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")