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# nxt.sensor.analog module -- submodule for use with analog sensors
# Copyright (C) 2006,2007 Douglas P Lau
# Copyright (C) 2009 Marcus Wanner, Paulo Vieira, rhn
# Copyright (C) 2021 Nicolas Schodet
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
import time
from dataclasses import dataclass
import nxt.sensor
class InvalidReading(Exception):
"""Exception raised on timeout trying to get valid readings."""
pass
@dataclass
class RawReading:
"""A object holding the raw sensor values for a sensor."""
#: Input port identifier.
port: nxt.sensor.Port
#: ``True`` if the value is valid, else ``False``.
valid: bool
#: Always ``False``, there is no calibration in NXT firmware.
calibrated: bool
#: Sensor type.
sensor_type: nxt.sensor.Type
#: Sensor mode.
sensor_mode: nxt.sensor.Mode
#: Raw analog to digital converter value.
raw_value: int
#: Normalized value.
normalized_value: int
#: Scaled value.
scaled_value: int
#: Always normalized value, there is no calibration in NXT firmware.
calibrated_value: int
class BaseAnalogSensor(nxt.sensor.Sensor):
"""Object for analog sensors."""
def get_input_values(self):
"""Get raw sensor readings.
:return: An object with the read values.
:rtype: RawReading
"""
return RawReading(*self._brick.get_input_values(self._port))
def get_valid_input_values(self):
"""Wait until input is valid, then get raw sensor readings.
:return: An object with the read values.
:rtype: RawReading
:raises InvalidReading: On timeout trying to get valid readings.
"""
tries = 10
tries_delay_s = 0.1
readings = self.get_input_values()
while not readings.valid:
tries -= 1
if tries == 0:
raise InvalidReading()
time.sleep(tries_delay_s)
readings = self.get_input_values()
return readings
def reset_input_scaled_value(self):
"""Reset sensor scaled value.
This can be used to reset accumulated value for some sensor modes.
"""
self._brick.reset_input_scaled_value(self._port)
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