mirror of
https://github.com/eclipse/upm.git
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bf425014ab
* Grouped UPM python modules into upm directory, for example:
/usr/local/lib/python2.7/dist-packages/upm
* Updated UPM example import statements
* Removed unused RPATH statements from UPM src CMakeLists.txt,
currently build collateral contains an explicit RPATH which
is stripped from the install collateral.
* Converted python examples to work on both python2 AND python3
* Added ctest for loading examples w/python3
* Removed returns from swig macros
* UPM python module use will change...
Before:
import pyupm_dfrph
After:
from upm import pyupm_dfrph
or
import upm.pyupm_dfrph
etc...
* This commit fixes #468
Signed-off-by: Noel Eck <noel.eck@intel.com>
111 lines
4.0 KiB
Python
Executable File
111 lines
4.0 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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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 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), end=' ')
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print(" Accelerometer:", sensorObj.intp_value(acc), end=' ')
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print(" Gyroscope:", sensorObj.intp_value(gyr), end=' ')
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print(" System:", sensorObj.intp_value(syst), end=' ')
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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), end=' ')
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print(" Roll:", sensorObj.floatp_value(y), end=' ')
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print(" Pitch:", sensorObj.floatp_value(z), end=' ')
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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), end=' ')
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print(" X:", sensorObj.floatp_value(x), end=' ')
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print(" Y:", sensorObj.floatp_value(y), end=' ')
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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), end=' ')
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print(" Y:", sensorObj.floatp_value(y), end=' ')
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print(" Z:", sensorObj.floatp_value(z), end=' ')
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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), end=' ')
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print(" Y:", sensorObj.floatp_value(y), end=' ')
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print(" Z:", sensorObj.floatp_value(z), 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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