#!/usr/bin/python
# Author: Jon Trulson <jtrulson@ics.com>
# Copyright (c) 2016-2017 Intel Corporation.
#
# Permission is hereby granted, free of charge, to any person obtaining
# a copy of this software and associated documentation files (the
# "Software"), to deal in the Software without restriction, including
# without limitation the rights to use, copy, modify, merge, publish,
# distribute, sublicense, and/or sell copies of the Software, and to
# permit persons to whom the Software is furnished to do so, subject to
# the following conditions:
#
# The above copyright notice and this permission notice shall be
# included in all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

from __future__ import print_function
import time, sys, signal, atexit
from upm import pyupm_lsm6ds3h as sensorObj

def main():
    # Instantiate a BMP250E instance using default i2c bus and address
    sensor = sensorObj.LSM6DS3H()

    # For SPI, bus 0, you would pass -1 as the address, and a valid pin for CS:
    # LSM6DS3H(0, -1, 10);

    ## Exit handlers ##
    # This function stops python from printing a stacktrace when you
    # hit control-C
    def SIGINTHandler(signum, frame):
        raise SystemExit

    # This function lets you run code on exit
    def exitHandler():
        print("Exiting")
        sys.exit(0)

    # Register exit handlers
    atexit.register(exitHandler)
    signal.signal(signal.SIGINT, SIGINTHandler)

    # now output data every 250 milliseconds
    while (1):
        sensor.update()

        data = sensor.getAccelerometer()
        print("Accelerometer x:", data[0], end=' ')
        print(" y:", data[1], end=' ')
        print(" z:", data[2], end=' ')
        print(" g")

        data = sensor.getGyroscope()
        print("Gyroscope x:", data[0], end=' ')
        print(" y:", data[1], end=' ')
        print(" z:", data[2], end=' ')
        print(" dps")

        # we show both C and F for temperature
        print("Compensation Temperature:", sensor.getTemperature(), "C /", end=' ')
        print(sensor.getTemperature(True), "F")

        print()
        time.sleep(.250)

if __name__ == '__main__':
    main()