# Path: auv_control_pi/wamp.py
# class ApplicationSession(AutobahnApplicationSession):
#     name = ''
# 
#     @classmethod
#     def rpc_methods(cls, instance=None):
#         _cls = instance or cls
#         attrs = dir(_cls)
#         attrs.remove('rpc_methods')
#         methods = [getattr(_cls, attr) for attr in attrs if callable(getattr(_cls, attr))]
#         rpc_methods = [method for method in methods if getattr(method, 'is_rpc', False)]
#         return {method.rpc_uri: method for method in rpc_methods}
# 
#     @classmethod
#     def rpc_uris(cls, instance=None):
#         return cls.rpc_methods(instance).keys()
# 
#     @classmethod
#     def subcribtion_handlers(cls, instance=None):
#         _cls = instance or cls
#         attrs = dir(_cls)
#         attrs.remove('subcribtion_handlers')
#         methods = [getattr(_cls, attr) for attr in attrs if callable(getattr(_cls, attr))]
#         handlers = [method for method in methods if getattr(method, 'is_subcription', False)]
#         return {method.topic: method for method in handlers}
# 
#     def onConnect(self):
#         logger.info('Connecting to {} as {}'.format(self.config.realm, self.name))
#         self.join(realm=self.config.realm)
# 
#     async def onJoin(self, details):
#         logger.info('Joined realm as {}'.format(self.name))
#         for rpc_uri, method in self.rpc_methods(self).items():
#             logger.debug('Registering RPC: {}'.format(rpc_uri))
#             await self.register(method, rpc_uri)
# 
#         for topic, handler in self.subcribtion_handlers(self).items():
#             logger.debug('Subscribing To Topic: {}'.format(topic))
#             await self.subscribe(handler, topic)
# 
#         loop = asyncio.get_event_loop()
#         loop.create_task(self.update())
# 
# def rpc(rpc_uri=None):
#     if rpc_uri is None:
#         raise ValueError('Must provide rpc_uri')
# 
#     def outer(fnc):
#         @wraps(fnc)
#         def inner(*args, **kwargs):
#             return fnc(*args, **kwargs)
#         inner.is_rpc = True
#         inner.rpc_uri = rpc_uri
#         return inner
#     return outer
# 
# def subscribe(topic):
#     if topic is None:
#         raise ValueError('Must provide `topic `to subscribe to')
# 
#     def outer(fnc):
#         @wraps(fnc)
#         def inner(self, *args, **kwargs):
#             return fnc(self, *args, **kwargs)
#         inner.is_subcription = True
#         inner.topic = topic
#         return inner
#     return outer
# 
# Path: auv_control_pi/config.py

# 
# Path: auv_control_pi/utils.py
# def micros():
#     return time.perf_counter() * 1e6
# 
# def elapsed_micros(start_time_us):
#     return (time.perf_counter() * 1e6) - start_time_us
# 
# def clamp_angle(deg):
#     """Rotate angle back to be within [0, 360]
#     """
#     n_rotations = deg // 360
#     deg -= 360 * n_rotations
#     return deg


import os
import asyncio
import logging
from ..wamp import ApplicationSession, rpc, subscribe
    from navio.lsm9ds1 import LSM9DS1
from ..config import config
from math import sqrt, atan2, asin, degrees, radians
from ..utils import micros, elapsed_micros, clamp_angle
This is adapted from https://github.com/micropython-IMU/micropython-fusion

Basically things have been renamed to AHRS naming scheme, pep8 improvements
and adjusted to work with CPython instead of MicroPython.


Supports 6 and 9 degrees of freedom sensors. Tested with InvenSense MPU-9150 9DOF sensor.
Source https://github.com/xioTechnologies/Open-Source-AHRS-With-x-IMU.git
also https://github.com/kriswiner/MPU-9250.git
Ported to Python. Integrator timing adapted for pyboard.
User should repeatedly call the appropriate 6 or 9 DOF update method and extract heading pitch and roll angles as
required.
Calibrate method:
The sensor should be slowly rotated around each orthogonal axis while this runs.
arguments:
getxyz must return current magnetometer (x, y, z) tuple from the sensor
stopfunc (responding to time or user input) tells it to stop
waitfunc provides an optional delay between readings to accommodate hardware or to avoid hogging
the CPU in a threaded environment. It sets magbias to the mean values of x,y,z
"""

PI = os.getenv('PI', False)

if PI:


logger = logging.getLogger(__name__)
SIMULATION = os.getenv('SIMULATION', False)



