How to use pysurvive - 10 common examples

import sys
import pysurvive

ctx = pysurvive.init(sys.argv)

if ctx is None: # implies -help or similiar
    exit(-1)

def imu_func(ctx, mode, accelgyro, timecode, id):
    print(accelgyro)

keepRunning = True

pysurvive.install_imu_fn(ctx, imu_func)
while keepRunning and pysurvive.poll(ctx) == 0:
    pass

pysurvive.close(ctx)

ctx = pysurvive.init(sys.argv)

if ctx is None: # implies -help or similiar
    exit(-1)

def imu_func(ctx, mode, accelgyro, timecode, id):
    print(accelgyro)

keepRunning = True

pysurvive.install_imu_fn(ctx, imu_func)
while keepRunning and pysurvive.poll(ctx) == 0:
    pass

pysurvive.close(ctx)

import sys
import pysurvive

ctx = pysurvive.init(sys.argv)

if ctx is None: # implies -help or similiar
    exit(-1)

def imu_func(ctx, mode, accelgyro, timecode, id):
    print(accelgyro)

keepRunning = True

pysurvive.install_imu_fn(ctx, imu_func)
while keepRunning and pysurvive.poll(ctx) == 0:
    pass

pysurvive.close(ctx)

import sys
import pysurvive

ctx = pysurvive.init(sys.argv)

if ctx is None: # implies -help or similiar
    exit(-1)

def imu_func(ctx, mode, accelgyro, timecode, id):
    print(accelgyro)

keepRunning = True

pysurvive.install_imu_fn(ctx, imu_func)
while keepRunning and pysurvive.poll(ctx) == 0:
    pass

pysurvive.close(ctx)

def plot_imu(self, fig = None, plot_num = 1, plot_rows = 2, plot_cols = 2, figsize=None, **kwargs):
        if fig is None:
            fig = plt.figure(figsize=figsize)

        ax = fig.add_subplot(plot_rows, plot_cols, plot_num, title=self.name + ' Gyros')

        moveThreshGyro = pysurvive.configf(self.so.contents.ctx, "move-threshold-gyro", pysurvive.SC_GET, 0)
        moveThreshAcc = pysurvive.configf(self.so.contents.ctx, "move-threshold-acc", pysurvive.SC_GET, 0)

        axes_name = ['X', 'Y', 'Z']
        gyros = np.array(self.gyros)
        ax.plot([self.imu_times[0],self.imu_times[-1]], [moveThreshGyro] * 2, linewidth=1)
        ax.plot(self.imu_times, np.linalg.norm(gyros, axis=1), linewidth=1, label='Norm')
        for i in range(3):
            ax.plot(self.imu_times, gyros[:, i], linewidth=1, label=axes_name[i])
        ax.legend()

        ax = fig.add_subplot(plot_rows, plot_cols, plot_num + 1, title=self.name + ' Accels')

        ax.plot([self.imu_times[0],self.imu_times[-1]], [moveThreshAcc] * 2, linewidth=1)
        ax.plot(self.imu_times[1:], np.linalg.norm(np.diff(self.accels, axis=0), axis=1), linewidth=1)

        return 2

def plot_light_diff(self, fig = None, plot_num = 1, plot_rows = 1, plot_cols = 1, figsize=None, norm_diff = True, **kwargs):
        if len(self.angles) == 0:
            return 0

        if fig is None:
            fig = plt.figure()

        ax = fig.add_subplot(plot_rows, plot_cols, plot_num, title=self.name + ' light diff')
        moveThreshAng = pysurvive.configf(self.so.contents.ctx, "move-threshold-ang", pysurvive.SC_GET, 0)
        ax.plot([self.imu_times[0],self.imu_times[-1]], [moveThreshAng] * 2, linewidth=1)

        for k,v in self.angles.items():
            if len(v) <= 1:
                continue
            vv = np.array(v)
            norm = np.diff(vv[:, 0]) if norm_diff else 1.
            data = np.stack([vv[1:, 0], np.array(np.diff(vv[:, 1]) / norm)])
            diff_data = insert_blanks(data)
            times = diff_data[:, 0]
            data = diff_data[:, 1]
            ax.plot(times, data, label=k, linewidth=1)
        return 1

def plot_imu(self, fig = None, plot_num = 1, plot_rows = 2, plot_cols = 2, figsize=None, **kwargs):
        if fig is None:
            fig = plt.figure(figsize=figsize)

        ax = fig.add_subplot(plot_rows, plot_cols, plot_num, title=self.name + ' Gyros')

        moveThreshGyro = pysurvive.configf(self.so.contents.ctx, "move-threshold-gyro", pysurvive.SC_GET, 0)
        moveThreshAcc = pysurvive.configf(self.so.contents.ctx, "move-threshold-acc", pysurvive.SC_GET, 0)

        axes_name = ['X', 'Y', 'Z']
        gyros = np.array(self.gyros)
        ax.plot([self.imu_times[0],self.imu_times[-1]], [moveThreshGyro] * 2, linewidth=1)
        ax.plot(self.imu_times, np.linalg.norm(gyros, axis=1), linewidth=1, label='Norm')
        for i in range(3):
            ax.plot(self.imu_times, gyros[:, i], linewidth=1, label=axes_name[i])
        ax.legend()

        ax = fig.add_subplot(plot_rows, plot_cols, plot_num + 1, title=self.name + ' Accels')

        ax.plot([self.imu_times[0],self.imu_times[-1]], [moveThreshAcc] * 2, linewidth=1)
        ax.plot(self.imu_times[1:], np.linalg.norm(np.diff(self.accels, axis=0), axis=1), linewidth=1)

        return 2

def install(ctx):
    recorder = Recorder()

    def cb_fn(class_fn, so, *args):
        dat = recorder.get(so)
        time = pysurvive.survive_run_time(so.contents.ctx)
        return class_fn(dat, time, *args)

    pysurvive.install_angle_fn(ctx, partial(cb_fn, RecordedData.record_angle))
    pysurvive.install_light_fn(ctx, partial(cb_fn, RecordedData.record_light))
    pysurvive.install_imu_fn(ctx, partial(cb_fn, RecordedData.record_imu))
    pysurvive.install_pose_fn(ctx, partial(cb_fn, RecordedData.record_pose))
    pysurvive.install_sweep_fn(ctx, partial(cb_fn, RecordedData.record_sweep))
    pysurvive.install_sync_fn(ctx, partial(cb_fn, RecordedData.record_sync))
    pysurvive.install_sweep_angle_fn(ctx, partial(cb_fn, RecordedData.record_sweep_angle))

    return recorder

import pysurvive
import sys

actx = pysurvive.SimpleContext(sys.argv)

for obj in actx.Objects():
    print(obj.Name())

while actx.Running():
    updated = actx.NextUpdated()
    if updated:
        print(updated.Name(), updated.Pose())

def record_imu(self, time, mode, accelgyro, timecode, id):
        self.imu_times.append(time)
        self.gyros.append(accelgyro[3:6])
        self.accels.append(accelgyro[0:3])
        self.time_since_move.append(pysurvive.SurviveSensorActivations_stationary_time(self.so.contents.activations) /
                                    48000000.)