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d4b536b593
The API has been changed in some cases - see the apichanges.md
document.
In addition, this driver uses a new upm_vectortypes.i SWIG interface
file to provide a mechanism for methods that return a vector of floats
and ints instead of a pointer to an array.
This works much nicer than C array pointers, and results in Python/JS/Java
code that looks much more "natural" to the language in use.
The Python, JS, and Java examples have been changed to use these
methods. Support for the "old" C-style pointer methods are still
provided for backward compatibility with existing code.
As an example - to retrieve the x, y, and z data for Euler Angles from
the bno055, the original python code would look something like:
...
x = sensorObj.new_floatp()
y = sensorObj.new_floatp()
z = sensorObj.new_floatp()
...
sensor.getEulerAngles(x, y, z)
...
print("Euler: Heading:", sensorObj.floatp_value(x), end=' ')
print(" Roll:", sensorObj.floatp_value(y), end=' ')
...
Now the equivalent code is simply:
floatData = sensor.getEulerAngles()
print("Euler: Heading:", floatData[0], ...
print(" Roll:", floatData[1], end=' ')
...
Additionally, interrupt handling for Java is now implemented
completely in the C++ header file now rather than the .cxx file, so no
special SWIG processing is required anymore. See Issue #518 .
Signed-off-by: Jon Trulson <jtrulson@ics.com>
114 lines
3.9 KiB
Python
Executable File
114 lines
3.9 KiB
Python
Executable File
#!/usr/bin/python
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# Author: Jon Trulson <jtrulson@ics.com>
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# Copyright (c) 2016-2017 Intel Corporation.
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#
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# The MIT License
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#
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# Permission is hereby granted, free of charge, to any person obtaining
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# a copy of this software and associated documentation files (the
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# "Software"), to deal in the Software without restriction, including
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# without limitation the rights to use, copy, modify, merge, publish,
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# distribute, sublicense, and/or sell copies of the Software, and to
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# permit persons to whom the Software is furnished to do so, subject to
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# the following conditions:
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#
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# The above copyright notice and this permission notice shall be
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# included in all copies or substantial portions of the Software.
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#
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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from __future__ import print_function
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import time, sys, signal, atexit
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from upm import pyupm_bno055 as sensorObj
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def main():
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# Instantiate an BNO055 using default parameters (bus 0, addr
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# 0x28). The default running mode is NDOF absolute orientation
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# mode.
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sensor = sensorObj.BNO055()
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## Exit handlers ##
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# This function stops python from printing a stacktrace when you
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# hit control-C
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def SIGINTHandler(signum, frame):
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raise SystemExit
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# This function lets you run code on exit
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def exitHandler():
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print("Exiting...")
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sys.exit(0)
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# Register exit handlers
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atexit.register(exitHandler)
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signal.signal(signal.SIGINT, SIGINTHandler)
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print("First we need to calibrate. 4 numbers will be output every")
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print("second for each sensor. 0 means uncalibrated, and 3 means")
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print("fully calibrated.")
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print("See the UPM documentation on this sensor for instructions on")
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print("what actions are required to calibrate.")
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print()
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while (not sensor.isFullyCalibrated()):
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intData = sensor.getCalibrationStatus()
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print("Magnetometer:", intData[0], end=' ')
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print(" Accelerometer:", intData[1], end=' ')
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print(" Gyroscope:", intData[2], end=' ')
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print(" System:", intData[3])
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time.sleep(1)
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print()
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print("Calibration complete.")
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print()
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# example - read calibration data, sleep and then write it
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# print("Reading calibration data....")
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# byteData = sensor.readCalibrationData()
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# print("Read data successfully.")
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# print("Writing calibration data...")
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# time.sleep(1)
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# sensor.writeCalibrationData(byteData)
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# print("Success!")
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# time.sleep(3)
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# now output various fusion data every 250 milliseconds
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while (True):
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sensor.update()
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floatData = sensor.getEulerAngles()
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print("Euler: Heading:", floatData[0], end=' ')
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print(" Roll:", floatData[1], end=' ')
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print(" Pitch:", floatData[2], end=' ')
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print(" degrees")
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floatData = sensor.getQuaternions()
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print("Quaternion: W:", floatData[0], end=' ')
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print(" X:", floatData[1], end=' ')
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print(" Y:", floatData[2], end=' ')
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print(" Z:", floatData[3])
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floatData = sensor.getLinearAcceleration()
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print("Linear Acceleration: X:", floatData[0], end=' ')
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print(" Y:", floatData[1], end=' ')
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print(" Z:", floatData[2], end=' ')
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print(" m/s^2")
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floatData = sensor.getGravityVectors()
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print("Gravity Vector: X:", floatData[0], end=' ')
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print(" Y:", floatData[1], end=' ')
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print(" Z:", floatData[2], end=' ')
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print(" m/s^2")
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print()
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time.sleep(.25);
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if __name__ == '__main__':
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main()
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