mirror of
https://github.com/eclipse/upm.git
synced 2025-03-15 04:57:30 +03:00

* 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
|
|
# Author: Jon Trulson <jtrulson@ics.com>
|
|
# Copyright (c) 2016 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_bno055 as sensorObj
|
|
|
|
def main():
|
|
# Instantiate an BNO055 using default parameters (bus 0, addr
|
|
# 0x28). The default running mode is NDOF absolute orientation
|
|
# mode.
|
|
sensor = sensorObj.BNO055()
|
|
|
|
## 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)
|
|
|
|
mag = sensorObj.new_intp()
|
|
acc = sensorObj.new_intp()
|
|
gyr = sensorObj.new_intp()
|
|
syst = sensorObj.new_intp()
|
|
|
|
w = sensorObj.new_floatp()
|
|
x = sensorObj.new_floatp()
|
|
y = sensorObj.new_floatp()
|
|
z = sensorObj.new_floatp()
|
|
|
|
print("First we need to calibrate. 4 numbers will be output every")
|
|
print("second for each sensor. 0 means uncalibrated, and 3 means")
|
|
print("fully calibrated.")
|
|
print("See the UPM documentation on this sensor for instructions on")
|
|
print("what actions are required to calibrate.")
|
|
print()
|
|
|
|
while (not sensor.isFullyCalibrated()):
|
|
sensor.getCalibrationStatus(mag, acc, gyr, syst)
|
|
print("Magnetometer:", sensorObj.intp_value(mag), end=' ')
|
|
print(" Accelerometer:", sensorObj.intp_value(acc), end=' ')
|
|
print(" Gyroscope:", sensorObj.intp_value(gyr), end=' ')
|
|
print(" System:", sensorObj.intp_value(syst), end=' ')
|
|
time.sleep(1)
|
|
|
|
print()
|
|
print("Calibration complete.")
|
|
print()
|
|
|
|
# now output various fusion data every 250 milliseconds
|
|
|
|
while (True):
|
|
sensor.update()
|
|
|
|
sensor.getEulerAngles(x, y, z)
|
|
print("Euler: Heading:", sensorObj.floatp_value(x), end=' ')
|
|
print(" Roll:", sensorObj.floatp_value(y), end=' ')
|
|
print(" Pitch:", sensorObj.floatp_value(z), end=' ')
|
|
print(" degrees")
|
|
|
|
sensor.getQuaternions(w, x, y, z)
|
|
print("Quaternion: W:", sensorObj.floatp_value(w), end=' ')
|
|
print(" X:", sensorObj.floatp_value(x), end=' ')
|
|
print(" Y:", sensorObj.floatp_value(y), end=' ')
|
|
print(" Z:", sensorObj.floatp_value(z))
|
|
|
|
sensor.getLinearAcceleration(x, y, z)
|
|
print("Linear Acceleration: X:", sensorObj.floatp_value(x), end=' ')
|
|
print(" Y:", sensorObj.floatp_value(y), end=' ')
|
|
print(" Z:", sensorObj.floatp_value(z), end=' ')
|
|
print(" m/s^2")
|
|
|
|
sensor.getGravityVectors(x, y, z)
|
|
print("Gravity Vector: X:", sensorObj.floatp_value(x), end=' ')
|
|
print(" Y:", sensorObj.floatp_value(y), end=' ')
|
|
print(" Z:", sensorObj.floatp_value(z), end=' ')
|
|
print(" m/s^2")
|
|
|
|
print()
|
|
time.sleep(.25);
|
|
|
|
if __name__ == '__main__':
|
|
main()
|