40 lines
1.2 KiB
Python
40 lines
1.2 KiB
Python
import compLib.CompLib_pb2 as CompLib_pb2
|
|
|
|
from compLib.CompLibClient import CompLibClient
|
|
|
|
|
|
class IRSensor(object):
|
|
"""Access the different IR Sensors of the robot
|
|
"""
|
|
|
|
@staticmethod
|
|
def read_all():
|
|
"""Read all IR sensors at once.
|
|
|
|
:return: Array of all current ir sensors
|
|
"""
|
|
request = CompLib_pb2.IRSensorsReadAllRequest()
|
|
request.header.message_type = request.DESCRIPTOR.full_name
|
|
|
|
response = CompLib_pb2.IRSensorsReadAllResponse()
|
|
response.ParseFromString(CompLibClient.send(request.SerializeToString(), request.ByteSize()))
|
|
|
|
return [i for i in response.data]
|
|
|
|
@staticmethod
|
|
def enable():
|
|
"""Turn on all IR emitters
|
|
"""
|
|
request = CompLib_pb2.IRSensorsEnableRequest()
|
|
request.header.message_type = request.DESCRIPTOR.full_name
|
|
|
|
CompLibClient.send(request.SerializeToString(), request.ByteSize())
|
|
|
|
@staticmethod
|
|
def disable():
|
|
"""Turn off all IR emitters
|
|
"""
|
|
request = CompLib_pb2.IRSensorsDisableRequest()
|
|
request.header.message_type = request.DESCRIPTOR.full_name
|
|
|
|
CompLibClient.send(request.SerializeToString(), request.ByteSize())
|