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CBrickSensors.py
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CBrickSensors.py
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# Standard library import.
# Third-part library import.
import ev3dev.ev3 as ev3ev3
import ev3dev.core as ev3core
import ev3dev.brickpi as ev3bp
import ev3dev.helper as ev3h
# Project library import.
class CBrickSensors():
"""
Class for sensors manipulations.
Public attributes:
portsSensors = the ports assigned to the sensors.
sensors = discovered sensors list.
debug = true to print exceptions, everelse false (default).
Properties: (see http://python-ev3dev.readthedocs.io/en/latest/sensors.html)
colorSensorMode = mode for the color sensor. (setter only)
irSensorMode = mode for the ir sensor. (setter only)
"""
# Private attributes.
# __bs = instance of the brick's ports object (from class cBrickPorts). Defined in construtor.
#__touchSensor ; __irSensor ; __colorSensor = instance of the sensors.
# Public methods.
def __init__(self, bs):
"""
Constructor.
@parameter : bs = instance of the brick's ports object (from class cBrickPorts).
@return : none.
"""
self.__bs = bs
self.portsSensors = ["in1", "in2", "in3", "in4", ]
self.update()
self.debug = False
def __str__(self):
"""
When use print() on this class
@parameters : none.
@return : the string to print.
"""
ret = "Sensors :\n"
for port in self.portsSensors:
sensor = self.sensors[port]
if sensor:
ret += "\t{} => {} - Port : {} - driver name : {}\n".format(str(sensor),\
repr(sensor),\
sensor.address,\
sensor.driver_name)
else:
ret += "\t{} => None\n".format(port)
return ret
def update(self):
"""
Discover and update the sensors plugged on the brick.
@parameter : none.
@return : none.
"""
self.sensors = {p:self.__bs.ports[p] for p in self.portsSensors}
def getSensorsInfos(self, sensor):
"""
Return informations about the sensor according to its type.
@parameter : sensor = the sensor's object which to know informations.
@return : the dictionnary of values about sensor, or None if something wrong.
"""
getSensorsInfosFunc = {"lego-ev3-touch": self.__getTouchInfos,
"lego-ev3-ir": self.__getIrInfos,
"lego-ev3-color": self.__getColorInfos,
}
# As it, because the "Touch sensor" reaction seems different than the others devices.
try:
gsif = getSensorsInfosFunc[sensor[1]](sensor[0])
except Exception as e:
if self.debug:
print("getSensorsInfos() : can't read sensor device => {}.\nMaybe removed while reading.".format(e))
gsif = None
return gsif
# Private methods.
def __getTouchInfos(self, sensor):
"""
Return the values of this sensor.
@parameter : sensor = the sensor's object which to know informations.
@return : Dictionnary of values from this sensor. If problem occurs, return {}.
"""
ret = {}
touchSensor = ev3core.TouchSensor(sensor.address)
# see library documentation for what to use, and why the try/except using.
ret["name"] = touchSensor.driver_name
ret["address"] = touchSensor.address
ret["value0"] = touchSensor.value(0)
ret["pressed"] = True if touchSensor.is_pressed else False
del(touchSensor)
return ret
def __getIrInfos(self, sensor):
"""
Return the values of this sensor.
@@parameter : sensor = the sensor's object which to know informations.
@return : Dictionnary of values from this sensor. If problem occurs, return {}.
"""
ret = {}
irSensor = ev3core.InfraredSensor(sensor.address)
# see library documentation for what to use, and why the try/except using.
ret["name"] = irSensor.driver_name
ret["address"] = irSensor.address
ret["modes"] = irSensor.modes
ret["mode"] = irSensor.mode
if ret["mode"] in ["IR-PROX", "IR-REM-A"]:
vals = irSensor.value(0)
elif ret["mode"] in ["IR-REMOTE", "IR-S-ALT"]:
vals = [irSensor.value(i) for i in range(0, 4)]
elif ret["mode"] == "IR-SEEK":
vals = [irSensor.value(i) for i in range(0, 8)]
elif ret["mode"] == "IR-CAL":
vals = [irSensor.value(i) for i in range(0, 2)]
else:
vals = None
ret["values"] = vals
ret["proximity"] = irSensor.proximity
del(irSensor)
return ret
def __setIrSensorMode(self, portMode):
"""
Setter of the mode to the IR sensor.
@parameter : portMode = list with [port, mode].
@return : None.
"""
if type(portMode) is list:
try:
irSensor = ev3core.InfraredSensor(portMode[0])
irSensor.mode = portMode[1]
except Exception as e:
if self.debug:
print("Can't change IR sensor mode cause :", e)
else:
pass
def __getColorInfos(self, sensor):
"""
Return the values of this sensor.
@parameter : sensor = the sensor's object which to know informations.
@return : Dictionnary of values from this sensor. If problem occurs, return {}.
"""
ret = {}
colorSensor = ev3core.ColorSensor(sensor.address)
# see library documentation for what to use, and why the try/except using.
ret["name"] = colorSensor.driver_name
ret["address"] = colorSensor.address
ret["modes"] = colorSensor.modes
ret["mode"] = colorSensor.mode
if ret["mode"] in ["COL-REFLECT", "COL-AMBIENT", "COL-COLOR"]:
vals = colorSensor.value(0)
elif ret["mode"] == "REF-RAW":
vals = [colorSensor.value(i) for i in range(0, 2)]
elif ret["mode"] == "RGB-RAW":
vals = [colorSensor.value(i) for i in range(0, 3)]
elif ret["mode"] == "COL-CAL":
vals = [colorSensor.value(i) for i in range(0, 4)]
else:
vals = None
ret["values"] = vals
ret["ambient_light_intensity"] = colorSensor.ambient_light_intensity
ret["raw"] = colorSensor.raw
ret["color"] = colorSensor.color
ret["red"] = colorSensor.red
ret["green"] = colorSensor.green
ret["blue"] = colorSensor.blue
ret["reflected_light_intensity"] = colorSensor.reflected_light_intensity
del(colorSensor)
return ret
def __setColorSensorMode(self, portMode):
"""
Setter of the mode to the Color sensor.
@parameter : portMode = list with [port, mode].
@return : None.
"""
if type(portMode) is list:
try:
colorSensor = ev3core.ColorSensor(portMode[0])
colorSensor.mode = portMode[1]
except Exception as e:
if self.debug:
print("Can't change color sensor mode cause :", e)
else:
pass
# Properties
# Only setters.
irSensorMode = property(None, __setIrSensorMode)
colorSensorMode = property(None, __setColorSensorMode)
if __name__ == "__main__":
help(CBrickSensors)