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enable IMU #726

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enable IMU #726

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8c9c7d1
enable IMU
daxoft Jun 29, 2022
eaefda7
WIP IMU testing
daxoft Jul 16, 2022
a9c11a2
WIP: change labels
daxoft Jul 19, 2022
0e23b93
IMU Watch
daxoft Jul 21, 2022
b216fb9
WIP Improvements
daxoft Aug 23, 2022
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59 changes: 38 additions & 21 deletions test_ui.py
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Original file line number Diff line number Diff line change
Expand Up @@ -152,15 +152,12 @@ def __init__(self):
self.imu = self.pipeline.create(dai.node.IMU)
self.xoutIMU = self.pipeline.create(dai.node.XLinkOut)
self.xoutIMU.setStreamName("IMU")
if 'lite' in test_type:
self.imu.enableFirmwareUpdate(True)
self.imu.enableFirmwareUpdate(True)
self.imu.enableIMUSensor(dai.IMUSensor.ACCELEROMETER_RAW, 500)
self.imu.setBatchReportThreshold(1)
self.imu.setMaxBatchReports(10)
self.imu.out.link(self.xoutIMU.input)



self.videoEnc = self.pipeline.create(dai.node.VideoEncoder)
self.camRgb.video.link(self.videoEnc.input)
self.xoutJpeg = self.pipeline.create(dai.node.XLinkOut)
Expand Down Expand Up @@ -957,14 +954,16 @@ def setupUi(self):
self.update_imu = True
self.timer = QtCore.QTimer()
self.timer.timeout.connect(self.set_result)
self.timer.start(1000//FPS)
self.timer.start(100)

# self.connect_timer = QtCore.QTimer()
# self.connect_timer.connect(test_connexion)
# self.timer.stop()

self.threadpool = QThreadPool()
self.scanning = False
self.last_progress_val = 0.0
self.cycle = 0

def retranslateUi(self, UI_tests):
_translate = QtCore.QCoreApplication.translate
Expand Down Expand Up @@ -1076,11 +1075,11 @@ def connexion_slot(self, signal):
self.print_logs('No camera detected, check the connexion and try again...', 'ERROR')
return
self.print_logs('Camera connected, starting tests...', 'GREEN')
# self.connect_but.setText("FLASHING")
# self.connect_but.adjustSize()
# self.connect_but.setChecked(False)
# self.connect_but.setCheckable(False)
# self.connect_but.setEnabled(False)
self.connect_but.setText("FLASHING")
self.connect_but.adjustSize()
self.connect_but.setChecked(False)
self.connect_but.setCheckable(False)
self.connect_but.setEnabled(False)
# Update BL if PoE
# if test_type == 'OAK-D-PRO-POE':
eeprom_written = False
Expand All @@ -1093,7 +1092,12 @@ def connexion_slot(self, signal):
usbBootHeader = [77, 65, 50, 120, 176, 0, 0, 0, 128, 10, 0, 0,
0, 0, 0, 0, 0, 58, 32, 95, 6, 0, 0, 0, 0]
self.print_logs('NOR flash: writing USB boot header...')
device.flashWrite(usbBootHeader)
try:
device.flashWrite(usbBootHeader)
except RuntimeError as ex:
self.print_logs(f'SPI Flash failed! - {ex}', log_level='ERROR')
self.update_imu = False
return
self.print_logs('Programmed, data: '+ str(device.flashRead(len(usbBootHeader))))

if not eeprom_written:
Expand All @@ -1107,18 +1111,19 @@ def connexion_slot(self, signal):

except RuntimeError as ex:
self.print_logs(f"Something went wrong, check connexion! - {ex}", log_level='ERROR')
self.update_imu = False
return
# self.update_imu = True
# if imu_upgrade:
# self.depth_camera.device.setLogLevel(dai.LogLevel.INFO)
# self.depth_camera.device.addLogCallback(self.logMonitorImuFwUpdateCallback)
# else:
self.connect_but.setChecked(False)
self.connect_but.setCheckable(True)
self.connect_but.setEnabled(True)
self.connect_but.setText('DISCONNECT AND SAVE')
self.connect_but.adjustSize()
self.update_imu = True
if imu_upgrade:
self.depth_camera.device.setLogLevel(dai.LogLevel.INFO)
self.depth_camera.device.addLogCallback(self.logMonitorImuFwUpdateCallback)
else:
self.connect_but.setChecked(False)
self.connect_but.setCheckable(True)
self.connect_but.setEnabled(True)
self.connect_but.setText('DISCONNECT AND SAVE')
self.connect_but.adjustSize()
self.update_imu = True
location = WIDTH, 0
self.rgb = Camera(lambda: self.depth_camera.get_image('RGB'), colorMode, 'RGB Preview', location)
self.rgb.show()
Expand Down Expand Up @@ -1153,6 +1158,13 @@ def connexion_slot(self, signal):

def set_result(self):
global update_res
if not self.connect_but.isCheckable() and self.prog_bar.value() == self.last_progress_val:
self.cycle += 1
else:
self.cycle = 0
self.last_progress_val = self.prog_bar.value()
if self.cycle >= 100:
self.update_imu = False
if not self.update_imu:
self.connect_but.setChecked(False)
self.connect_but.setCheckable(True)
Expand Down Expand Up @@ -1319,6 +1331,11 @@ def logMonitorImuFwUpdateCallback(self, msg):
self.update_imu = False

if 'IMU firmware update failed' in msg.payload:
if "Your board likely doesn't have IMU!" in msg.payload:
self.print_logs_trigger.emit('IMU Upgrade not supported')
self.prog_label.setText('SKIP IMU')
self.update_imu = False
return
self.prog_label.setText('IMU FAIL')
self.update_prog_bar(0.0)
self.print_logs_trigger.emit(f'FAILED updating IMU!')
Expand Down