dm_imu_pkg/dm_imu_pkg.egg-info/dependency_links.txt +++ /dev/null @@ -1 +0,0 @@ - diff --git a/dm_imu_pkg/dm_imu_pkg.egg-info/not-zip-safe b/dm_imu_pkg/dm_imu_pkg.egg-info/not-zip-safe deleted file mode 100644 index 8b13789..0000000 --- a/dm_imu_pkg/dm_imu_pkg.egg-info/not-zip-safe +++ /dev/null @@ -1 +0,0 @@ - diff --git a/dm_imu_pkg/dm_imu_pkg.egg-info/top_level.txt b/dm_imu_pkg/dm_imu_pkg.egg-info/top_level.txt deleted file mode 100644 index 2073187..0000000 --- a/dm_imu_pkg/dm_imu_pkg.egg-info/top_level.txt +++ /dev/null @@ -1 +0,0 @@ -imu_py diff --git a/dm_imu_pkg/imu_py.cpython-310-darwin.so b/dm_imu_pkg/imu_py.cpython-310-darwin.so deleted file mode 100755 index 68eba2f..0000000 Binary files a/dm_imu_pkg/imu_py.cpython-310-darwin.so and /dev/null differ diff --git a/dm_imu_pkg/imu_py.cpython-312-darwin.so b/dm_imu_pkg/imu_py.cpython-312-darwin.so deleted file mode 100755 index f4d5014..0000000 Binary files a/dm_imu_pkg/imu_py.cpython-312-darwin.so and /dev/null differ diff --git a/pyproject.toml b/pyproject.toml index 8ba1386..a1613ee 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -3,7 +3,7 @@ requires = ["setuptools>=61", "wheel", "pybind11>=2.10", "cmake"] build-backend = "setuptools.build_meta" [project] -name = "dm_imu_pkg" +name = "dm_imu" version = "0.1.0" description = "Balance project with pybind11 IMU driver" readme = "README.md" @@ -22,4 +22,5 @@ classifiers = [ ] [tool.setuptools.packages.find] -where = ["dm_imu_pkg"] +where = ["."] +include = ["dm_imu"] diff --git a/setup.py b/setup.py index cfcf44a..dd8d63b 100644 --- a/setup.py +++ b/setup.py @@ -49,17 +49,16 @@ class CMakeBuild(build_ext): ) # Path to the pybind11 C++ source directory. -pybind_src = pathlib.Path(__file__).parent / "src" / "pybind_imu" +pybind_src = pathlib.Path(__file__).parent / "dm_imu" setup( - name="dm_imu_pkg", + name="dm_imu", version="0.1.0", author="allenyuan", description="DM IMU driver with pybind11", long_description=open("README.md", encoding="utf-8").read(), long_description_content_type="text/markdown", - packages=find_packages(where="dm_imu_pkg"), - package_dir={"": "dm_imu_pkg"}, + packages=["dm_imu"], ext_modules=[CMakeExtension("imu_py", sourcedir=str(pybind_src))], cmdclass={"build_ext": CMakeBuild}, zip_safe=False, diff --git a/src/example.py b/src/example.py deleted file mode 100644 index 2af89a5..0000000 --- a/src/example.py +++ /dev/null @@ -1,51 +0,0 @@ -#!/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) diff --git a/src/pybind_imu/build/CMakeCache.txt b/src/pybind_imu/build/CMakeCache.txt deleted file mode 100644 index 5875ed2..0000000 --- a/src/pybind_imu/build/CMakeCache.txt +++ /dev/null @@ -1,367 +0,0 @@ -# This is the CMakeCache file. -# For build in directory: /home/allenyuan/balance/pybind_imu/build -# It was generated by CMake: /usr/bin/cmake -# You can edit this file to change values found and used by cmake. -# If you do not want to change any of the values, simply exit the editor. -# If you do want to change a value, simply edit, save, and exit the editor. -# The syntax for the file is as follows: -# KEY:TYPE=VALUE -# KEY is the name of a variable in the cache. -# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!. -# VALUE is the current value for the KEY. - -######################## -# EXTERNAL cache entries -######################## - -//Path to a program. -CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line - -//Path to a program. -CMAKE_AR:FILEPATH=/usr/bin/ar - -//Choose the type of build, options are: None Debug Release RelWithDebInfo -// MinSizeRel ... -CMAKE_BUILD_TYPE:STRING= - -//Enable/Disable color output during build. -CMAKE_COLOR_MAKEFILE:BOOL=ON - -//CXX compiler -CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++ - -//A wrapper around 'ar' adding the appropriate '--plugin' option -// for the GCC compiler -CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-11 - -//A wrapper around 'ranlib' adding the appropriate '--plugin' option -// for the GCC compiler -CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-11 - -//Flags used by the CXX compiler during all build types. -CMAKE_CXX_FLAGS:STRING= - -//Flags used by the CXX compiler during DEBUG builds. -CMAKE_CXX_FLAGS_DEBUG:STRING=-g - -//Flags used by the CXX compiler during MINSIZEREL builds. -CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG - -//Flags used by the CXX compiler during RELEASE builds. -CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG - 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-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 pathlib -import importlib.util -import sys -import signal -import time - -# ---------------------------------------------------------------------- -# Load the compiled extension module. -# Adjust the path if you installed the .so elsewhere. -# ---------------------------------------------------------------------- -module_path = pathlib.Path(__file__).parent / "build" / "imu_py.cpython-310-aarch64-linux-gnu.so" -if not module_path.is_file(): - sys.stderr.write(f"Error: compiled module not found at {module_path}\n") - sys.exit(1) - -spec = importlib.util.spec_from_file_location("imu_py", module_path) -imu_py = importlib.util.module_from_spec(spec) -spec.loader.exec_module(imu_py) - -# ---------------------------------------------------------------------- -# Helper to cleanly stop the IMU thread on SIGINT / SIGTERM. -# ---------------------------------------------------------------------- -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"acc: ({data['accx']:.3f}, {data['accy']:.3f}, {data['accz']:.3f}) " - f"gyro: ({data['gyrox']:.3f}, {data['gyroy']:.3f}, {data['gyroz']:.3f}) " - 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)