From 79af48dfdf40854324bb6f22bd9dcd47a632c60a Mon Sep 17 00:00:00 2001
From: schneider <schneider@blinkenlichts.net>
Date: Sat, 5 Aug 2023 00:22:50 +0200
Subject: [PATCH] imu: make available via standard input state
---
python_payload/mypystubs/imu.pyi | 5 +++++
python_payload/st3m/input.py | 17 +++++++++++++++++
sim/run.py | 1 +
3 files changed, 23 insertions(+)
diff --git a/python_payload/mypystubs/imu.pyi b/python_payload/mypystubs/imu.pyi
index 8c23c49b3f..5809088f55 100644
--- a/python_payload/mypystubs/imu.pyi
+++ b/python_payload/mypystubs/imu.pyi
@@ -5,6 +5,11 @@ def acc_read() -> Tuple[float, float, float]:
Returns current x, y, z accelerations in m/s**2.
"""
...
+def gyro_read() -> Tuple[float, float, float]:
+ """
+ Returns current pressure in Pa and temperature in degree C.
+ """
+ ...
def pressure_read() -> Tuple[float, float]:
"""
diff --git a/python_payload/st3m/input.py b/python_payload/st3m/input.py
index 6842b50839..405388d66b 100644
--- a/python_payload/st3m/input.py
+++ b/python_payload/st3m/input.py
@@ -3,6 +3,7 @@ from st3m.ui.ctx import Ctx
import hardware
import captouch
+import imu
import math
@@ -327,6 +328,19 @@ class TriSwitchState:
self.middle._ignore_pressed()
self.right._ignore_pressed()
+class IMUState:
+ __slots__ = ("acc", "gyro", "pressure", "temperature")
+
+ def __init__(self) -> None:
+ self.acc = (0., 0., 0.)
+ self.gyro = (0., 0., 0.)
+ self.pressure = 0.
+ self.temperature = 0.
+
+ def _update(self, ts: int, hr: InputState) -> None:
+ self.acc = imu.acc_read()
+ self.gyro = imu.gyro_read()
+ self.pressure, self.temperature = imu.pressure_read()
class InputController:
"""
@@ -344,6 +358,7 @@ class InputController:
"captouch",
"left_shoulder",
"right_shoulder",
+ "imu",
"_ts",
)
@@ -351,6 +366,7 @@ class InputController:
self.captouch = CaptouchState()
self.left_shoulder = TriSwitchState(TriSwitchHandedness.left)
self.right_shoulder = TriSwitchState(TriSwitchHandedness.right)
+ self.imu = IMUState()
self._ts = 0
def think(self, hr: InputState, delta_ms: int) -> None:
@@ -358,6 +374,7 @@ class InputController:
self.captouch._update(self._ts, hr)
self.left_shoulder._update(self._ts, hr)
self.right_shoulder._update(self._ts, hr)
+ self.imu._update(self._ts, hr)
def _ignore_pressed(self) -> None:
"""
diff --git a/sim/run.py b/sim/run.py
index 7b8e92cda1..e133ed19d7 100644
--- a/sim/run.py
+++ b/sim/run.py
@@ -1,4 +1,5 @@
import importlib
+import importlib.abc
import importlib.machinery
from importlib.machinery import PathFinder, BuiltinImporter
import importlib.util
--
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