diff --git a/ASYD_Safety/ReadData.py b/ASYD_Safety/ReadData.py
new file mode 100644
index 0000000..bd69861
--- /dev/null
+++ b/ASYD_Safety/ReadData.py
@@ -0,0 +1,189 @@
+# # -*- coding: utf-8 -*-
+# """
+# Created on Sat Mar  4 12:59:45 2023
+
+# @author: simon
+# """
+
+# import serial
+# import pandas as pd
+# import sys
+# import time
+
+# import tkinter as tk
+# from multiprocessing import Process, Pipe
+
+# #window = tk.Tk()
+
+# def readValues(conn):
+#     for i in range(10):
+#         print(i)
+#         if conn.poll():
+#             print(conn.recv())
+#         time.sleep(1.5)
+#     # Read = False
+#     # while True:
+#     #     if conn.poll():
+#     #         print(conn.recv())
+#     #         # if conn.recv() == 'start':
+#     #         #     # if not Read:
+#     #         #     #     serialPort = serial.Serial(port='COM7', baudrate=115200, timeout=3)
+#     #         #     # print('received start')
+#     #         #     # Read = True
+#     #         # else: 
+#     #         #     Read = False
+#     #         #     serialPort.close()
+#     #         if Read:
+#     #             if serialPort.inWaiting():
+#     #                 print(serialPort.readline().decode('Ascii'))
+#     #             else:
+#     #                 time.sleep(0.1)
+#     #     else:
+#     #         print('waiting')
+#     #         time.sleep(1)
+# def onClosing():
+#     global serialPort
+#     if tk.messagebox.askokcancel("Quit","Wanna quit?"):
+#         serialPort.close()
+#         p.kill()
+#        # window.destroy()  
+
+# def buttonPressed(button, conn):
+#     if button == 'start':
+#         print(button)
+#         conn.send('start')
+#     else:
+#         #Read = False
+#         conn.send('stop')
+    
+# if __name__ == '__main__':    
+#     print('hi')
+    
+#     parent_conn, child_conn = Pipe(duplex=True)
+#     p = Process(target=readValues, args=(child_conn,))
+#     p.start()
+#     parent_conn.send('start')
+#     time.sleep(10)
+#     parent_conn.send('stop')
+#     p.kill()
+
+# window.title("Visualize")
+# top = tk.Frame(window)
+# top.pack(side=tk.TOP)
+# buttonStart = tk.Button(window,text='Start', 
+#                         bg='black',fg='white',
+#                         command=lambda x='start':buttonPressed(x,parent_conn));
+# buttonStart.pack(padx=10,pady=10, in_=top,side=tk.LEFT)
+# buttonStop = tk.Button(window,text='Stop', 
+#                         bg='black',fg='white',
+#                         command=lambda x='stop':buttonPressed(x,parent_conn));
+# buttonStop.pack(padx=10,pady=10, in_=top,side=tk.LEFT)
+# #f1 = tk.Frame(window, height=1000,width=2000)
+# #f1.pack()
+# window.protocol("WM_DELETE_WINDOW",onClosing)
+# window.mainloop()
+
+
+# #serialPort = serial.Serial(port='COM7',baudrate=115200,timeout=3);
+# df = pd.DataFrame();
+
+
+# #while True:
+# #    if True #serialPort.inWaiting > 0:
+#         #serialString = serialPort.readline().decode('Ascii');
+# #        if(serialString.startswith('X')):
+# #            print(serialString);
+
+   
+    
+    
+from multiprocessing import Process, Pipe, Queue
+import time
+import serial
+import tkinter as tk
+import matplotlib.pyplot as plt
+from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
+import pandas as pd
+import numpy as np
+
+def f(conn,q):
+    ongoing = True
+    reading = False
+    while ongoing:
+        if conn.poll():
+            rec = conn.recv()
+            if rec == 'start':
+                reading = True
+                serialPort = serial.Serial(port='COM7',baudrate=115200,timeout=1)
+            if rec == 'stop':
+                reading = False
+                serialPort.close()
+            if rec == 'kill':
+                serialPort.close()
+                #print(data)
+                ongoing=False
+        if reading:
+            if serialPort.inWaiting() > 0:
+                msg = serialPort.readline()
+                try:
+                    msg = msg.decode("Ascii")
+                except:
+                    print("failed")
+                if msg.startswith("X"):
+                    q.put(msg)
+        time.sleep(0.05)
+    conn.close()
+    
+def buttonPressed(button, conn,q):
+    conn.send(button)
+    if button == 'stop':
+        data =[]
+        while not q.empty():
+            dString = q.get()
+            dString = dString.rstrip("\r\n")
+            tmp = dString.split('\t')
+            d = {}
+            for elem in tmp:
+                tmp1 = elem.split(':')
+                d[tmp1[0]] = int(tmp1[1])
+            data.append(d)
+        df = pd.DataFrame(data)
+        df['sqr'] = df.apply(lambda x: 
+                             np.sqrt(x['X']**2+x['Y']**2+x['Z']**2),axis=1)
+        for l in window.pack_slaves():
+            if isinstance(l, tk.Canvas):
+                l.destroy()
+        figure = plt.Figure(figsize=(10,6),dpi=100)
+        ax2 = figure.add_subplot(111)
+        line = FigureCanvasTkAgg(figure,window)
+        line.get_tk_widget().pack(side=tk.LEFT, fill=tk.BOTH)
+        df.plot(kind='line',legend=True,ax=ax2)
+
+def onClosing():
+    if tk.messagebox.askokcancel("Quit","Wanna quit?"):
+        window.destroy() 
+
+if __name__ == '__main__':
+    parent_conn, child_conn = Pipe(duplex=True)
+    q = Queue()
+    p = Process(target=f, args=(child_conn,q,))
+    p.start()
+    window = tk.Tk()
+    window.title("Visualize")
+    top = tk.Frame(window)
+    top.pack(side=tk.TOP)
+    buttonStart = tk.Button(window,text='Start', 
+                            bg='black',fg='white',
+                            command=lambda x='start':buttonPressed(x,parent_conn,q));
+    buttonStart.pack(padx=10,pady=10, in_=top,side=tk.LEFT)
+    buttonStop = tk.Button(window,text='Stop', 
+                            bg='black',fg='white',
+                            command=lambda x='stop':buttonPressed(x,parent_conn,q));
+    buttonStop.pack(padx=10,pady=10, in_=top,side=tk.LEFT)
+
+    window.protocol("WM_DELETE_WINDOW",onClosing)
+    window.mainloop()
+    
+    parent_conn.send('kill')
+    p.join()
+