45 lines
1.4 KiB
Python
45 lines
1.4 KiB
Python
import time
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import compLib.CompLib_pb2 as CompLib_pb2
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from compLib.CompLibClient import CompLibClient
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class IRSensor(object):
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"""Ermöglicht den Zugriff auf die einzelnen IRSensoren des Roboters
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"""
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@staticmethod
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def read_all():
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"""Auslesen aller Sensoren gleichzeitig
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:return: Array aller Sensorwerte
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"""
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request = CompLib_pb2.IRSensorsReadAllRequest()
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request.header.message_type = request.DESCRIPTOR.full_name
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response = CompLib_pb2.IRSensorsReadAllResponse()
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response.ParseFromString(CompLibClient.send(
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request.SerializeToString(), request.ByteSize()))
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return [i for i in response.data]
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@staticmethod
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def enable():
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"""Aktivieren Infrarot-Sender. Muss bei jedem Programmstart ausgeführt werden.
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"""
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request = CompLib_pb2.IRSensorsEnableRequest()
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request.header.message_type = request.DESCRIPTOR.full_name
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CompLibClient.send(request.SerializeToString(), request.ByteSize())
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time.sleep(0.1) # IR sensor reading is async -> Wait a bit
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@staticmethod
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def disable():
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"""Deaktivieren der Infrarot-Sender
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"""
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request = CompLib_pb2.IRSensorsDisableRequest()
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request.header.message_type = request.DESCRIPTOR.full_name
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CompLibClient.send(request.SerializeToString(), request.ByteSize())
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time.sleep(0.1) # IR sensor reading is async -> Wait a bit
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