payload.py

'''
payload.py
This file contains all software to handle whatever payload the intended satellite contains
Yearling-2 contains simply a bno085 9 DOF sensor that is being implemented in this software
Author: Nicole Maggard
'''
import time
import board
import busio
import traceback
from debugcolor import co
from adafruit_bno08x.i2c import BNO08X_I2C
import adafruit_mcp9600     #Thermocouple

class PAYLOAD:
    def debug_print(self,statement):
        if self.debug:
            print(co("[Payload]" + statement, 'gray', 'bold'))
    
    def Enable(self, data):
        self.debug_print("Enabling the following: " + str(data))
        if "acceleration" in data:
            from adafruit_bno08x import BNO_REPORT_ACCELEROMETER
            self.bno.enable_feature(BNO_REPORT_ACCELEROMETER)
            self.acceleration=(0,0,0)
        if "gyroscope" in data:
            from adafruit_bno08x import BNO_REPORT_GYROSCOPE
            self.bno.enable_feature(BNO_REPORT_GYROSCOPE)
            self.gyroscope=(0,0,0)
        if "magnetometer" in data:
            from adafruit_bno08x import BNO_REPORT_MAGNETOMETER
            self.bno.enable_feature(BNO_REPORT_MAGNETOMETER)
            self.magnetometer=(0,0,0)
        if "linear acceleration" in data:
            from adafruit_bno08x import BNO_REPORT_LINEAR_ACCELERATION
            self.bno.enable_feature(BNO_REPORT_LINEAR_ACCELERATION)
            self.linear_acceleration=(0,0,0)
        if "rotation vector" in data:
            from adafruit_bno08x import BNO_REPORT_ROTATION_VECTOR
            self.bno.enable_feature(BNO_REPORT_ROTATION_VECTOR)
            self.rotation=(0,0,0)
        if "geomagnetic rotation vector" in data:
            from adafruit_bno08x import BNO_REPORT_GEOMAGNETIC_ROTATION_VECTOR
            self.bno.enable_feature(BNO_REPORT_GEOMAGNETIC_ROTATION_VECTOR)
            self.geomagnetic_rotation=(0,0,0)
        if "game rotation vector" in data:
            from adafruit_bno08x import BNO_REPORT_GAME_ROTATION_VECTOR
            self.bno.enable_feature(BNO_REPORT_GAME_ROTATION_VECTOR)
            self.game_rotation=(0,0,0)
        if "raw acceleration" in data:
            from adafruit_bno08x import BNO_REPORT_RAW_ACCELEROMETER
            self.bno.enable_feature(BNO_REPORT_RAW_ACCELEROMETER)
            self.raw_acceleration=(0,0,0)
        if "raw gyroscope" in data:
            from adafruit_bno08x import BNO_REPORT_RAW_GYROSCOPE
            self.bno.enable_feature(BNO_REPORT_RAW_GYROSCOPE)
            self.raw_gyroscope=(0,0,0)
        if "raw magnetometer" in data:
            from adafruit_bno08x import BNO_REPORT_RAW_MAGNETOMETER
            self.bno.enable_feature(BNO_REPORT_RAW_MAGNETOMETER)
            self.raw_magnetometer=(0,0,0)

    def __init__(self, debug, i2c, data=[]):
        self.debug=debug
        self.data=data
        self.debug_print("Initializing BNO08x...")
        try:
            self.bno = BNO08X_I2C(i2c)
            self.debug_print("Initialization of BNO complete without error!")
        except Exception as e:
            self.debug_print("ERROR Initializing BNO sensor: " + ''.join(traceback.format_exception(e)))
        try:
            self.mcp = adafruit_mcp9600.MCP9600(i2c)
            self.debug_print("Initialization of MCP complete without error!")
        except Exception as e:
            self.debug_print("ERROR Initializing MCP sensor: " + ''.join(traceback.format_exception(e)))
    
    def reinit(self,data=[]):
        try:
            self.debug_print("Reinitializing BNO08x...")
            self.Enable(self.data)
            self.debug("Reinitialization of BNO complete without error!")
        except Exception as e:
            self.debug_print("ERROR Initializing BNO sensor: " + ''.join(traceback.format_exception(e)))

    @property
    def Data(self):
        return self.data
    
    def UpdateData(self, data, option="append"):
        if option == "replace":
            self.data=data
        if option == "append":
            self.data.append(data)
        else:
            raise TypeError("Incorrect option argument input. Please use either \"append\" or \"replace\"")
        self.reinit()  

    @property
    def Acceleration(self):
        if "acceleration" in self. data:
            self.acceleration=self.bno.acceleration
        return self.acceleration
    
    @property
    def Gyroscope(self):
        if "gyroscope" in self. data:
            self.gyroscope=self.bno.gyro
        return self.gyroscope
    
    @property
    def Magnetometer(self):
        if "magnetometer" in self. data:
            self.magnetometer=self.bno.magnetic
        return self.magnetometer
    
    @property
    def Linear_Acceleration(self):
        if "linear acceleration" in self. data:
            self.linear_acceleration=self.bno.linear_acceleration
        return self.linear_acceleration
    
    @property
    def Rotation(self):
        if "rotation vector" in self. data:
            self.rotation=self.bno.quaternion
        return self.rotation
    
    @property
    def Geomagnetic_Rotation(self):
        if "geomagnetic rotation vector" in self. data:
            self.geomagnetic_rotation=self.bno.geomagnetic_quaternion
        return self.geomagnetic_rotation
    
    @property
    def Game_Rotation(self):
        if "game rotation vector" in self. data:
            self.game_rotation=self.bno.game_quaternion
        return self.game_rotation
    
    @property
    def Raw_Acceleration(self):
        if "raw acceleration" in self. data:
            self.raw_acceleration=self.bno.raw_acceleration
        return self.raw_acceleration
    
    @property
    def Raw_Gyroscope(self):
        if "raw gyroscope" in self. data:
            self.raw_gyroscope=self.bno.raw_gyro
        return self.raw_gyroscope
    
    @property
    def Raw_Magnetometer(self):
        if "raw magnetometer" in self. data:
            self.raw_magnetometer=self.bno.raw_magnetic
        return self.raw_magnetometer