From a285a3f7e254ca96b1ac55e7180fc55a1c4d7c9c Mon Sep 17 00:00:00 2001
From: jgelia <jgelia@ncsu.edu>
Date: Fri, 13 Sep 2024 00:03:16 -0400
Subject: [PATCH] Added raw data packet

---
 Airbrakes/imu.py | 47 +++++++++++++++++++++++++++++++----------------
 requirements.txt |  2 +-
 2 files changed, 32 insertions(+), 17 deletions(-)

diff --git a/Airbrakes/imu.py b/Airbrakes/imu.py
index 8d5f9a8f..b810ecc1 100644
--- a/Airbrakes/imu.py
+++ b/Airbrakes/imu.py
@@ -20,17 +20,32 @@ def __init__(self, timestamp: float):
 
 
 class RawDataPacket(IMUDataPacket):
-    __slots__ = ("",)
+    """
+    Represents a raw data packet from the IMU, these values are exactly what the IMU read, without any processing done.
+    It contains a timestamp and the raw values of the acceleration and gyroscopes.
+    """
+
+    __slots__ = ("scaledAccelX", "scaledAccelY", "scaledAccelZ", "scaledGyroX", "scaledGyroY", "scaledGyroZ",)
 
-    def __init__(self, altitude: float, yaw: float, pitch: float, roll: float):
+    # TODO: I know these names break snake_case convention, but they are the actual names of the data points so I argue we should keep them
+    def __init__(self, scaledAccelX: float, scaledAccelY: float, scaledAccelZ: float, scaledGyroX: float,
+                 scaledGyroY: float, scaledGyroZ: float):
         super().__init__(0.0)
-        self.altitude = altitude
-        self.yaw = yaw
-        self.pitch = pitch
-        self.roll = roll
+        self.scaledAccelX = scaledAccelX
+        self.scaledAccelY = scaledAccelY
+        self.scaledAccelZ = scaledAccelZ
+        self.scaledGyroX = scaledGyroX
+        self.scaledGyroY = scaledGyroY
+        self.scaledGyroZ = scaledGyroZ
 
 
 class EstimatedDataPacket(IMUDataPacket):
+    """
+    Represents an estimated data packet from the IMU, these values are the processed values of the raw data that are
+    supposed to be more accurate/smoothed. It contains a timestamp and the estimated values of the altitude, yaw, pitch,
+    """
+
+    # TODO: these are not all the right names/values, we will need to check the actual names
     __slots__ = (
         "altitude",
         "filter_state",
@@ -43,15 +58,15 @@ class EstimatedDataPacket(IMUDataPacket):
     )
 
     def __init__(
-        self,
-        altitude: float,
-        yaw: float,
-        pitch: float,
-        roll: float,
-        filter_state: float,
-        roll_uncert: float,
-        pitch_uncert: float,
-        yaw_uncert: float,
+            self,
+            altitude: float,
+            yaw: float,
+            pitch: float,
+            roll: float,
+            filter_state: float,
+            roll_uncert: float,
+            pitch_uncert: float,
+            yaw_uncert: float,
     ):
         super().__init__(0.0)
         self.altitude = altitude
@@ -67,7 +82,7 @@ def __init__(
 class RollingAverages:
     """Calculates the rolling averages of acceleration, (and?) from the set of data points"""
 
-    def __init__(self, data_points: list[IMUDataPacket]) -> None:
+    def __init__(self, data_points: list[IMUDataPacket]):
         self.data_points = data_points
 
     def add_estimated_data_packet(self):
diff --git a/requirements.txt b/requirements.txt
index 8b137891..a694f503 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1 +1 @@
-
+logging