MRU_python

Motion referenceing with the use of a 9-DOF IMU. Accelerometer, Gyro and Magnetometer

In order to build the Python module download RTIMULib2 and follow the instructions from RTIMULib2/Linux/python/README.md

Then install sql-connector-python with a pip install

sudo apt install python3-pip  #  if pip is not installed 
pip3 install mysql-connector-python

Connecting to a LAN remote database

1. Enable other devices to connect to the database
   

   • This is done by editing the bind-address from 127.0.0.1 to 0.0.0.0 within the mysqld.cnf file, default located at:

       /etc/mysql/mysql.conf.d/my
     

2. Create a user with From host: %

SQL cheat sheet:

Create table

CREATE TABLE `imu_data`.`test_table` ( 
`idtestTable2` INT NOT NULL, 
`accel_x` INT NULL, 
`accel_y` INT NULL,
`time_entry` TIMESTAMP(3) NULL,
PRIMARY KEY (`idtestTable2`));

Show users

SELECT User, Host, authentication_string FROM mysql.user;

Show databases:

SHOW DATABASES;

Add user:

INSERT INTO mysql.user (User,Host,authentication_string,ssl_cipher,x509_issuer,x509_subject) VALUES('rrai','%',PASSWORD('redrock1234'),'','','');

Select database and show tables

USE name_of_database;
SHOW TABLES;

Show Password settings:

SHOW VARIABLES LIKE 'validate_password%';

Change global values:

SET GLOBAL validate_password_length = 6;
SET GLOBAL validate_password_number_count = 0;

Grant basic user

GRANT SELECT, INSERT, SHOW DATABASES ON imu_data.* TO user_name@'%';

Grant Super User ROLE/PRIVILEGES

GRANT GRANT OPTION ON *.* TO user_name@'%';
GRANT ALL PRIVILEGES ON *.* TO user_name@'%';
# If the following lines are necessary tests them one at a time as listed
GRANT SUPER ON *.* TO rrai@'%'; (Not sure if this one is neccesray)
UPDATE mysql.user SET Super_Priv='Y' WHERE user='rrai' AND host='%'; (Not sure if this one is neccessary)

Exectuing with a single value

If a quary of a single value is wanted as in for example:

# sql_string = "INSERT INTO `test`.`time_test_table` (`TimeStamp_e`) VALUES (%s)"

The value passed has to be made into a tuple, as shown below:

data = 1
cursor.execute(sql_string, (data, ))

Instead of

cursor.execute(sql_string, data)

Indent with markdown:

      

Sources:

python mysql insert
mySQL terminal command lines
SQL role PRIVILEGES
python matlibplot Plot with timestamp
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UR ROS python "urx"
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UR python socket
Python Ros URSim