# 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
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):
    """Class provides sensor fusion allowing heading, pitch and roll to be extracted.

    This uses the Madgwick algorithm.
    The update method must be called peiodically.
    """
    name = 'ahrs'

    def __init__(self, *args, **kwargs):
        super().__init__(*args, **kwargs)
        if not SIMULATION:
            self.imu = LSM9DS1()
            self.imu.initialize()
        self.declination = config.declination
        self.board_offset = config.board_offset
        # local magnetic bias factors: set from calibration

# 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

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):
    """Class provides sensor fusion allowing heading, pitch and roll to be extracted.

    This uses the Madgwick algorithm.
    The update method must be called peiodically.
    """
    name = 'ahrs'

    def __init__(self, *args, **kwargs):
        super().__init__(*args, **kwargs)
        if not SIMULATION:
            self.imu = LSM9DS1()
            self.imu.initialize()
        self.declination = config.declination
        self.board_offset = config.board_offset
        # local magnetic bias factors: set from calibration

        self.magbias = (config.magbias_x, config.magbias_y, config.magbias_z)