working python binding draft for hiwonder IMU

Cargo.toml

@@ -5,11 +5,11 @@ members = [
     "imu/bindings",
     "imu/hexmove",
     "imu/hiwonder",
+    "imu/bindings_hiwonder",
 ]
 resolver = "2"
 
 [workspace.package]
-
 version = "0.1.6"
 authors = ["Wesley Maa <[email protected]>"]
 edition = "2021"

examples/hiwonder_example.py

@@ -0,0 +1,21 @@
+from bindings_hiwonder import HiwonderImu 
+import time
+
+def main():
+    # Create IMU instance
+    imu = HiwonderImu("/dev/ttyUSB0", 9600)
+
+    try:
+        while True:
+            if data := imu.read_data():
+                acc, gyro, angle = data
+                print(f"\033[2J\033[H")  # Clear screen
+                print(f"Acceleration (m/s²): {acc}")
+                print(f"Gyroscope (deg/s):  {gyro}")
+                print(f"Angle (degrees):     {angle}")
+                time.sleep(0.1)  # Add small delay to make output readable
+    except KeyboardInterrupt:
+        print("\nExiting...")
+
+if __name__ == "__main__":
+    main()

imu/__init__.py

@@ -4,3 +4,7 @@
     PyHexmoveImuData as HexmoveImuData,
     PyHexmoveImuReader as HexmoveImuReader,
 )
+
+from .bindings_hiwonder import (
+    PyHiwonderImu as HiwonderImu,
+)

imu/bindings_hiwonder/Cargo.toml

@@ -0,0 +1,16 @@
+[package]
+name = "bindings_hiwonder"
+version = "0.1.0"
+edition = "2021"
+authors = ["Aaron Xie <[email protected]>"]
+description = "Python bindings for Hiwonder IMU"
+license = "MIT"
+
+[lib]
+name = "bindings_hiwonder"
+crate-type = ["cdylib", "rlib"]
+
+[dependencies]
+pyo3 = { version = ">= 0.21.0", features = ["extension-module"] }
+pyo3-stub-gen = ">= 0.6.0"
+hiwonder = { path = "../hiwonder" }

imu/bindings_hiwonder/pyproject.toml

@@ -0,0 +1,8 @@
+[build-system]
+requires = ["maturin>=1.1,<2.0"]
+build-backend = "maturin"
+
+[project]
+name = "bindings_hiwonder"
+version = "0.1.0"
+requires-python = ">=3.9"

imu/bindings_hiwonder/src/bin/stub_gen.rs

@@ -0,0 +1,7 @@
+use pyo3_stub_gen::Result;
+
+fn main() -> Result<()> {
+    let stub = bindings_hiwonder::stub_info()?;
+    stub.generate()?;
+    Ok(())
+}

imu/bindings_hiwonder/src/lib.rs

@@ -0,0 +1,40 @@
+use hiwonder::IMU;
+use pyo3::prelude::*;
+use pyo3_stub_gen::derive::{gen_stub_pyclass, gen_stub_pymethods};
+use pyo3_stub_gen::define_stub_info_gatherer;
+use std::sync::{Arc, Mutex};
+
+#[gen_stub_pyclass]
+#[pyclass(name = "HiwonderImu")]
+struct PyHiwonderImu {
+    inner: Arc<Mutex<IMU>>,
+}
+
+#[gen_stub_pymethods]
+#[pymethods]
+impl PyHiwonderImu {
+    #[new]
+    fn new(interface: String, baud_rate: u32) -> PyResult<Self> {
+        let imu = IMU::new(&interface, baud_rate)
+            .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))?;
+        Ok(PyHiwonderImu {
+            inner: Arc::new(Mutex::new(imu)),
+        })
+    }
+
+    fn read_data(&mut self) -> PyResult<Option<([f32; 3], [f32; 3], [f32; 3])>> {
+        let mut imu = self.inner
+            .lock()
+            .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))?;
+        imu.read_data()
+            .map_err(|e| PyErr::new::<pyo3::exceptions::PyRuntimeError, _>(e.to_string()))
+    }
+}
+
+#[pymodule]
+fn bindings_hiwonder(py: Python<'_>, m: &Bound<PyModule>) -> PyResult<()> {
+    m.add("HiwonderImu", py.get_type::<PyHiwonderImu>())?;
+    Ok(())
+}
+
+define_stub_info_gatherer!(stub_info);

imu/hiwonder/README.md

@@ -0,0 +1,3 @@
+TODO
+- [ ] Add std write for updating the data output hz
+- [ ] Add python binding

imu/hiwonder/__init__.py

@@ -0,0 +1,5 @@
+"""Defines the top-level API for the Hiwonder IMU package."""
+
+from bindings_hiwonder import HiwonderImu  # Changed from relative import
+
+__all__ = ['HiwonderImu']

imu/hiwonder/src/lib.rs

@@ -123,7 +123,6 @@ impl IMU {
                     } else {
                         if data == (self.checksum & 0xFF) {
                             self.angle = Self::get_angle(&self.angle_data);
-                            self.print_results();
                         }
                         self.reset();
                     }
@@ -177,12 +176,4 @@ impl IMU {
         ]
     }
 
-    fn print_results(&self) {
-        println!(
-            "acc: {:10.3} {:10.3} {:10.3}\ngyro: {:10.3} {:10.3} {:10.3}\nangle: {:10.3} {:10.3} {:10.3}",
-            self.acc[0], self.acc[1], self.acc[2],
-            self.gyro[0], self.gyro[1], self.gyro[2],
-            self.angle[0], self.angle[1], self.angle[2]
-        );
-    }
 }