IMU Data Receiving Examples

Before running the examples, update the IP address:

• Example: sub = ARDataSubscriber("192.168.1.100")

• Replace "192.168.1.100" with your iPhone’s actual IP (e.g., 192.168.x.x)

Make sure your iPhone and computer are on the same Wi-Fi / LAN.

Example 1: Continuous IMU Data Reading

from asmagic import IMUDataSubscriber

sub = IMUDataSubscriber("192.168.1.100")

try:
    for data in sub:
        print(f"\n--- IMU Frame at {data.timestamp} ---")
        print(f"Accelerometer (G): {data.accelerometer}")
        print(f"Gyroscope (rad/s): {data.gyroscope}")
        print(f"Magnetometer (μT): {data.magnetometer}")
        print(f"Gravity (G): {data.gravity}")
        print(f"User Acceleration (G): {data.user_acceleration}")
        print(f"Attitude (quat): {data.attitude}")

except KeyboardInterrupt:
    print("\nStopped")
finally:
    sub.close()

Example 2: Continuous Reading with get()

from asmagic import IMUDataSubscriber

sub = IMUDataSubscriber("192.168.1.100")

try:
    while True:
        data = sub.get()
        if data:
            print(f"\n--- IMU Frame at {data.timestamp} ---")
            print(f"Accelerometer (G): {data.accelerometer}")
            print(f"Gyroscope (rad/s): {data.gyroscope}")
            print(f"Magnetometer (μT): {data.magnetometer}")
            print(f"Gravity (G): {data.gravity}")
            print(f"User Acceleration (G): {data.user_acceleration}")
            print(f"Attitude (quat): {data.attitude}")

except KeyboardInterrupt:
    print("\nStopped")
finally:
    sub.close()

NOTE: Example 1 and Example 2 achieve the same goal of continuous data reading.

Example 3: Get Individual IMU Data Fields

from asmagic import IMUDataSubscriber

sub = IMUDataSubscriber("192.168.1.100")

try:
    while True:
        # Get only specific IMU fields
        accel = sub.get_accelerometer()
        gyro = sub.get_gyroscope()

except KeyboardInterrupt:
    print("\nStopped")
finally:
    sub.close()

Note: Use get_*() methods when you need specific data fields. This is more efficient than receiving the full frame.