def get_position(stub):
position = stub.GetPosition(imu_pb2.EmptyRequest())
print(
"""======== Position ========
roll_raw: %s
pitch_raw: %s
yaw_raw: %s
roll_filtered: %s
pitch_filtered: %s
yaw_filtered: %s
roll_smoothed: %s
pitch_smoothed: %s
yaw_smoothed: %s"""
% (
position.roll_raw,
position.pitch_raw,
position.yaw_raw,
position.roll_filtered,
position.pitch_filtered,
position.yaw_filtered,
position.roll_smoothed,
position.pitch_smoothed,
position.yaw_smoothed,
)
)
return position
def run():
with grpc.insecure_channel("localhost:50052") as channel:
stub = imu_pb2_grpc.ImuServiceStub(channel)
print("-------------- GetStatus --------------")
status = get_status(stub)
print(repr(status))
if not status.mpu_calibrated:
stub.CalibrateMPU(imu_pb2.EmptyRequest())
stub.Configure(imu_pb2.EmptyRequest())
if not status.is_updating and not status.has_position:
print("-------------- StartUpdating --------------")
start_updating(stub)
status = get_status(stub)
print("-------------- GetPosition --------------")
while True:
get_position(stub)
time.sleep(1)
def get_status(stub):
status = stub.GetStatus(imu_pb2.EmptyRequest())
print(
"""======== Status ===========
is_updating: %s
has_position: %s
position_stable %s
is_mag_calibrating %s
mag_calibrated %s
mpu_calibrated %s"""
% (
status.is_updating,
status.has_position,
status.position_stable,
status.is_mag_calibrating,
status.mag_calibrated,
status.mpu_calibrated,
)
)
return status
def configure(self):
with grpc.insecure_channel(self.service_address) as channel:
stub = imu_pb2_grpc.ImuServiceStub(channel)
stub.Configure(imu_pb2.EmptyRequest())
def position(self):
with grpc.insecure_channel(self.service_address) as channel:
stub = imu_pb2_grpc.ImuServiceStub(channel)
return stub.GetPosition(imu_pb2.EmptyRequest())
def stop(self):
with grpc.insecure_channel(self.service_address) as channel:
stub = imu_pb2_grpc.ImuServiceStub(channel)
return stub.StopUpdating(imu_pb2.EmptyRequest())
def calibrate_mpu(self):
with grpc.insecure_channel(self.service_address) as channel:
stub = imu_pb2_grpc.ImuServiceStub(channel)
return stub.CalibrateMPU(imu_pb2.EmptyRequest())
def stop_updating(stub):
stub.StopUpdating(imu_pb2.EmptyRequest())
def start_updating(stub):
stub.StartUpdating(imu_pb2.EmptyRequest())