SmellSensor

__init__(self, position=(0, 0), name='smell', **kwargs) special

A smell sensor for sensing food.

Parameters:

Name	Type	Description	Default
position	Tuple[int, int]	the position of the sensor in centimeters relative to the center of the robot.	(0, 0)
name	str	the name of the device	'smell'

Source code in robots/devices/smellsensors.py

def __init__(self, position=(0, 0), name="smell", **kwargs):
    """
    A smell sensor for sensing food.

    Args:
        position (Tuple[int, int]): the position of the
            sensor in centimeters relative to the center
            of the robot.
        name (str): the name of the device
    """
    config = {
        "position": position,
        "name": name,
    }
    config.update(kwargs)
    self._watcher = None
    self.robot = None
    self.initialize()
    self.from_json(config)

draw(self, backend)

Draw the device on the backend.

Parameters:

Name	Type	Description	Default
backend	Backend	an aitk drawing backend	required

Source code in robots/devices/smellsensors.py

def draw(self, backend):
    """
    Draw the device on the backend.

    Args:
        backend (Backend): an aitk drawing backend
    """
    backend.lineWidth(1)
    backend.set_stroke_style(BLACK)
    backend.set_fill_style(WHITE)
    backend.draw_circle(self.position[0], self.position[1], 2)

from_json(self, config)

Set the settings from a device config.

Parameters:

Name	Type	Description	Default
config	dict	a config dictionary	required

Source code in robots/devices/smellsensors.py

def from_json(self, config):
    """
    Set the settings from a device config.

    Args:
        config (dict): a config dictionary
    """
    valid_keys = set([
        "position", "name", "class"
    ])
    self.verify_config(valid_keys, config)

    if "name" in config:
        self.name = config["name"]
    if "position" in config:
        self.position = config["position"]
        # Get location of sensor, doesn't change once position is set:
        self.dist_from_center = distance(0, 0, self.position[0], self.position[1])
        self.dir_from_center = math.atan2(-self.position[0], self.position[1])

get_reading(self)

Get the smell reading from the sensor.

Source code in robots/devices/smellsensors.py

def get_reading(self):
    """
    Get the smell reading from the sensor.
    """
    return self.value

get_widget(self, title='Smell Sensor:')

Return the dynamically updating widget.

Parameters:

Name	Type	Description	Default
title	str	title of sensor	'Smell Sensor:'

Source code in robots/devices/smellsensors.py

def get_widget(self, title="Smell Sensor:"):
    """
    Return the dynamically updating widget.

    Args:
        title (str): title of sensor
    """
    from ..watchers import AttributesWatcher

    if self.robot is None or self.robot.world is None:
        print("ERROR: can't watch until added to robot, and robot is in world")
        return None

    if self._watcher is None:
        self._watcher = AttributesWatcher(
            self, "name", "value", title=title, labels=["Name:", "Food:"]
        )
        self.robot.world._watchers.append(self._watcher)

    return self._watcher.widget

initialize(self)

Internal method to set all settings to default values.

Source code in robots/devices/smellsensors.py

def initialize(self):
    """
    Internal method to set all settings to default values.
    """
    self.type = "smell"
    self.name = "smell"
    self.value = 0.0
    self.position = [0, 0]
    self.dist_from_center = distance(0, 0, self.position[0], self.position[1])
    self.dir_from_center = math.atan2(-self.position[0], self.position[1])

set_position(self, position)

Set the position of the sensor with respect to the center of the robot.

Source code in robots/devices/smellsensors.py

def set_position(self, position):
    """
    Set the position of the sensor with respect to the center of the
    robot.

    Args:
        position (List[int, int]) represents [x, y] in CM from
            center of robot
    """
    if len(position) != 2:
        raise ValueError("position must be of length two")

    self.position = position
    # Get location of sensor, doesn't change once position is set:
    self.dist_from_center = distance(0, 0, self.position[0], self.position[1])
    self.dir_from_center = math.atan2(-self.position[0], self.position[1])

to_json(self)

Save the internal settings to a config dictionary.

Source code in robots/devices/smellsensors.py

def to_json(self):
    """
    Save the internal settings to a config dictionary.
    """
    config = {
        "class": self.__class__.__name__,
        "position": self.position,
        "name": self.name,
    }
    return config

update(self, draw_list=None)

Update the device.

Parameters:

Name	Type	Description	Default
draw_list	list	optional. If given, then the method can add to it for drawing later.	None

Source code in robots/devices/smellsensors.py

def update(self, draw_list=None):
    """
    Update the device.

    Args:
        draw_list (list): optional. If given, then the
            method can add to it for drawing later.
    """
    self.value = 0
    # Location of sensor:
    p = rotate_around(
        self.robot.x,
        self.robot.y,
        self.dist_from_center,
        self.robot.a + self.dir_from_center + math.pi / 2,
    )
    self.value = self.robot.world._grid.get(p[0], p[1])

watch(self, title='Smell Sensor:')

Create a dynamically updating view of this sensor.

Parameters:

Name	Type	Description	Default
title	str	title of sensor	'Smell Sensor:'

Source code in robots/devices/smellsensors.py

def watch(self, title="Smell Sensor:"):
    """
    Create a dynamically updating view
    of this sensor.

    Args:
        title (str): title of sensor
    """
    widget = self.get_widget(title=title)
    return display(widget)