pyzenbo.modules.sensor module

class pyzenbo.modules.sensor.Sensor(inter_comm)

Bases: object

register_capacity_touch_sensor_event(event_type=0, sync=True, timeout=None)

Register the capacity touch sensor event callback, the result is returned by on_result_callback.

Parameters

  • event_type – event type 1 to 4, 0 means receive all event 0: receive all event type 1: 0.35 sec. > touch time ≥ 0.005 sec. 2: 1 sec. > touch time ≥ 0.35 sec. 3: 3 sec. > touch time ≥ 1 sec. 4: touch time > 3 sec.

  • sync – True if this command is blocking

  • timeout – maximum blocking time in second, None means infinity

Returns

serial number of the command, if command is blocking also return a dict, it include two key, ‘state’ indicate execute result and ‘error’ will contain error code

unregister_capacity_touch_sensor_event(event_type=0, sync=True, timeout=None)

Unregister the capacity touch sensor event callback.

Parameters

  • event_type – event type 1 to 4, 0 means receive all event 0: receive all event type 1: 0.35 sec. > touch time ≥ 0.005 sec. 2: 1 sec. > touch time ≥ 0.35 sec. 3: 3 sec. > touch time ≥ 1 sec. 4: touch time > 3 sec.

  • sync – True if this command is blocking

  • timeout – maximum blocking time in second, None means infinity

Returns

serial number of the command, if command is blocking also return a dict, it include two key, ‘state’ indicate execute result and ‘error’ will contain error code

wait_for_capacity_touch_sensor_event(event_type=0, timeout=10)

Wait for capacity touch event occur and return sensor result.

Parameters

  • event_type – event type 1 to 4, 0 means receive all event 0: receive all event type 1: 0.35 sec. > touch time ≥ 0.005 sec. 2: 1 sec. > touch time ≥ 0.35 sec. 3: 3 sec. > touch time ≥ 1 sec. 4: touch time > 3 sec.

  • timeout – maximum blocking time in second, None means infinity

Returns

sensor result, if timeout will return None

get_sonar(position, sync=True, timeout=None)

Get sonar sensor value, the result is returned by on_result_callback.

Parameters

  • position – sonar position 0: front right 1: front left 2 :front center

  • sync – True if this command is blocking

  • timeout – maximum blocking time in second, None means infinity

Returns

serial number of the command, if command is blocking also return a dict, it include two key, ‘state’ indicate execute result and ‘error’ will contain error code

register_sonar(position, interval=0.5, sync=True, timeout=None)

Register the sonar sensor callback, the result is returned by on_result_callback.

Parameters

  • position – sonar position 0: front right 1: front left 2: front center 255: all sonar

  • interval – callback interval accept only positive numeric in seconds, default and minimum value is 0.5 second

  • sync – True if this command is blocking

  • timeout – maximum blocking time in second, None means infinity

Returns

serial number of the command, if command is blocking also return a dict, it include two key, ‘state’ indicate execute result and ‘error’ will contain error code

unregister_sonar(position, sync=True, timeout=None)

Unregister the sonar sensor callback.

Parameters

  • position – sonar position 0: front right 1: front left 2: front center

  • sync – True if this command is blocking

  • timeout – maximum blocking time in second, None means infinity

Returns

serial number of the command, if command is blocking also return a dict, it include two key, ‘state’ indicate execute result and ‘error’ will contain error code

register_sonar_event(position, operator, value, sync=True, timeout=None)

Register the sonar sensor event callback, when sensor reach the condition that specified, the result is returned by on_result_callback.

Parameters

  • position – sonar position 0: front right 1: front left 2 :front center

  • operator – comparison type with a threshold value. 0: = (Equal) 1: ≠ (Not Equal) 2: > (Greater Than) 3: ≥ (Greater Than or Equal To) 4: < (Less Than) 5: ≤ (Less Than or Equal To)

  • value – threshold value to compare sensor data (meter)

  • sync – True if this command is blocking

  • timeout – maximum blocking time in second, None means infinity

Returns

serial number of the command, if command is blocking also return a dict, it include two key, ‘state’ indicate execute result and ‘error’ will contain error code

unregister_sonar_event(position, operator, value, sync=True, timeout=None)

Unregister the sonar sensor event callback.

Parameters

  • position – sonar position 0: front right 1: front left 2 :front center

  • operator – comparison type with a threshold value. 0: = (Equal) 1: ≠ (Not Equal) 2: > (Greater Than) 3: ≥ (Greater Than or Equal To) 4: < (Less Than) 5: ≤ (Less Than or Equal To)

  • value – threshold value to compare sensor data (meter)

  • sync – True if this command is blocking

  • timeout – maximum blocking time in second, None means infinity

Returns

serial number of the command, if command is blocking also return a dict, it include two key, ‘state’ indicate execute result and ‘error’ will contain error code

get_neck_encoder(sync=True, timeout=None)

Get neck encoder value, the result is returned by on_result_callback.

