49 lines
1.1 KiB
Elixir
49 lines
1.1 KiB
Elixir
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defmodule AugieWeb.OrientationLive do
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use Phoenix.LiveView
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alias Augie.Sensor.IMU
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alias Kinemat.Orientation
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alias Kinemat.Orientations.Quaternion
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alias Phoenix.PubSub
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use Angle
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@moduledoc false
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def mount(_params, _context, socket) do
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if connected?(socket), do: PubSub.subscribe(Augie.PubSub, "IMU")
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{:ok, assign(socket, data_ready: false)}
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end
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def handle_info(%IMU{} = sample, socket) do
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euler =
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Quaternion.init(
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~a[#{sample.orientation.w}]r,
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sample.orientation.x,
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sample.orientation.y,
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sample.orientation.z
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)
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|> Orientation.to_euler()
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orientation = [
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roll: to_degrees(euler.x),
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pitch: to_degrees(euler.y),
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yaw: to_degrees(euler.z)
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]
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socket =
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socket
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|> assign(data_ready: true)
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|> assign(orientation)
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{:noreply, socket}
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end
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defp to_degrees(angle) do
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case Angle.to_degrees(angle) do
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{_, degrees} when is_integer(degrees) -> degrees / 1.0
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{_, degrees} when is_float(degrees) -> degrees
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{_, _} -> 0.0
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end
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end
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end
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