ydy0615
ced3669fac
Renamed package from dm_imu_pkg to dm_imu across PKG-INFO, egg-info files, and directories. Updated CMakeLists.txt, __init__.py, and top_level.txt to reflect new structure. Bumped gradio version from <5.0 to <6.0 in dependencies. This refactoring improves naming consistency and streamlines the package layout for better maintainability.
37 lines
989 B
C++
37 lines
989 B
C++
#include <pybind11/pybind11.h>
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#include <pybind11/stl.h>
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#include "imu_driver.h"
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namespace py = pybind11;
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using namespace dmbot_serial;
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/* Convert IMU_Data to a Python dict */
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py::dict imu_data_to_dict(const IMU_Data &data) {
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py::dict d;
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d["accx"] = data.accx;
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d["accy"] = data.accy;
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d["accz"] = data.accz;
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d["gyrox"] = data.gyrox;
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d["gyroy"] = data.gyroy;
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d["gyroz"] = data.gyroz;
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d["roll"] = data.roll;
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d["pitch"] = data.pitch;
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d["yaw"] = data.yaw;
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return d;
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}
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PYBIND11_MODULE(imu_py, m) {
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m.doc() = "Python bindings for DM‑IMU driver";
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py::class_<DmImu>(m, "DmImu")
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.def(py::init<const std::string&, int>(),
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py::arg("port") = "/dev/ttyACM1",
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py::arg("baud") = 921600)
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.def("start", &DmImu::start)
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.def("stop", &DmImu::stop)
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.def("getData",
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[](const DmImu &self) {
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return imu_data_to_dict(self.getData());
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});
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}
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