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")