Protobuf prototype

client_s1/compLib/IRSensor.py

@@ -0,0 +1,81 @@
+from compLib.LogstashLogging import Logging
+from compLib.MetricsLogging import MetricsLogging
+from compLib.Spi import Spi, Register
+
+SENSOR_COUNT = 5
+
+
+class IRSensor(object):
+    """Access the different IR Sensors of the robot
+    """
+
+    @staticmethod
+    def read(sensor: int) -> int:
+        """Read one infrared sensor
+
+        :param sensor: Which sensor to read. Between 1 and 5
+        :raises: IndexError
+        :return: Sensor value. 10 bit accuracy
+        :rtype: int
+        """
+        if sensor <= 0 or sensor > SENSOR_COUNT:
+            raise IndexError("Invalid sensor specified!")
+
+        result = 0
+        if sensor == 1:
+            result = Spi.read(Register.IR_1_H, 2)
+        elif sensor == 2:
+            result = Spi.read(Register.IR_2_H, 2)
+        elif sensor == 3:
+            result = Spi.read(Register.IR_3_H, 2)
+        elif sensor == 4:
+            result = Spi.read(Register.IR_4_H, 2)
+        elif sensor == 5:
+            result = Spi.read(Register.IR_5_H, 2)
+
+        MetricsLogging.put("Infrared", result, sensor)
+        return result
+
+    @staticmethod
+    def read_all():
+        """Read all IR sensors at once.
+        This is faster than read as it only uses one SPI call for all sensors!
+
+        :return: Tuple of all current ir sensors
+        """
+
+        sensors = Spi.read_array(Register.IR_1_H, 5 * 2)
+
+        sensor_1 = int.from_bytes(
+            sensors[0:2], byteorder='big', signed=False)
+        sensor_2 = int.from_bytes(
+            sensors[2:4], byteorder='big', signed=False)
+        sensor_3 = int.from_bytes(
+            sensors[4:6], byteorder='big', signed=False)
+        sensor_4 = int.from_bytes(
+            sensors[6:8], byteorder='big', signed=False)
+        sensor_5 = int.from_bytes(
+            sensors[8:10], byteorder='big', signed=False)
+
+        return (sensor_1, sensor_2, sensor_3, sensor_4, sensor_5)
+
+    @staticmethod
+    def set(sensor: int, on: bool):
+        """Turn on / off a IR emitter
+
+        :param sensor: Which sensor to read. Between 1 and 5
+        :raises: IndexError
+        """
+        if sensor <= 0 or sensor > SENSOR_COUNT:
+            raise IndexError("Invalid sensor specified!")
+
+        if sensor == 1:
+            Spi.write(Register.IR_1_LED, 1, on)
+        elif sensor == 2:
+            Spi.write(Register.IR_2_LED, 1, on)
+        elif sensor == 3:
+            Spi.write(Register.IR_3_LED, 1, on)
+        elif sensor == 4:
+            Spi.write(Register.IR_4_LED, 1, on)
+        elif sensor == 5:
+            Spi.write(Register.IR_5_LED, 1, on)