Created
January 2, 2018 14:52
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Python snippet for reading minimu9-ahrs output
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import subprocess | |
import multiprocessing | |
class MultiImuSubprocess(multiprocessing.Process): | |
def __init__(self, result_queue, death_pill_queue, cmd, *args, **kwargs): | |
multiprocessing.Process.__init__(self) | |
self.result_queue = result_queue | |
self.death_pill_queue=death_pill_queue | |
self.data = None | |
self.cmd = cmd | |
def run(self): | |
cmd = self.cmd | |
popen = subprocess.Popen(cmd, stdout=subprocess.PIPE, universal_newlines=True) | |
for stdout_line in iter(popen.stdout.readline, ""): | |
s = stdout_line | |
self.data = [float(number) for number in s.split()] | |
self.return_data() | |
if not self.death_pill_queue.empty(): | |
break | |
popen.stdout.close() | |
return_code = popen.wait() | |
if return_code: | |
raise subprocess.CalledProcessError(return_code, cmd) | |
def return_data(self): | |
while not self.result_queue.empty(): | |
self.result_queue.get() | |
self.result_queue.put(self.data) | |
class ImuEuler: | |
def __init__(self): | |
cmd = ["minimu9-ahrs",'--output','euler'] | |
self.result_queue = multiprocessing.Queue() | |
self.death_pill_queue = multiprocessing.Queue() | |
self.process = MultiImuSubprocess(self.result_queue, self.death_pill_queue, cmd) | |
def connect(self): | |
self.process.start() | |
def read(self): | |
data = self.result_queue.get() | |
return data | |
def __del__(self): | |
self.death_pill_queue.put("kill") | |
self.process.terminate() |
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