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