From 655d894cce5b0f01567d0a3e94bbb9cad024ad3e Mon Sep 17 00:00:00 2001
From: Timotej Lazar <timotej.lazar@fri.uni-lj.si>
Date: Wed, 9 Dec 2015 16:13:32 +0100
Subject: Improve robot remote-control script

---
 robot/main.py | 35 ++++++++++++++++++++---------------
 1 file changed, 20 insertions(+), 15 deletions(-)

(limited to 'robot')

diff --git a/robot/main.py b/robot/main.py
index 06f10a0..7035829 100755
--- a/robot/main.py
+++ b/robot/main.py
@@ -17,9 +17,10 @@ import eventlet
 import ev3dev
 
 ev3_names = {
-    'lego-ev3-gyro': 'gyroscope',
-    'lego-ev3-touch': 'touch',
-    'lego-ev3-us': 'ultrasonic'
+    'lego-ev3-color': 'Color',
+    'lego-ev3-gyro': 'Gyroscope',
+    'lego-ev3-touch': 'Touch',
+    'lego-ev3-us': 'Ultrasonic'
 }
 
 ev3_motors = [
@@ -57,28 +58,32 @@ def stop():
             motor.stop(stop_command='brake')
 
 def notifier():
-    def read_sensor(path):
+    sensors_path = '/sys/class/lego-sensor'
+    sensors = {}
+
+    for sensor in os.listdir(sensors_path):
+        path = os.path.join(sensors_path, sensor)
         with open(os.path.join(path, 'driver_name'), 'r') as f:
             name = f.read().strip()
-        with open(os.path.join(path, 'value0'), 'r') as f:
-            value = int(f.read().strip())
         with open(os.path.join(path, 'decimals'), 'r') as f:
             decimals = int(f.read().strip())
-            if decimals > 0:
-                value /= 10**decimals
+            multiplier = 10**(-decimals)
         with open(os.path.join(path, 'units'), 'r') as f:
-            units = f.read().strip()
-            if units:
-                value = '{} {}'.format(value, units)
-        return (ev3_names.get(name, name), value)
+            unit = f.read().strip()
+        friendly_name = ev3_names.get(name, name)
+        sensors[path] = (friendly_name, multiplier, unit)
+
+    print(sorted(sensors.items()))
 
-    sensors_path = '/sys/class/lego-sensor'
     while True:
         eventlet.sleep(0.2)
         try:
             message = {'event': 'update', 'sensors': {}}
-            for sensor in os.listdir(sensors_path):
-                name, value = read_sensor(os.path.join(sensors_path, sensor))
+            for path, (name, multiplier, unit) in sorted(sensors.items()):
+                with open(os.path.join(path, 'value0'), 'rb') as f:
+                    value = round(int(f.read().strip()) * multiplier, 1)
+                if unit:
+                    value = '{} {}'.format(value, unit)
                 message['sensors'][name] = value
 
             text = json.dumps(message)
-- 
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