rpc_wrappers: gravity_reference_update: added

Add a wrapper for the gravity reference update command.

Signed-off-by: Jordan Yates <jordan@embeint.com>

Author: JordanYates

src/infuse_iot/rpc_wrappers/gravity_reference_update.py

@@ -0,0 +1,37 @@
+#!/usr/bin/env python3
+
+import errno
+import os
+
+import infuse_iot.generated.rpc_definitions as defs
+from infuse_iot.commands import InfuseRpcCommand
+
+
+class gravity_reference_update(InfuseRpcCommand, defs.gravity_reference_update):
+    @classmethod
+    def add_parser(cls, parser):
+        parser.add_argument("--variance", type=int, default=0, help="Maximum axis variance to accept")
+
+    def __init__(self, args):
+        self._max_variance = args.variance
+
+    def request_struct(self):
+        return self.request(self._max_variance)
+
+    def request_json(self):
+        return {"max_variance": str(self._max_variance)}
+
+    def handle_response(self, return_code, response):
+        r = response
+
+        if return_code == -errno.EIO:
+            print(f"IMU variance too large: {r.variance.x:6d} {r.variance.y:6d} {r.variance.z:6d}")
+            return
+        elif return_code < 0:
+            print(f"Failed to update gravity reference vector ({os.strerror(-return_code)})")
+            return
+
+        print(f"\t  Gravity: {r.reference.x:6d} {r.reference.y:6d} {r.reference.z:6d}")
+        print(f"\t Variance: {r.variance.x:6d} {r.variance.y:6d} {r.variance.z:6d}")
+        print(f"\t  Samples: {r.num_samples:d}")
+        print(f"\t   Period: {r.sample_period_us:d} us")