# coding:UTF-8 """ 测试文件 Test file """ import time import datetime import platform import struct import lib.device_model as deviceModel from lib.data_processor.roles.jy901s_dataProcessor import JY901SDataProcessor from lib.protocol_resolver.roles.wit_protocol_resolver import WitProtocolResolver welcome = """ 欢迎使用维特智能示例程序 Welcome to the Wit-Motoin sample program """ _writeF = None #写文件 Write file _IsWriteF = False #写文件标识 Write file identification def readConfig(device): """ 读取配置信息示例 Example of reading configuration information :param device: 设备模型 Device model :return: """ tVals = device.readReg(0x02,3) #读取数据内容、回传速率、通讯速率 Read data content, return rate, communication rate if (len(tVals)>0): print("返回结果：" + str(tVals)) else: print("无返回") tVals = device.readReg(0x23,2) #读取安装方向、算法 Read the installation direction and algorithm if (len(tVals)>0): print("返回结果：" + str(tVals)) else: print("无返回") def setConfig(device): """ 设置配置信息示例 Example setting configuration information :param device: 设备模型 Device model :return: """ device.unlock() # 解锁 unlock time.sleep(0.1) # 休眠100毫秒 Sleep 100ms device.writeReg(0x03, 6) # 设置回传速率为10HZ Set the transmission back rate to 10HZ time.sleep(0.1) # 休眠100毫秒 Sleep 100ms device.writeReg(0x23, 0) # 设置安装方向:水平、垂直 Set the installation direction: horizontal and vertical time.sleep(0.1) # 休眠100毫秒 Sleep 100ms device.writeReg(0x24, 0) # 设置安装方向:九轴、六轴 Set the installation direction: nine axis, six axis time.sleep(0.1) # 休眠100毫秒 Sleep 100ms device.save() # 保存 Save def AccelerationCalibration(device): """ 加计校准 Acceleration calibration :param device: 设备模型 Device model :return: """ device.AccelerationCalibration() # Acceleration calibration print("加计校准结束") def FiledCalibration(device): """ 磁场校准 Magnetic field calibration :param device: 设备模型 Device model :return: """ device.BeginFiledCalibration() # 开始磁场校准 Starting field calibration if input("请分别绕XYZ轴慢速转动一圈，三轴转圈完成后，结束校准（Y/N)？").lower()=="y": device.EndFiledCalibration() # 结束磁场校准 End field calibration print("结束磁场校准") def onUpdate(deviceModel): """ 数据更新事件 Data update event :param deviceModel: 设备模型 Device model :return: """ print("芯片时间:" + str(deviceModel.getDeviceData("Chiptime")) , " 温度:" + str(deviceModel.getDeviceData("temperature")) , " 加速度：" + str(deviceModel.getDeviceData("accX")) +","+ str(deviceModel.getDeviceData("accY")) +","+ str(deviceModel.getDeviceData("accZ")) , " 角速度:" + str(deviceModel.getDeviceData("gyroX")) +","+ str(deviceModel.getDeviceData("gyroY")) +","+ str(deviceModel.getDeviceData("gyroZ")) , " 角度:" + str(deviceModel.getDeviceData("angleX")) +","+ str(deviceModel.getDeviceData("angleY")) +","+ str(deviceModel.getDeviceData("angleZ")) , " 磁场:" + str(deviceModel.getDeviceData("magX")) +","+ str(deviceModel.getDeviceData("magY"))+","+ str(deviceModel.getDeviceData("magZ")) , " 经度:" + str(deviceModel.getDeviceData("lon")) + " 纬度:" + str(deviceModel.getDeviceData("lat")) , " 航向角:" + str(deviceModel.getDeviceData("Yaw")) + " 地速:" + str(deviceModel.getDeviceData("Speed")) , " 四元素:" + str(deviceModel.getDeviceData("q1")) + "," + str(deviceModel.getDeviceData("q2")) + "," + str(deviceModel.getDeviceData("q3"))+ "," + str(deviceModel.getDeviceData("q4")) ) if (_IsWriteF): #记录数据 Record data Tempstr = " " + str(deviceModel.getDeviceData("Chiptime")) Tempstr += "\t"+str(deviceModel.getDeviceData("accX")) + "\t"+str(deviceModel.getDeviceData("accY"))+"\t"+ str(deviceModel.getDeviceData("accZ")) Tempstr += "\t" + str(deviceModel.getDeviceData("gyroX")) +"\t"+ str(deviceModel.getDeviceData("gyroY")) +"\t"+ str(deviceModel.getDeviceData("gyroZ")) Tempstr += "\t" + str(deviceModel.getDeviceData("angleX")) +"\t" + str(deviceModel.getDeviceData("angleY")) +"\t"+ str(deviceModel.getDeviceData("angleZ")) Tempstr += "\t" + str(deviceModel.getDeviceData("temperature")) Tempstr += "\t" + str(deviceModel.getDeviceData("magX")) +"\t" + str(deviceModel.getDeviceData("magY")) +"\t"+ str(deviceModel.getDeviceData("magZ")) Tempstr += "\t" + str(deviceModel.getDeviceData("lon")) + "\t" + str(deviceModel.getDeviceData("lat")) Tempstr += "\t" + str(deviceModel.getDeviceData("Yaw")) + "\t" + str(deviceModel.getDeviceData("Speed")) Tempstr += "\t" + str(deviceModel.getDeviceData("q1")) + "\t" + str(deviceModel.getDeviceData("q2")) Tempstr += "\t" + str(deviceModel.getDeviceData("q3")) + "\t" + str(deviceModel.getDeviceData("q4")) Tempstr += "\r\n" _writeF.write(Tempstr) def startRecord(): """ 开始记录数据 Start recording data :return: """ global _writeF global _IsWriteF _writeF = open(str(datetime.datetime.now().strftime('%Y%m%d%H%M%S')) + ".txt", "w") #新建一个文件 _IsWriteF = True #标记写入标识 Tempstr = "Chiptime" Tempstr += "\tax(g)\tay(g)\taz(g)" Tempstr += "\twx(deg/s)\twy(deg/s)\twz(deg/s)" Tempstr += "\tAngleX(deg)\tAngleY(deg)\tAngleZ(deg)" Tempstr += "\tT(°)" Tempstr += "\tmagx\tmagy\tmagz" Tempstr += "\tlon\tlat" Tempstr += "\tYaw\tSpeed" Tempstr += "\tq1\tq2\tq3\tq4" Tempstr += "\r\n" _writeF.write(Tempstr) print("开始记录数据") def endRecord(): """ 结束记录数据 End record data :return: """ global _writeF global _IsWriteF _IsWriteF = False # 标记不可写入标识 Tag cannot write the identity _writeF.close() #关闭文件 Close file print("结束记录数据") if __name__ == '__main__': print(welcome) """ 初始化一个设备模型 Initialize a device model """ device = deviceModel.DeviceModel( "我的JY901", WitProtocolResolver(), JY901SDataProcessor(), "51_0" ) if (platform.system().lower() == 'linux'): device.serialConfig.portName = "/dev/ttyUSB0" #设置串口 Set serial port else: device.serialConfig.portName = "COM39" #设置串口 Set serial port device.serialConfig.baud = 9600 #设置波特率 Set baud rate device.openDevice() #打开串口 Open serial port readConfig(device) #读取配置信息 Read configuration information device.dataProcessor.onVarChanged.append(onUpdate) #数据更新事件 Data update event startRecord() # 开始记录数据 Start recording data input() device.closeDevice() endRecord() #结束记录数据 End record data