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Code Issues Releases Wiki Activity

Color-distance

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This commit is contained in:
Andrey Pohilko 2017-09-15 09:23:22 +03:00
parent 5ca9a859c6
commit 2819dd4c3c
4 changed files with 30 additions and 30 deletions
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6
demo.py
View File

@ -117,10 +117,10 @@ def demo_color_sensor(movehub):
def callback(color, distance=None, param=None):
demo_color_sensor.cnt += 1
clr = COLORS[color] if color in COLORS else color
log.info("#%s/%s: Color %s, distance %s, param %s", demo_color_sensor.cnt, limit, clr, distance, param)
#color = COLORS[color] if color in COLORS else color
log.info("#%s/%s: Color %s, distance %s, param %s", demo_color_sensor.cnt, limit, color, distance, param)
movehub.color_distance_sensor.subscribe(callback, 0x08)
movehub.color_distance_sensor.subscribe(callback, CDS_MODE_STREAM_3_VALUES, granularity=3)
while demo_color_sensor.cnt < limit:
time.sleep(1)

2
pylgbst/__init__.py
View File

@ -96,7 +96,7 @@ class MoveHub(object):
return
device = self.devices[port]
device.handle_notification(data)
device.handle_sensor_data(data)
def _handle_port_status(self, data):
port = get_byte(data, 3)

22
pylgbst/constants.py
View File

@ -122,14 +122,14 @@ TILT_STATES = {
}
# COLOR & DISTANCE SENSOR
CLR_DIST_MODE_COLOR_ONLY = 0x00
CLR_DIST_MODE_DISTANCE_INCHES = 0x01
CLR_DIST_MODE_COUNT_2INCH = 0x02
CLR_DIST_MODE_DISTANCE_HOW_CLOSE = 0x03
CLR_DIST_MODE_DISTANCE_SUBINCH_HOW_CLOSE = 0x04
CLR_DIST_MODE_OFF1 = 0x05
CLR_DIST_MODE_STREAM_3_VALUES = 0x06
CLR_DIST_MODE_OFF2 = 0x07
CLR_DIST_MODE_COLOR_DISTANCE_INCHES_SUBINCHES = 0x08
CLR_DIST_MODE_LUMINOSITY = 0x09
CLR_DIST_MODE_SOME_14BYTES = 0x0a
CDS_MODE_COLOR_ONLY = 0x00
CDS_MODE_DISTANCE_INCHES = 0x01
CDS_MODE_COUNT_2INCH = 0x02
CDS_MODE_DISTANCE_HOW_CLOSE = 0x03
CDS_MODE_DISTANCE_SUBINCH_HOW_CLOSE = 0x04
CDS_MODE_OFF1 = 0x05
CDS_MODE_STREAM_3_VALUES = 0x06
CDS_MODE_OFF2 = 0x07
CDS_MODE_COLOR_DISTANCE_INCHES_SUBINCHES = 0x08
CDS_MODE_LUMINOSITY = 0x09
CDS_MODE_SOME_20BYTES = 0x0a

