mirror of
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2f78d9f62b
* Moved body of each python example to main. This allows for basic
load module testing for CI
* General cleanup of python modules (crlf/tabs/prints/etc)
* Chmod'ed to 755 to allow running examples without specifying the
python interpreter
* Added ctest for loading python2/3 modules
* Added jniclasscode pragma for java swig interface files.
* Updated check_examplenames.py module to check all languages vs. a
cxx example name
* Added tests for checking python module and test loading
* Added 'make test' to travis-ci run (run ctests)
* Print a more meaningful message when not building cxx docs into
python modules
* Updated check_clean.py to only check java wrapper files
* ENABLED ctests for UPM
* Deleted using_carrays.py python example - this is covered by other
examples
Signed-off-by: Noel Eck <noel.eck@intel.com>
110 lines
3.8 KiB
Python
Executable File
110 lines
3.8 KiB
Python
Executable File
#!/usr/bin/python
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# Author: Jon Trulson <jtrulson@ics.com>
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# Copyright (c) 2016 Intel Corporation.
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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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import time, sys, signal, atexit
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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 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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mag = sensorObj.new_intp()
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acc = sensorObj.new_intp()
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gyr = sensorObj.new_intp()
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syst = sensorObj.new_intp()
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w = sensorObj.new_floatp()
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x = sensorObj.new_floatp()
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y = sensorObj.new_floatp()
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z = sensorObj.new_floatp()
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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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sensor.getCalibrationStatus(mag, acc, gyr, syst)
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print "Magnetometer:", sensorObj.intp_value(mag),
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print " Accelerometer:", sensorObj.intp_value(acc),
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print " Gyroscope:", sensorObj.intp_value(gyr),
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print " System:", sensorObj.intp_value(syst),
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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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# now output various fusion data every 250 milliseconds
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while (True):
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sensor.update()
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sensor.getEulerAngles(x, y, z)
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print "Euler: Heading:", sensorObj.floatp_value(x),
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print " Roll:", sensorObj.floatp_value(y),
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print " Pitch:", sensorObj.floatp_value(z),
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print " degrees"
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sensor.getQuaternions(w, x, y, z)
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print "Quaternion: W:", sensorObj.floatp_value(w),
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print " X:", sensorObj.floatp_value(x),
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print " Y:", sensorObj.floatp_value(y),
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print " Z:", sensorObj.floatp_value(z)
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sensor.getLinearAcceleration(x, y, z)
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print "Linear Acceleration: X:", sensorObj.floatp_value(x),
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print " Y:", sensorObj.floatp_value(y),
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print " Z:", sensorObj.floatp_value(z),
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print " m/s^2"
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sensor.getGravityVectors(x, y, z)
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print "Gravity Vector: X:", sensorObj.floatp_value(x),
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print " Y:", sensorObj.floatp_value(y),
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print " Z:", sensorObj.floatp_value(z),
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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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