class LidarSensor(Sensor):
def __init__(self, sensor_id, uart_bus):
super(LidarSensor, self).__init__(sensor_id, ['i8', 'i64', 'u16'])
self.lidar = LidarTurret(uart_bus)
def recved_data(self):
return self.lidar.received()
def update_data(self):
return self.lidar.counts, self.lidar.rotations, self.lidar.distance
def reset(self):
self.lidar.send_start()
def stop(self):
self.lidar.send_stop()
def __str__(self):
return "c: %5.0i, r: %5.0i, d: %5.0i" % (self.lidar.counts,
self.lidar.rotations, self.lidar.distance)
