def update( self ):
while not self.statusQueue.empty():
statusData = self.statusQueue.get_nowait()
if statusData[ 0 ] == "s":
sensorReadingTimestamp = statusData[ 1 ]
self.sensorConfiguration = statusData[ 2 ]
self.batteryVoltageReading = sensors.SensorReading( statusData[ 3 ], sensorReadingTimestamp )
self.digitalReadings = sensors.SensorReading( statusData[ 4 ], sensorReadingTimestamp )
self.analogReadings = sensors.SensorReading( statusData[ 5 ], sensorReadingTimestamp )
self.ultrasonicReading = sensors.SensorReading( statusData[ 6 ], sensorReadingTimestamp )
self.encodersReading = sensors.SensorReading( ( statusData[ 7 ], statusData[ 8 ] ), sensorReadingTimestamp )
def __init__( self, serialPortName, baudRate ):
self.serialPort = serial.Serial( serialPortName, baudRate, timeout=0 )
self.responseQueue = Queue.Queue()
self.statusQueue = Queue.Queue()
self.serialReadProcess = SerialReadProcess(
self.serialPort, self.responseQueue, self.statusQueue )
self.serialReadProcess.start()
self.sensorConfiguration = SensorConfiguration()
self.batteryVoltageReading = sensors.SensorReading( 0.0 )
self.digitalReadings = sensors.SensorReading( 0 )
self.analogReadings = sensors.SensorReading( [0] * NUM_ANALOG_PINS )
self.ultrasonicReading = sensors.SensorReading( 0 )
self.encodersReading = sensors.SensorReading( ( 0, 0 ) )
time.sleep( self.STARTUP_DELAY )
def getBatteryVoltageReading(self):
""":return: A :py:class:`SensorReading` containing the most recent battery voltage read
from the Mini Driver as a float
:rtype: :py:class:`SensorReading`"""
result = sensors.SensorReading(0.0)
if self.connection != None:
result = self.connection.getBatteryVoltageReading()
return result
def getEncodersReading(self):
""":return: A :py:class:`SensorReading` containing the most recent reading from the
Mini Driver encoders.
:rtype: :py:class:`SensorReading`"""
result = sensors.SensorReading((0, 0))
if self.connection != None:
result = self.connection.getEncodersReading()
return result
def getAnalogReadings(self):
""":return: A :py:class:`SensorReading` containing the most recent set of analog readings
read from the Mini Driver. There are 6 analog pins that can be read on the Mini
Driver and so the :py:class:`SensorReading` contains a list of 6 floats.
:rtype: :py:class:`SensorReading`"""
result = sensors.SensorReading([0] * NUM_ANALOG_PINS)
if self.connection != None:
result = self.connection.getAnalogReadings()
return result
def getUltrasonicReading(self):
""":return: A :py:class:`SensorReading` containing the most recent ultrasonic distance
reading from the Mini Driver. The distance is in centimetres and the maximum
range is MAX_ULTRASONIC_RANGE_CM. If it looks as if no ultrasonic sensor is
attached then NO_ULTRASONIC_SENSOR_PRESENT will be set as the distance.
:rtype: :py:class:`SensorReading`"""
result = sensors.SensorReading(0)
if self.connection != None:
result = self.connection.getUltrasonicReading()
return result
def getDigitalReadings(self):
""":return: A :py:class:`SensorReading` containing the most recent set of digital readings
read from the Mini Driver. The digital readings are returned as a byte with the
bits corresponding to the digital readings from the following pins
pin A5 | A4 | A3 | A2 | A1 | A0 | D13 | D12
bit 7 0
:rtype: :py:class:`SensorReading`"""
result = sensors.SensorReading(0)
if self.connection != None:
result = self.connection.getDigitalReadings()
return result
