AHRS getAcceleration

 1'''
 2AHRS - AHRS_getAcceleration.py with asynchronous mode.
 3
 4This example demonstrates the process of getting AHRS three axis acceleration data from WifiDAQE3AH.
 5
 6To begin with, it demonstrates the steps to open the AHRS and configure the AHRS parameters.
 7Next, it outlines the procedure for the AHRS acceleration data.
 8Finally, it concludes by explaining how to close the AHRS.
 9
10-------------------------------------------------------------------------------------
11Please change correct serial number or IP and port number BEFORE you run example code.
12
13For other examples please check:
14    https://github.com/WPC-Systems-Ltd/WPC_Python_driver_release/tree/main/examples
15See README.md file to get detailed usage of this example.
16
17Copyright (c) 2022-2024 WPC Systems Ltd. All rights reserved.
18'''
19
20## Python
21import asyncio
22
23## WPC
24
25from wpcsys import pywpc
26
27
28async def main():
29    ## Get Python driver version
30    print(f'{pywpc.PKG_FULL_NAME} - Version {pywpc.__version__}')
31
32    ## Create device handle
33    dev = pywpc.WifiDAQE3AH()
34
35    ## Connect to device
36    try:
37        dev.connect("192.168.5.38") ## Depend on your device
38    except Exception as err:
39        pywpc.printGenericError(err)
40        ## Release device handle
41        dev.close()
42        return
43
44    try:
45        ## Parameters setting
46        port = 0 ## Depend on your device
47        mode = 6 ## 3-axis of orientation and angular velocity and acceleration
48
49        ## Get firmware model & version
50        driver_info = await dev.Sys_getDriverInfo_async()
51        print("Model name: " + driver_info[0])
52        print("Firmware version: " + driver_info[-1])
53
54        ## Open AHRS and update rate is 333 HZ
55        err = await dev.AHRS_open_async(port)
56        print(f"AHRS_open_async in port {port}, status: {err}")
57
58        ## Start AHRS
59        err = await dev.AHRS_start_async(port)
60        print(f"AHRS_start_async in port {port}, status: {err}")
61
62        ## Get three axis acceleration
63        while True:
64            ahrs_list = await dev.AHRS_getAcceleration_async(port)
65            print(ahrs_list)
66    except KeyboardInterrupt:
67        print("Press keyboard")
68
69    except Exception as err:
70        pywpc.printGenericError(err)
71
72    finally:
73        ## Stop AHRS
74        err = await dev.AHRS_stop_async(port)
75        print(f"AHRS_stop_async in port {port}, status: {err}")
76
77        ## Close AHRS
78        err = await dev.AHRS_close_async(port)
79        print(f"AHRS_close_async in port {port}, status: {err}")
80
81        ## Disconnect device
82        dev.disconnect()
83
84        ## Release device handle
85        dev.close()
86    return
87def main_for_spyder(*args):
88    if asyncio.get_event_loop().is_running():
89        return asyncio.create_task(main(*args)).result()
90    else:
91        return asyncio.run(main(*args))
92if __name__ == '__main__':
93    asyncio.run(main()) ## Use terminal
94    # await main() ## Use Jupyter or IPython(>=7.0)
95    # main_for_spyder() ## Use Spyder