import os
import fcntl
import time
import struct
import socket
import math

# Set up I2C
f = os.open('/dev/i2c-7', os.O_RDWR)
fcntl.ioctl(f, 0x0703, 0x62)

try:
    while True:
        os.write(f, b'\x00\x04')
        time.sleep(0.005)
        os.write(f, b'\x8f')
        dist = struct.unpack('>H', os.read(f, 2))[0]

        # Convert to 32-bit float (single) and send
        dist_float = float(dist)
        #data = bytearray(struct.pack("f", dist_float))

        #sock.sendto(data, server_address)

        print(f"Distance: {dist_float:.2f} cm")

        sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
        server_address_red = ('192.168.1.110', 35678)
        server_address_black = ('192.168.1.111', 35678)
        server_address_blue = ('192.168.1.112', 35678)
        data = bytearray(struct.pack("f", dist_float))
        sock.sendto(data, server_address_red)
        sock.sendto(data, server_address_black)
        sock.sendto(data, server_address_blue)

        time.sleep(0.005)
except KeyboardInterrupt:
    print("\nStopped")
finally:
    os.close(f)
    sock.close()

import time
from smbus2 import SMBus

# Use the correct I2C bus (check with `i2cdetect -l` or `i2cdetect -y <bus_num>`)
I2C_BUS = 1  # Example: /dev/i2c-1
DEVICE_ADDR = 0x62

with SMBus(I2C_BUS) as bus:
    # Step 1: Write 0x04 to register 0x00
    bus.write_byte_data(DEVICE_ADDR, 0x00, 0x04)

    # Step 2: Poll register 0x01 until bit 0 goes low
    while True:
        status = bus.read_byte_data(DEVICE_ADDR, 0x01)
        if (status & 0x01) == 0:
            break
        time.sleep(0.01)

    # Step 3: Read two bytes from register 0x8f
    data = bus.read_i2c_block_data(DEVICE_ADDR, 0x8f, 2)
    result = (data[0] << 8) | data[1]

    print(f"Read value: {result:#06x}")