spike.distancesensor
Distance sensor mock API
Classes
|
Distance sensor mocking class |
- class spike.distancesensor.DistanceSensor(port)
Distance sensor mocking class
Class is accessed simultaneously by the user side thread and the ground truth update thread. It is therefore protected by a mutex
- __init__(port)
Contructor
- Parameters:
port (string ('A','B','C','D','E' or 'F')) – the hub port to which the sensor is connected
- get_distance_cm(short_range=False)
Retrieves the measured distance in centimeters.
- Parameters:
short_range (boolean) – whether or not to use short range mode. Short range mode increases accuracy, but it can only detect nearby objects.
- Raises:
TypeError – short_range is not a boolean
- Returns:
The measured distance or “none” if the distance can’t be measured.
- Return type:
float
- get_distance_inches(short_range=False)
Retrieves the measured distance in inches.
- Parameters:
short_range (boolean) – whether or not to use short range mode. Short range mode increases accuracy, but it can only detect nearby objects.
- Raises:
TypeError – short_range is not a boolean
- Returns:
The measured distance or “none” if the distance can’t be measured.
- Return type:
float
- get_distance_percentage(short_range=False)
Retrieves the measured distance as a percentage.
- Parameters:
short_range (boolean) – whether or not to use short range mode. Short range mode increases accuracy, but it can only detect nearby objects.
- Raises:
TypeError – short_range is not a boolean
- Returns:
The measured distance or “none” if the distance can’t be measured.
- Return type:
integer [0,100]
- wait_for_distance_farther_than(distance, unit='cm', short_range=False)
Waits until the measured distance is greater than the specified distance.
- Parameters:
distance (float) – the target distance to be detected from the sensor to an object.
unit (string (cm, in, %)) – the unit in which the distance is measured.
short_range (boolean) – whether or not to use short range mode. Short range mode increases accuracy, but it can only detect nearby objects.
- Raises:
TypeError – distance is not a number or unit is not a string or short_range is not a boolean.
ValueError – unit is not one of the allowed values.
- wait_for_distance_closer_than(distance, unit='cm', short_range=False)
Waits until the measured distance is less than the specified distance.
- Parameters:
distance (float) – the target distance to be detected from the sensor to an object.
unit (string (cm, in, %)) – the unit in which the distance is measured.
short_range (boolean) – whether or not to use short range mode. Short range mode increases accuracy, but it can only detect nearby objects.
- Raises:
TypeError – distance is not a number or unit is not a string or short_range is not a boolean.
ValueError – unit is not one of the allowed values.
- light_up_all(brightness=100)
Lights up all of the lights on the Distance Sensor at the specified brightness.
- Parameters:
brightness (integer [0,100]) – the specified brightness of all of the lights.
- Raises:
TypeError – brightness is not an integer
- light_up(right_top, left_top, right_bottom, left_bottom)
Sets the brightness of the individual lights on the Distance Sensor.
- Parameters:
right_top (integer [0,100]) – the brightness of the light that’s above the right part of the Distance Sensor.
left_top (integer [0,100]) – the brightness of the light that’s above the left part of the Distance Sensor.
right_bottom (integer [0,100]) – the brightness of the light that’s below the right part of the Distance Sensor.
left_bottom (integer [0,100]) – the brightness of the light that’s below the left part of the Distance Sensor.
- Raises:
TypeError – brightness is not an integer
- __get_distance()
Returns current distance in cm
- Returns:
distance in centimeters
- Return type:
float
- __process_command(command)
Process command until over
- Parameters:
command (generator function) – command to process
- c_reset()
Reset function
Warning
This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.
- c_read(distance)
Update the distance from scenario data
Warning
This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.
- Parameters:
distance (float) – distance in centimeters
- c_set_lights(right_top, left_top, right_bottom, left_bottom)
Light distance sensor LEDs
Warning
This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.
- Parameters:
right_top (integer [0,100]) – the brightness of the light that’s above the right part of the Distance Sensor.
left_top (integer [0,100]) – the brightness of the light that’s above the left part of the Distance Sensor.
right_bottom (integer [0,100]) – the brightness of the light that’s below the right part of the Distance Sensor.
left_bottom (integer [0,100]) – the brightness of the light that’s below the left part of the Distance Sensor.
- property port
Sets the component connection port
Warning
This function is not part of the spike API. It is provided to update the component from scenario data and shall not be used by the end-user.
- Returns:
the component port
- Return type:
string