openimu 2.6.0

Aceinna Navigation System Open Devices Library

python-openimu

A message communication tool for OpenIMU, OpenRTK and other devices of Aceinna

Working Environment

• Windows10: python 3.7
• Mac OS: python 3.7

Steps

1. Start the tool

There are 3 ways to run the tool

Prepare

1. Install the dependency library. It is better to create a virtual environment before to do it.

$ pip install -r requirements.txt

2. Install pcap api library(optional). Because we try to support INS401 a new device from Aceinna. It would use 100BASE-T1 ethernet, and the data transfer is in low-level of network, so we need help of pcap api. Actually, we integrated scapy in our project. The pcap api library is the dependency of scapy. If you are using a INS401 device, please also install the library based on your platform.

Platform	Libraray	Reference
Windows	npcap	https://scapy.readthedocs.io/en/latest/installation.html#windows
Ubuntu	tcpdump	https://scapy.readthedocs.io/en/latest/installation.html#debian-ubuntu-fedora
Mac	libpcap	https://scapy.readthedocs.io/en/latest/installation.html#mac-os-x

A. From source code

Run

Please use this way if you want to contribute the project.

$ python main.py

B. Work as execution file

Build

The executable will be generated in dist folder.

$ pyinstaller build.spec

Run

$ cd dist
$ ./ans-devices

C. From pip

Install

$ pip install openimu

Run

$ openimu

Startup Arguments

You can specify some arguments while run the tool

Arguments:

Name	Type	Default	Description
-i, --interface	String	'default'	Value should be uart, eth, 100base-t1
-p, --port	Number	'8000'	Value should be an available port
--device-type	String	'auto'	Value should be one of IMU, RTK, DMU
-b, --baudrate	String	None	Value should be a valid baudrate. The valid value should be one of 38400, 57600, 115200, 230400, 460800
-c, --com-port	String	'auto'	Value should be a COM port
--console-log	Boolean	False	Output log on console
--debug	Boolean	False	Log debug information
--with-data-log	Boolean	False	Contains internal data log (OpenIMU only)
-s, --set-user-para	Boolean	False	Set uesr parameters (OpenRTK only)

2. Connect Aceinna device

Link device to your pc or mac. The tool will auto detect the linked device by default.

More Usage

Work Mode

Default Mode

Normally, python-openimu works as default mode. It will establish a websocket server, then exchange messages through the websocket protocol. And it should work with aceinna developers site, it allows user to do data monitor, configuration and firmware management.

Command Line Mode

You can specify the startup argument --cli to switch to Command Line Mode. Command Line Mode helps you interact with device directly. And it also supply command to start a websocket server, so that you can use the full features of Default Mode.

Command Line Mode supports some commands for using, below is a list of commands description,

Help

Show help menu. It would show a list of description for all supported commands.

$ help

Get Device Info

Show information of connected device.

$ connect

Get Parameter (OpenIMU Only)

Retrieve current value of specified parameter.

$ get param_name

Set Parameter (OpenIMU Only)

Update the value of specified parameter. The value would be recoverd after device power off.

$ set param_name param_value

Save Configuration

Save the configuration into EEPROM. The value would be permanently saved.

$ save

Record Data (OpenIMU Only)

Log the device output data in path /data. It is not supported for OpenRTK, because OpenRTK device will automatically log data when it is connected.

$ record

Upgrade Firmware

Upgrade firmware from a specified path. The binary file should match with the device. This is a high risk command.

$ upgrade path/to/bin

Start Server

Establish a websocket server.

$ server_start

Stop Server

Stop the websocket server. If there is websocket server runing, it has to stop it when you want to use other command.

$ stop

Exit

Quit from Command Line Mode

$ exit

Interface

Aceinna Device could be connected with your PC via UART or LAN. The supported interface is depended on the device type.

Device Type	Supported Protocols	Description
DMU	uart
OpenIMU	uart
OpenRTK	uart, eth	The startup argument -i eth is supported
RTK330L	uart
INS401	100base-t1	The startup argument -i 100base-t1 is supported

Parse Tool

There is a log parse tool integrated in. It could parse OpenRTK, RTK330LA, IN S401 raw data log from data folder. Assgin parse to start it.

Arguments:

Name	Type	Default	Description
-t	String	'openrtk'	Switch work mode. Value should be one of openrtk,rtkl,ins401
-p	String	'.'	Value should be a valid path. It could be the container folder of log files
-i	Number	5	INS kml rate(hz)

Example

Run from source code

$ python main.py parse

Work as execution file

$ ans-devices parse

Run from pip

$ openimu parse

Changelogs and Release Notes

Please refer to HISTORY.md