Parameters

  • sync – True if this command is blocking

  • timeout – maximum blocking time in second, None means infinity

Returns

serial number of the command, if command is blocking also return a dict, it include two key, ‘state’ indicate execute result and ‘error’ will contain error code

register_neck_encoder(interval=0.5, sync=True, timeout=None)

Register the neck encoder callback, the result is returned by on_result_callback.

Parameters

  • interval – callback interval accept only positive numeric in seconds, default and minimum value is 0.5 second

  • sync – True if this command is blocking

  • timeout – maximum blocking time in second, None means infinity

Returns

serial number of the command, if command is blocking also return a dict, it include two key, ‘state’ indicate execute result and ‘error’ will contain error code

unregister_neck_encoder(sync=True, timeout=None)

Unregister the neck encoder callback.

Parameters

  • sync – True if this command is blocking

  • timeout – maximum blocking time in second, None means infinity

Returns

serial number of the command, if command is blocking also return a dict, it include two key, ‘state’ indicate execute result and ‘error’ will contain error code

register_neck_encoder_event(operator, value, sync=True, timeout=None)

Register the neck encoder event callback, when neck encoder reach the condition that specified, the result is returned by on_result_callback.

Parameters

  • operator – comparison type with a threshold value. 0: = (Equal) 1: ≠ (Not Equal) 2: > (Greater Than) 3: ≥ (Greater Than or Equal To) 4: < (Less Than) 5: ≤ (Less Than or Equal To)

  • value – threshold value to compare sensor data

  • sync – True if this command is blocking

  • timeout – maximum blocking time in second, None means infinity

Returns

serial number of the command, if command is blocking also return a dict, it include two key, ‘state’ indicate execute result and ‘error’ will contain error code

unregister_neck_encoder_event(operator, value, sync=True, timeout=None)

Unregister the neck encoder event callback.

Parameters

  • operator – comparison type with a threshold value. 0: = (Equal) 1: ≠ (Not Equal) 2: > (Greater Than) 3: ≥ (Greater Than or Equal To) 4: < (Less Than) 5: ≤ (Less Than or Equal To)

  • value – threshold value to compare sensor data

  • sync – True if this command is blocking

  • timeout – maximum blocking time in second, None means infinity

Returns

serial number of the command, if command is blocking also return a dict, it include two key, ‘state’ indicate execute result and ‘error’ will contain error code

register_trigger_key_event(sync=True, timeout=None)

Register the trigger key event callback, the result is returned by on_result_callback.

Parameters

  • sync – True if this command is blocking

  • timeout – maximum blocking time in second, None means infinity

Returns

serial number of the command, if command is blocking also return a dict, it include two key, ‘state’ indicate execute result and ‘error’ will contain error code

unregister_trigger_key_event(sync=True, timeout=None)

Unregister the trigger key event callback.

Parameters

  • sync – True if this command is blocking

  • timeout – maximum blocking time in second, None means infinity

Returns

serial number of the command, if command is blocking also return a dict, it include two key, ‘state’ indicate execute result and ‘error’ will contain error code

register_volume_up_key_event(sync=True, timeout=None)

Register the volume up key event callback, the result is returned by on_result_callback.

Parameters

  • sync – True if this command is blocking

  • timeout – maximum blocking time in second, None means infinity

Returns

serial number of the command, if command is blocking also return a dict, it include two key, ‘state’ indicate execute result and ‘error’ will contain error code

unregister_volume_up_key_event(sync=True, timeout=None)

Unregister the volume up key event callback.

Parameters

  • sync – True if this command is blocking

  • timeout – maximum blocking time in second, None means infinity

Returns

serial number of the command, if command is blocking also return a dict, it include two key, ‘state’ indicate execute result and ‘error’ will contain error code

register_volume_down_key_event(sync=True, timeout=None)

Register the volume down key event callback, the result is returned by on_result_callback.

Parameters

  • sync – True if this command is blocking

  • timeout – maximum blocking time in second, None means infinity

Returns

serial number of the command, if command is blocking also return a dict, it include two key, ‘state’ indicate execute result and ‘error’ will contain error code

unregister_volume_down_key_event(sync=True, timeout=None)

Unregister the volume down key event callback.

Parameters

  • sync – True if this command is blocking

  • timeout – maximum blocking time in second, None means infinity

Returns

serial number of the command, if command is blocking also return a dict, it include two key, ‘state’ indicate execute result and ‘error’ will contain error code

wait_for_trigger_key_event(timeout=10)

Wait for trigger key event occur and return sensor result.

Parameters

timeout – maximum blocking time in second, None means infinity

Returns

sensor result, if timeout will return None