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sensor_object.py
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sensor_object.py
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__author__ = 'ohodegaa'
from abc import ABCMeta, abstractmethod
from wrappers.reflectance_sensors import ReflectanceSensors
from wrappers.camera import Camera
from wrappers.irproximity_sensor import IRProximitySensor
from wrappers.ultrasonic import Ultrasonic
class Sensor(metaclass=ABCMeta):
def __init__(self):
"""
Initiates a new Sensor object
sensors: the sensor(s) used by the sensob
value: the (return) value of the sensob, will be used by any behavior
"""
self.sensors = []
self.value = None
self.active_flag = True
@abstractmethod
def update(self):
"""
Updates the sensor and sets the sensob value
:return:
"""
pass
def get_value(self):
"""
Returns the sensob value
:return: sensob value which will be used by any behavior
"""
return self.value
def reset(self):
"""
Resets the sensor
:return:
"""
for sensor in self.sensors:
sensor.reset()
class FloorSensor(Sensor):
def __init__(self):
"""
Initiates a new FloorSensor object
auto: True indicates that sensors will be auto calibrated, False sets calibration to default, set by user
limit: a sensor value below limit indicates a dark area, above indicates a bright area
"""
super().__init__()
auto = True
self.sensors.append(ReflectanceSensors(auto_calibrate=auto))
self.reflectance_sensor = self.sensors[0]
self.limit = 0.7
def update(self):
self.value = self.get_bool_array(self.reflectance_sensor.update())
# [sens0, sens1, sens2, sens3, sens4, sens5]
def get_bool_array(self, sensor_array):
"""
Generates an array with boolean values which indicates whether the sensor spotted an dark or bright area.
-> True indicates a dark area, False indicates a bright area
:param sensor_array: sensor readings
:param limit: dark/bright -limit
:return: an array with boolean values
"""
return [val < self.limit for val in sensor_array]
@staticmethod
def get_tuple(sensor_array, limit):
"""
Generates a tuple (a, b) which indicates that the largest dark area is spotted from sensor a to sensor b
:param sensor_array: sensor readings
:param limit: dark/bright -limit
:return: a tuple
"""
length = 0
temp_length = -1
left = -1
temp_left = -1
for i in range(len(sensor_array)):
if sensor_array[i] < limit:
if temp_length == -1:
temp_left = i
temp_length += 1
else:
if temp_length > length:
length = temp_length
left = temp_left
temp_length = -1
if temp_length >= length:
length = temp_length
left = temp_left
elif temp_left == -1:
length = 0
return left, left + length
class SideSensor(Sensor):
def __init__(self):
"""
Initiates a new SideSensor object
"""
super().__init__()
self.sensors.append(IRProximitySensor())
self.side_sensor = self.sensors[0]
def update(self):
self.value = self.side_sensor.update()
class FrontSensor(Sensor):
def __init__(self):
super().__init__()
self.sensors.append(Ultrasonic())
self.front_sensor = self.sensors[0]
def update(self):
self.value = self.front_sensor.update()
if self.value == 0:
self.value = 1000000
print("avstand: ", self.value)
class CameraSensor(Sensor):
def __init__(self):
super().__init__()
self.sensors.append(Camera())
self.camera = self.sensors[0]
self.image = None
def update(self):
self.image = self.camera.get_value()
def get_image(self):
return self.camera.update()