'''
Test import from import data saved with NGIMU sensors from x-io, through subclassing "IMU_Base"
'''

'''
Author: Thomas Haslwanter
Date: Feb-2018
'''

import numpy as np
import sys
import os
myPath = os.path.dirname(os.path.abspath(__file__))
sys.path.insert(0, os.path.join(myPath, '..'))

import unittest
import imus
from time import sleep
from sensors.xio_ngimu import NGIMU

class TestSequenceFunctions(unittest.TestCase):
    
    def test_import_xio(self):
        # Get data, with a specified input from an XIO system
        in_file = os.path.join(myPath, 'data', 'data_ngimu')
        sensor = NGIMU(in_file=in_file, q_type=None)
        
        rate = sensor.rate
        acc = sensor.acc
        omega = sensor.omega
        
        self.assertAlmostEqual((rate - 50), 0)
        self.assertAlmostEqual( (np.rad2deg(omega[0,2]) + 0.0020045), 0)
        
if __name__ == '__main__':
    unittest.main()
    print('Thanks for using programs from Thomas!')
    sleep(0.2)
