def watchAngles_(angleCallback=None, maxTime=None):
t0 = time.time()
#device_list = ts_api.getComPorts(filter=ts_api.TSS_FIND_USB)
device_list = ts_api.getComPorts()
print "device_list:", device_list
com_port = device_list[0]
device = ts_api.TSBTSensor(com_port=com_port)
## If a connection to the COM port fails, None is returned.
if not device:
print "Cannot get device"
return
## The class instances have all of the functionality that corresponds to the
## 3-Space Sensor device type it is representing.
print("==================================================")
print("Getting the filtered tared quaternion orientation.")
quat = device.getTaredOrientationAsQuaternion()
if quat is not None:
print(quat)
print("==================================================")
print("Getting the raw sensor data.")
data = device.getAllRawComponentSensorData()
gyro = data[:3]
print "gyro:", gyro
if data is not None:
print data
print(
"[%f, %f, %f] --Gyro\n"
"[%f, %f, %f] --Accel\n"
"[%f, %f, %f] --Comp" % data)
i = 0
while 1:
i += 1
t = time.time()
dt = t - t0
if maxTime and dt > maxTime:
break
angles = device.getTaredOrientationAsEulerAngles()
#print i, angles
angles = map(math.degrees, angles)
pitch, roll, yaw = angles
print "%4d %7.1f %7.1f %7.1f" % (i, yaw, pitch, roll)
if angleCallback != None:
angleCallback(angles)
## Now close the port.
device.close()
## (Friendly name, 3-Space Type, 3-Space ID, 3-Space Firmware Version String,
## 3-Space Hardware Version String, is in bootloader mode)
for device_port in device_list:
com_port, friendly_name, device_type = device_port
if device_type == "USB":
device = ts_api.TSUSBSensor(com_port=com_port)
elif device_type == "DNG":
device = ts_api.TSDongle(com_port=com_port)
elif device_type == "WL":
device = ts_api.TSWLSensor(com_port=com_port)
elif device_type == "EM":
device = ts_api.TSEMSensor(com_port=com_port)
elif device_type == "DL":
device = ts_api.TSDLSensor(com_port=com_port)
elif device_type == "BT":
device = ts_api.TSBTSensor(com_port=com_port)
elif device_type == "BTL":
device = "Device on " + com_port + " is in bootloader mode."
elif device_type == "???":
port_info = ts_api.getDeviceInfoFromComPort(com_port, poll_device=True)
device_type = port_info[1]
is_bootloader = port_info[5]
if is_bootloader:
device = "Device on %s is in bootloader mode." % com_port
elif device_type == "USB":
device = ts_api.TSUSBSensor(com_port=com_port)
elif device_type == "EM":
device = ts_api.TSEMSensor(com_port=com_port)
## None of the COM ports in the list were 3-Space Sensor devices
else:
device = "Device on %s is not a 3-Space Sensor device." % com_port
