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#!/usr/bin/env python3
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import serial
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import re
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import datetime
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import sys
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def capture_data():
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num_re = r"([\-0-9\.]+)"
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line_re = re.compile(r".*inputs: acc=\({0}, {0}, {0}\) gyro=\({0}, {0}, {0}\) mag=\({0}, {0}, {0}\)".format(num_re))
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if len(sys.argv) >= 2:
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ser_url = sys.argv[1]
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else:
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ser_url = "hwgrep://"
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if len(sys.argv) >= 3:
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fname = sys.argv[2]
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else:
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timestr = datetime.datetime.now().strftime("%Y-%m-%d %H-%M-%S")
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fname = "UGVDATA_{}.csv".format(timestr)
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ser = serial.serial_for_url(ser_url, baudrate=115200, parity=serial.PARITY_NONE,
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stopbits=serial.STOPBITS_ONE, bytesize=serial.EIGHTBITS,
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timeout=2.0)
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with ser:
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with open(fname, "w") as f:
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try:
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f.write("AX,AY,AZ,GX,GY,GZ,MX,MY,MZ\n")
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while True:
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try:
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line = ser.read_until().decode("utf-8")
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except Exception as e:
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print("line decode error: ", e)
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continue
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matches = line_re.match(line)
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if not matches:
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print("line did not match: ", line)
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continue
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nums = [str(numstr) for numstr in matches.groups()]
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if len(nums) != 9:
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continue
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f.write(",".join(nums))
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f.write("\n")
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except KeyboardInterrupt:
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print("interrupt")
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f.flush()
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return
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if __name__ == "__main__":
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capture_data()
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