python-imu380

Python driver for Aceinna 380 Series Inertial Products. Includes local and cloud file logging, and WebSocket server

pip install:

pyserial
tornado
azure-storage-blob

See demo.py for example usage as basic driver Run server_ui.py to run as a server for Aceinna Navigation Studio (ANS) web app

imu380.py

This is core driver for the DMU38x family of IMU's. It can do the following functions:

• automatically discover a DMU38x connected to serial port TODO: make faster and more reliable
• log data to local file or azure cloud TODO: add system for using user specific access_token and storage location
• parse various ouput packets: TODO: complete and test all packet types, as well as custom user packet from OpenIMU
• read/write and get/set EEPROM fields
• upgrade firmware of device
• run as a thread in websocket server see below

MAJOR current issues are connection realiability and switching in and out of stream mode in order to reliably read/get and write/set EEPROM fields.

server.py

Create a web socket server on wss://localhost:8000 that bridges ANS to a locally running imu380 serial port driver. Places imu380 driver in a thread

• automatically sends data out on wss://localhost:8000 every 33mS encoding packet as JSON. TODO: consider if packet should be wrapped standard message such as { cmd: {} data: {} err: {} }
• receives messages via on_message handler from ANS currently messages are - status, start_log, stop_log and cmd. TODO: extend to include update firmware and consider wether should be wrapped in standard message such as { cmd: {} data: {} err: {} }

server_ui.py

This is simple UI to control server.py. Uses Tkinter to build a UI and allow starting and stopping of the server.py dameon. Automatically determines if it is already running.

TODO: extend to show some status information TODO: use pyinstaller to build a reliable installer executable distribution for MAC and Windows

file_storage.py / aceina_storage.py

These file store parsed packet data to CSV either locally or on Azure cloud. Uses Azure Python SDK to write to Azure. TODO: consider support allowing custom file name TODO: log meta data like NAV-VIEW does - serial number etc TODO: use customer access_token to write to customer specific sub-space on azure