30
pylgbst/peripherals.py
View File

@ -43,7 +43,7 @@ class Peripheral(object):
for subscriber in self._subscribers:
subscriber(*args, **kwargs)
def handle_notification(self, data):
def handle_sensor_data(self, data):
log.warning("Unhandled device notification for %s: %s", self, str2hex(data))
@ -52,7 +52,7 @@ class LED(Peripheral):
if color not in COLORS:
raise ValueError("Color %s is not in list of available colors" % color)
cmd = b'\xFF\x51\x00' + int2byte(color)
cmd = b'\x01\x51\x00' + int2byte(color)
self._write_to_hub(MSG_SET_PORT_VAL, cmd)
def finished(self):
@ -149,7 +149,7 @@ class TiltSensor(Peripheral):
self._write_to_hub(MSG_SENSOR_SUBSCRIBE, int2byte(self.mode) + b'\x00\x00\x00' + int2byte(0))
self.mode = None
def handle_notification(self, data):
def handle_sensor_data(self, data):
if self.mode == TILT_SENSOR_MODE_BASIC:
state = get_byte(data, 4)
self._notify_subscribers(state)
@ -184,7 +184,7 @@ class ColorDistanceSensor(Peripheral):
super(ColorDistanceSensor, self).__init__(parent, port)
self.mode = None
def subscribe(self, callback, mode=CLR_DIST_MODE_COLOR_DISTANCE_INCHES_SUBINCHES, granularity=1):
def subscribe(self, callback, mode=CDS_MODE_COLOR_DISTANCE_INCHES_SUBINCHES, granularity=1):
self.mode = mode
params = int2byte(mode)
params += int2byte(granularity)
@ -201,41 +201,41 @@ class ColorDistanceSensor(Peripheral):
self._write_to_hub(MSG_SENSOR_SUBSCRIBE, int2byte(self.mode) + b'\x01\x00\x00\x00' + int2byte(0))
self.mode = None
def handle_notification(self, data):
if self.mode == CLR_DIST_MODE_COLOR_DISTANCE_INCHES_SUBINCHES:
def handle_sensor_data(self, data):
if self.mode == CDS_MODE_COLOR_DISTANCE_INCHES_SUBINCHES:
color = get_byte(data, 4)
distance = get_byte(data, 5)
partial = get_byte(data, 7)
if partial:
distance += 1.0 / partial
self._notify_subscribers(color if color != 0xFF else None, float(distance))
elif self.mode == CLR_DIST_MODE_COLOR_ONLY:
elif self.mode == CDS_MODE_COLOR_ONLY:
color = get_byte(data, 4)
self._notify_subscribers(color if color != 0xFF else None)
elif self.mode == CLR_DIST_MODE_DISTANCE_INCHES:
elif self.mode == CDS_MODE_DISTANCE_INCHES:
distance = get_byte(data, 4)
self._notify_subscribers(float(distance))
elif self.mode == CLR_DIST_MODE_DISTANCE_HOW_CLOSE:
elif self.mode == CDS_MODE_DISTANCE_HOW_CLOSE:
distance = get_byte(data, 4)
self._notify_subscribers(float(distance))
elif self.mode == CLR_DIST_MODE_DISTANCE_SUBINCH_HOW_CLOSE:
elif self.mode == CDS_MODE_DISTANCE_SUBINCH_HOW_CLOSE:
distance = get_byte(data, 4)
self._notify_subscribers(float(distance))
elif self.mode == CLR_DIST_MODE_OFF1 or self.mode == CLR_DIST_MODE_OFF2:
elif self.mode == CDS_MODE_OFF1 or self.mode == CDS_MODE_OFF2:
log.info("Turned off led on %s", self)
elif self.mode == CLR_DIST_MODE_COUNT_2INCH:
elif self.mode == CDS_MODE_COUNT_2INCH:
count = struct.unpack("<L", data[4:8])[0] # is it all 4 bytes or just 2?
self._notify_subscribers(count)
elif self.mode == CLR_DIST_MODE_STREAM_3_VALUES:
elif self.mode == CDS_MODE_STREAM_3_VALUES:
# TODO: understand better meaning of these 3 values
val1 = struct.unpack("<H", data[4:6])[0]
val2 = struct.unpack("<H", data[6:8])[0]
val3 = struct.unpack("<H", data[8:10])[0]
self._notify_subscribers(val1, val2, val3)
elif self.mode == CLR_DIST_MODE_LUMINOSITY:
elif self.mode == CDS_MODE_LUMINOSITY:
luminosity = struct.unpack("<H", data[4:6])[0]
self._notify_subscribers(luminosity)
else:
else: # TODO: support whatever we forgot
log.warning("Unhandled data in mode %s: %s", self.mode, str2hex(data))