1'''
2AHRS - AHRS_getEstimation.py with asynchronous mode.
3
4This example demonstrates the process of getting AHRS data by mode 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 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 data by mode
63 while True:
64 ahrs_list = await dev.AHRS_getEstimate_async(port, mode)
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