class DepthSensor:
def __init__(self):
self.sensor = ms5837.MS5837_02BA(
) # Default I2C bus is 1 (Raspberry Pi 3)
self.client = Client(DEPTH_DRIVER_PORT)
self.logger = DEFLOG.DEPTH_LOCAL_LOG
if self.logger:
self.logger = Logger(filename='depth_sensor',
directory=DEFLOG.LOG_DIRECTORY)
def run(self):
# We must initialize the sensor before reading it
if not self.sensor.init():
error = "Sensor could not be initialized"
self.log(error, 'error')
print(error)
exit(1)
# We have to read values from sensor to update pressure and temperature
if not self.sensor.read():
error = "Sensor read failed!"
self.log(error, 'error')
print(error)
exit(1)
loop_condition = True
while loop_condition:
if self.sensor.read():
self.client.send_data(self.sensor.depth())
msg = str(self.sensor.depth())
if self.logger:
self.logger.log(msg)
else:
loop_condition = False
def __del__(self):
self.logger.exit()
def log(self, msg, logtype='info'):
if self.logger:
self.logger.log(msg, logtype=logtype)
class Sonar:
def __init__(self, USB_device_adress=USB.SONAR):
self.logger = DEFLOG.DISTANCE_LOCAL_LOG
if DEFLOG.DISTANCE_LOCAL_LOG:
self.logger = Logger(filename='front_distance',
directory=DEFLOG.LOG_DIRECTORY)
self.sensor = Ping1D(USB_device_adress, 115200)
self.log("connected to the device")
self.client = Client(DISTANCE_DRIVER_PORT)
self.log("connected to the server")
def run(self):
# We must initialize the sensor before reading it
if not self.sensor.initialize():
error = "Sensor could not be initialized"
print(error)
self.log(error, 'error')
exit(1)
loop_condition = True
while loop_condition:
data = self.sensor.get_distance()
if data:
self.client.send_data(data["distance"] / 10)
msg = str(data["distance"])
self.log(msg)
else:
loop_condition = False
time.sleep(0.035)
def log(self, msg, logtype='info'):
if self.logger:
self.logger.log(msg, logtype=logtype)
def __del__(self):
pass
if self.logger:
self.logger.exit()