# Path: auv_control_pi/wamp.py
# class ApplicationSession(AutobahnApplicationSession):
#     name = ''
# 
#     @classmethod
#     def rpc_methods(cls, instance=None):
#         _cls = instance or cls
#         attrs = dir(_cls)
#         attrs.remove('rpc_methods')
#         methods = [getattr(_cls, attr) for attr in attrs if callable(getattr(_cls, attr))]
#         rpc_methods = [method for method in methods if getattr(method, 'is_rpc', False)]
#         return {method.rpc_uri: method for method in rpc_methods}
# 
#     @classmethod
#     def rpc_uris(cls, instance=None):
#         return cls.rpc_methods(instance).keys()
# 
#     @classmethod
#     def subcribtion_handlers(cls, instance=None):
#         _cls = instance or cls
#         attrs = dir(_cls)
#         attrs.remove('subcribtion_handlers')
#         methods = [getattr(_cls, attr) for attr in attrs if callable(getattr(_cls, attr))]
#         handlers = [method for method in methods if getattr(method, 'is_subcription', False)]
#         return {method.topic: method for method in handlers}
# 
#     def onConnect(self):
#         logger.info('Connecting to {} as {}'.format(self.config.realm, self.name))
#         self.join(realm=self.config.realm)
# 
#     async def onJoin(self, details):
#         logger.info('Joined realm as {}'.format(self.name))
#         for rpc_uri, method in self.rpc_methods(self).items():
#             logger.debug('Registering RPC: {}'.format(rpc_uri))
#             await self.register(method, rpc_uri)
# 
#         for topic, handler in self.subcribtion_handlers(self).items():
#             logger.debug('Subscribing To Topic: {}'.format(topic))
#             await self.subscribe(handler, topic)
# 
#         loop = asyncio.get_event_loop()
#         loop.create_task(self.update())
# 
# def rpc(rpc_uri=None):
#     if rpc_uri is None:
#         raise ValueError('Must provide rpc_uri')
# 
#     def outer(fnc):
#         @wraps(fnc)
#         def inner(*args, **kwargs):
#             return fnc(*args, **kwargs)
#         inner.is_rpc = True
#         inner.rpc_uri = rpc_uri
#         return inner
#     return outer
# 
# def subscribe(topic):
#     if topic is None:
#         raise ValueError('Must provide `topic `to subscribe to')
# 
#     def outer(fnc):
#         @wraps(fnc)
#         def inner(self, *args, **kwargs):
#             return fnc(self, *args, **kwargs)
#         inner.is_subcription = True
#         inner.topic = topic
#         return inner
#     return outer
# 
# Path: auv_control_pi/config.py

# 
# Path: auv_control_pi/utils.py
# def micros():
#     return time.perf_counter() * 1e6
# 
# def elapsed_micros(start_time_us):
#     return (time.perf_counter() * 1e6) - start_time_us
# 
# def clamp_angle(deg):
#     """Rotate angle back to be within [0, 360]
#     """
#     n_rotations = deg // 360
#     deg -= 360 * n_rotations
#     return deg


# Path: auv_control_pi/components/ahrs.py
import os
import asyncio
import logging
from ..wamp import ApplicationSession, rpc, subscribe
    from navio.lsm9ds1 import LSM9DS1
from ..config import config
from math import sqrt, atan2, asin, degrees, radians
from ..utils import micros, elapsed_micros, clamp_angle

This is adapted from https://github.com/micropython-IMU/micropython-fusion

Basically things have been renamed to AHRS naming scheme, pep8 improvements
and adjusted to work with CPython instead of MicroPython.


Supports 6 and 9 degrees of freedom sensors. Tested with InvenSense MPU-9150 9DOF sensor.
Source https://github.com/xioTechnologies/Open-Source-AHRS-With-x-IMU.git
also https://github.com/kriswiner/MPU-9250.git
Ported to Python. Integrator timing adapted for pyboard.
User should repeatedly call the appropriate 6 or 9 DOF update method and extract heading pitch and roll angles as
required.
Calibrate method:
The sensor should be slowly rotated around each orthogonal axis while this runs.
arguments:
getxyz must return current magnetometer (x, y, z) tuple from the sensor
stopfunc (responding to time or user input) tells it to stop
waitfunc provides an optional delay between readings to accommodate hardware or to avoid hogging
the CPU in a threaded environment. It sets magbias to the mean values of x,y,z
"""

PI = os.getenv('PI', False)

if PI:


logger = logging.getLogger(__name__)
SIMULATION = os.getenv('SIMULATION', False)



class AHRS(ApplicationSession):