MuxedSensors.py

#!/usr/bin/env python3
import sys

if sys.version_info < (3,4):
	raise SystemError('Must be using Python 3.4 or higher')

import time
from ev3dev2.button import ButtonBase
from ev3dev2.sensor import Sensor
from ev3dev2.port import LegoPort
from ev3dev2.sensor.lego import InfraredSensor, ColorSensor

class ColorSensorMuxed(ColorSensor):
	"""
	infrared sensor behind a sensor mux
	"""

	SYSTEM_CLASS_NAME = Sensor.SYSTEM_CLASS_NAME
	SYSTEM_DEVICE_NAME_CONVENTION = Sensor.SYSTEM_DEVICE_NAME_CONVENTION

	def __init__(self, address=None, name_pattern=SYSTEM_DEVICE_NAME_CONVENTION, name_exact=False, **kwargs):
		port = LegoPort(address = address)
		port.mode = 'uart'
		port.set_device = 'lego-ev3-color'
		super(ColorSensor, self).__init__(address, name_pattern, name_exact, driver_name='lego-ev3-color', **kwargs)


class InfraredSensorMuxed(InfraredSensor):
	"""
	infrared sensor behind a sensor mux
	"""

	SYSTEM_CLASS_NAME = Sensor.SYSTEM_CLASS_NAME
	SYSTEM_DEVICE_NAME_CONVENTION = Sensor.SYSTEM_DEVICE_NAME_CONVENTION

	def __init__(self, address=None, name_pattern=SYSTEM_DEVICE_NAME_CONVENTION, name_exact=False, **kwargs):
		port = LegoPort(address = address)
		port.mode = 'uart'
		port.set_device = 'lego-ev3-ir'
		super(InfraredSensor, self).__init__(address, name_pattern, name_exact, driver_name='lego-ev3-ir', **kwargs)


class TouchMuxed(Sensor):
	"""
	Touch sensor behind a sensor mux
	"""

	SYSTEM_CLASS_NAME = Sensor.SYSTEM_CLASS_NAME
	SYSTEM_DEVICE_NAME_CONVENTION = Sensor.SYSTEM_DEVICE_NAME_CONVENTION

	#: Button state
	MODE_TOUCH = 'TOUCH'
	MODES = (MODE_TOUCH,)

	def __init__(self, address=None, name_pattern=SYSTEM_DEVICE_NAME_CONVENTION, name_exact=False, **kwargs):
		port = LegoPort(address = address)
		port.mode = 'analog'
		port.set_device = 'lego-ev3-touch'
		time.sleep(3)
		super(TouchMuxed, self).__init__(address, name_pattern, name_exact, driver_name=['lego-ev3-touch', 'lego-nxt-touch'], **kwargs)


	@property
	def is_pressed(self):
		"""
		A boolean indicating whether the current touch sensor is being
		pressed.
		"""
		self._ensure_mode(self.MODE_TOUCH)
		return self.value(0) == 257

	@property
	def is_released(self):
		return not self.is_pressed

	def _wait(self, wait_for_press, timeout_ms, sleep_ms):
		tic = time.time()

		if sleep_ms:
			sleep_ms = float(sleep_ms/1000)

		# The kernel does not supoort POLLPRI or POLLIN for sensors so we have
		# to drop into a loop and check often
		while True:

			if self.is_pressed == wait_for_press:
				return True

			if timeout_ms is not None and time.time() >= tic + timeout_ms / 1000:
				return False

			if sleep_ms:
				time.sleep(sleep_ms)

	def wait_for_pressed(self, timeout_ms=None, sleep_ms=10):
		"""
		Wait for the touch sensor to be pressed down.
		"""
		return self._wait(True, timeout_ms, sleep_ms)

	def wait_for_released(self, timeout_ms=None, sleep_ms=10):
		"""
		Wait for the touch sensor to be released.
		"""
		return self._wait(False, timeout_ms, sleep_ms)

	def wait_for_bump(self, timeout_ms=None, sleep_ms=10):
		"""
		Wait for the touch sensor to be pressed down and then released.
		Both actions must happen within timeout_ms.
		"""
		start_time = time.time()

		if self.wait_for_pressed(timeout_ms, sleep_ms):
			if timeout_ms is not None:
				timeout_ms -= int((time.time() - start_time) * 1000)
			return self.wait_for_released(timeout_ms, sleep_ms)

		return False