sensor_data.py

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from .utils.widgets import MicrostrainWidget, MicrostrainPlugin
from .utils.subscribers import ImuMonitor, MagMonitor
 
_WIDGET_NAME = 'SensorData'
 
class SensorDataWidget(MicrostrainWidget):
 
  def __init__(self, node):
    # Initialize the parent class
    super(SensorDataWidget, self).__init__(node, _WIDGET_NAME)
 
  def _configure(self):
    # Set up the subscriber status monitors
    self._imu_monitor = ImuMonitor(self._node, self._node_name, "imu/data")
    self._mag_monitor = MagMonitor(self._node, self._node_name, "mag")
 
  def run(self):
    # Update data common to all sensors
    self._update_imu()
 
    # Magnetometer Only widgets (GQ7, GX5-45, GX5-25)
    magnetometer_widgets = [
      self.sensor_magnetometer_widget,
    ]
 
    # Hide or show the widgets
    self.hide_show_widgets(magnetometer_widgets, self._device_report_monitor.has_magnetometer)
 
    # Update device specific data
    if self._device_report_monitor.has_magnetometer:
      self._update_mag()
    
  def _update_imu(self):
    # Accel
    self.sensor_accel_x_label.setText(self._imu_monitor.accel_x_string)
    self.sensor_accel_y_label.setText(self._imu_monitor.accel_y_string)
    self.sensor_accel_z_label.setText(self._imu_monitor.accel_z_string)
 
    # Gyro
    self.sensor_gyro_x_label.setText(self._imu_monitor.vel_x_string)
    self.sensor_gyro_y_label.setText(self._imu_monitor.vel_y_string)
    self.sensor_gyro_z_label.setText(self._imu_monitor.vel_z_string)
 
  def _update_mag(self):
    self.sensor_magnetometer_x_label.setText(self._mag_monitor.x_string)
    self.sensor_magnetometer_y_label.setText(self._mag_monitor.y_string)
    self.sensor_magnetometer_z_label.setText(self._mag_monitor.z_string)
 
 
class SensorDataPlugin(MicrostrainPlugin):
 
  def __init__(self, context):
    # Initialize the parent class
    super(SensorDataPlugin, self).__init__(context, _WIDGET_NAME, SensorDataWidget)