Issue

Code backup

Python3/Logger/Serial/basic_seriallogger_v1.py

@@ -0,0 +1,25 @@
+import serial
+from datetime import datetime
+
+PORT = "COM3"        # oppure "/dev/ttyUSB0"
+BAUDRATE = 115200
+LOG_FILE = "serial_log.txt"
+
+ser = serial.Serial(PORT, BAUDRATE, timeout=1)
+
+print("In ascolto sulla seriale... Ctrl+C per uscire")
+
+with open(LOG_FILE, "a", encoding="utf-8") as f:
+    try:
+        while True:
+            line = ser.readline().decode(errors="ignore").strip()
+            if line:
+                timestamp = datetime.now().strftime("%Y-%m-%d %H:%M:%S.%f")[:-3]
+                out = f"[{timestamp}] {line}"
+                print(out)
+                f.write(out + "\n")
+                f.flush()
+    except KeyboardInterrupt:
+        print("\nChiusura...")
+    finally:
+        ser.close()

Python3/Logger/Serial/basic_seriallogger_v2.py

@@ -0,0 +1,32 @@
+import serial
+import struct
+import time
+
+# configurazione porta
+PORT = 'COM3'  # cambia se serve
+BAUD = 921600
+
+# struttura Sample = 1 uint32 + 2 IMUData
+# IMUData = 6 int16
+# Formato struct: < = little-endian
+fmt = '<I6h6h'  # ts, imu1(6h), imu2(6h)
+sample_size = struct.calcsize(fmt)
+
+ser = serial.Serial(PORT, BAUD, timeout=1)
+print(f"Listening on {PORT}...")
+
+try:
+    while True:
+        data = ser.read(sample_size)
+        if len(data) != sample_size:
+            continue
+
+        s = struct.unpack(fmt, data)
+        ts = s[0]
+        imu1 = s[1:7]
+        imu2 = s[7:13]
+
+        print(f"{ts} | 1:{imu1} | 2:{imu2}")
+except KeyboardInterrupt:
+    ser.close()
+    print("Closed")

Python3/Logger/Serial/basic_seriallogger_v3.py

@@ -0,0 +1,39 @@
+import serial
+import struct
+
+# ---------------- CONFIG ----------------
+PORT = 'COM3'       # aggiorna con la tua COM
+BAUD = 921600
+
+fmt = '<I6h6h'      # ts, imu1(6h), imu2(6h)
+sample_size = struct.calcsize(fmt)
+
+# ---------------- INIT ------------------
+ser = serial.Serial(PORT, BAUD, timeout=1)
+print(f"Listening on {PORT}...")
+
+start_ts = None  # primo timestamp ricevuto
+
+try:
+    while True:
+        data = ser.read(sample_size)
+        if len(data) != sample_size:
+            continue  # pacchetto incompleto
+
+        # ---- unpack del pacchetto ----
+        s = struct.unpack(fmt, data)
+        ts = s[0]          # ts dell'ESP32 in microsecondi
+        imu1 = s[1:7]
+        imu2 = s[7:13]
+
+        # ---- calcolo timestamp relativo ----
+        if start_ts is None:
+            start_ts = ts
+        rel_time = (ts - start_ts) / 1_000_000  # in secondi
+
+        # ---- stampa dati ----
+        print(f"{rel_time:.6f}s | 1:{imu1} | 2:{imu2}")
+
+except KeyboardInterrupt:
+    ser.close()
+    print("Closed")

Python3/Logger/Serial/basic_seriallogger_v4.py

@@ -0,0 +1,46 @@
+import serial
+import struct
+import datetime
+import time
+
+# ---------------- CONFIG ----------------
+PORT = 'COM3'       # aggiorna con la tua COM
+BAUD = 921600
+
+fmt = '<I6h6h'      # ts, imu1(6h), imu2(6h)
+sample_size = struct.calcsize(fmt)
+
+# ---------------- INIT ------------------
+ser = serial.Serial(PORT, BAUD, timeout=1)
+print(f"Listening on {PORT}...")
+
+start_ts = None
+start_time = None  # tempo assoluto all’inizio
+
+try:
+    while True:
+        data = ser.read(sample_size)
+        if len(data) != sample_size:
+            continue  # pacchetto incompleto
+
+        # ---- unpack del pacchetto ----
+        s = struct.unpack(fmt, data)
+        ts = s[0]          # ts dell'ESP32 in microsecondi
+        imu1 = s[1:7]
+        imu2 = s[7:13]
+
+        # ---- inizializza riferimento tempo assoluto ----
+        if start_ts is None:
+            start_ts = ts
+            start_time = datetime.datetime.now()
+
+        # ---- calcola tempo assoluto basato sul ts progressivo ----
+        delta_us = ts - start_ts
+        abs_time = start_time + datetime.timedelta(microseconds=delta_us)
+
+        # ---- stampa dati con timestamp leggibile ----
+        print(f"{abs_time.strftime('%Y-%m-%d %H:%M:%S.%f')[:-3]} | 1:{imu1} | 2:{imu2}")
+
+except KeyboardInterrupt:
+    ser.close()
+    print("Closed")

Python3/Logger/Serial/basic_seriallogger_v5.py

@@ -0,0 +1,72 @@
+import serial
+import struct
+import datetime
+import csv
+
+PORT = 'COM3'
+BAUD = 921600
+
+MAGIC = 0xABCD
+FRAME_FMT = '<HI6h6hH'
+FRAME_SIZE = struct.calcsize(FRAME_FMT)
+
+def crc16(data: bytes) -> int:
+    c = 0
+    for b in data:
+        c ^= b
+    return c
+
+ser = serial.Serial(PORT, BAUD, timeout=1)
+buffer = bytearray()
+
+start_ts = None
+start_time = None
+
+csv_file = open('imu_log.csv', 'w', newline='')
+writer = csv.writer(csv_file)
+writer.writerow([
+    'timestamp',
+    'imu1_ax','imu1_ay','imu1_az','imu1_gx','imu1_gy','imu1_gz',
+    'imu2_ax','imu2_ay','imu2_az','imu2_gx','imu2_gy','imu2_gz'
+])
+
+print("Listening...")
+
+try:
+    while True:
+        buffer += ser.read(512)
+
+        while len(buffer) >= FRAME_SIZE:
+            if buffer[0:2] != MAGIC.to_bytes(2, 'little'):
+                buffer.pop(0)
+                continue
+
+            frame = buffer[:FRAME_SIZE]
+            buffer = buffer[FRAME_SIZE:]
+
+            unpacked = struct.unpack(FRAME_FMT, frame)
+            crc_rx = unpacked[-1]
+            crc_calc = crc16(frame[:-2])
+
+            if crc_rx != crc_calc:
+                continue  # frame corrotto
+
+            ts_us = unpacked[1]
+
+            if start_ts is None:
+                start_ts = ts_us
+                start_time = datetime.datetime.now()
+
+            abs_time = start_time + datetime.timedelta(
+                microseconds=(ts_us - start_ts)
+            )
+
+            writer.writerow([
+                abs_time.strftime('%Y-%m-%d %H:%M:%S.%f')[:-3],
+                *unpacked[2:14]
+            ])
+
+except KeyboardInterrupt:
+    csv_file.close()
+    ser.close()
+    print("Stopped")