TimestampHandler.py

#TimestampHandler.py - Timetsamp Handler for ZED2i sensor data 

#Import ZED module
import pyzed.sl as sl

#TimestampHandler class
class TimestampHandler:
    #Class constructor, initalize timetsamps to init time
    def __init__(self):
        self.last_bar_timestamp = sl.Timestamp()
        self.last_imu_timestamp = sl.Timestamp()
        self.last_mag_timestamp = sl.Timestamp()
    
    #Class destructor
    def __del__(self):
        pass

    #isNew - Determines whether to update ZEDControllers class attributes based on timestamps
    def isNew(self, sensor):
        if (isinstance(sensor, sl.BarometerData)):
            new = (sensor.timestamp.get_microseconds() > self.last_bar_timestamp.get_microseconds())

            if new:
                self.last_bar_timestamp = sensor.timestamp

            return new
        
        elif (isinstance(sensor, sl.IMUData)):
            new = (sensor.timestamp.get_microseconds() > self.last_imu_timestamp.get_microseconds())

            if new:
                self.last_imu_timestamp = sensor.timestamp

            return new
        
        elif (isinstance(sensor, sl.MagnetometerData)):
            new = (sensor.timestamp.get_microseconds() > self.last_mag_timestamp.get_microseconds())

            if new:
                self.last_mag_timestamp = sensor.timestamp

            return new