Python Driver¶

Python driver is developed for OpenIMU, OpenRTK and INS2000.

Working Environment and Dependency Library Installation¶

Windows10: python2.7 and python 3.7
Mac OS: python2.7 and python 3.7

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

For python 3.x

pip install -r requirements.txt

For python 2.x

pip install -r requirements-2.x.txt

Data logging¶

configuration file

You can send commands to Ins2000 through the configuration file. You can open the configuration file and modify ‘setupcommands’ list add commands you want to send. Configuration file path.

./setting/INS2000/INS2000.json

Run from source code

python main.py

Run from execution file

pyinstaller build.spec

./ans-devices

You can specify some arguments while run the tool.

parameters:

Name	Type	Default	Description
-p, –port	Number	‘8000’	Value should be an available port
–device-type	String	‘auto’	Value should be `IMU`, `RTK`
-b, –baudrate	String	None	Value should be baudrate
-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)
-r, –with-raw-log	Boolean	False	Contains raw data log (OpenRTK only)
-s, –set-user-para	Boolean	False	Set uesr parameters (OpenRTK only)
-n, –ntrip-client	Boolean	False	Enable ntrip client (OpenRTK only)
–cli	Boolean	False	Work as command line mode

Connect Aceinna device

Link device to your pc or mac. And the tool will auto detect the linked device.

Normally, python-openimu works as Web mode. It will auto start a websocket server after device is detected. And it can works with aceinna developers site to do monitor and set configuration of connected device.

You can specify the startup parameter --cli to switch to Command Line Mode. Command Line Mode helps you to interact with device without open the brower.

Commnad List:

Name	Description
help	CLI help menu
exit	Exit Command Line Mode
run	Operationsdefined by users
save	Save thee configuration into EEPROM
connect	Show information of connected device
upgrade	Upgrade firmware
record	Record output data of device
stop	Stop recording outputs
server_start	Start server thread and must use `exit` command to quit
get	Read the current configuration and output data
set	Write parameters to device

Data Decoding¶

Run the decoding program

python tools/ins2000_parser.py -f /your/ins2000/data/path

More command prompts

python tools/ins2000_parser.py

usage: ins2000_parser.py [-h] [-f F] [-c C]

Aceinna INS2000 parse input args command:

optional arguments:
  -h, --help  show this help message and exit
  -f F        The file to be decoded
  -c C        Decoding configuration file

Data Display¶

After running main.py, you can see the following page.

Open the website aceinna developers site and enter the following page.

Click the icon in the red box above, and select Devices in the left column, and then select OpenRTK, as shown in the figure below.

Enter the page below and click the play button.

As shown in the following two figures, you can see the dynamic trajectory of the INS2000 real-time data under the satellite map, as well as the acceleration and angular-rate in the X, Y, and Z directions.

If you cannot click the play button, or there is no response after clicking, you need to check the port number in the red circle in the first figure, and then click the button in the red box in the figure below.

Edit the port number in the pop-up page to be consistent with the port number in the red circle in the first figure.