138 lines
4.0 KiB
Python
138 lines
4.0 KiB
Python
"""A module to define the power devices used in the simulator."""
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from __future__ import annotations
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from abc import ABC, abstractmethod
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from typing import Callable
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from sbot_interface.devices.util import WebotsDevice, get_globals, get_robot_device
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class Output:
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"""
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A class to represent a power output.
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This does not actually represent any device in the simulator,
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but is used to simulate how the outputs on the power board would behave.
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:param downstream_current: A function to get the current draw of the downstream device.
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"""
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def __init__(self, downstream_current: Callable[[], int] | None = None) -> None:
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self._enabled = False
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self._current_func = downstream_current
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def set_output(self, enable: bool) -> None:
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"""Set the output state."""
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self._enabled = enable
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def get_output(self) -> bool:
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"""Get the output state."""
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return self._enabled
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def get_current(self) -> int:
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"""Get the current draw of the output in mA."""
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if self._current_func is not None:
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return self._current_func()
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return 0
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class ConnectorOutput(Output):
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"""
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A class to represent a power output that controls a webots connector device.
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:param device_name: The name of the device in webots.
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:param downstream_current: A function to get the current draw of the downstream device.
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"""
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def __init__(
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self,
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device_name: str,
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downstream_current: Callable[[], int] | None = None,
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) -> None:
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super().__init__(downstream_current)
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g = get_globals()
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self._device = get_robot_device(g.robot, device_name, WebotsDevice.Connector)
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self._enabled = False
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def set_output(self, enable: bool) -> None:
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"""Set the output state."""
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if enable:
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self._device.lock() # type: ignore[no-untyped-call]
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else:
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self._device.unlock() # type: ignore[no-untyped-call]
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def get_output(self) -> bool:
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"""Get the output state."""
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return self._device.isLocked()
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class BaseBuzzer(ABC):
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"""The base class for the buzzer device."""
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@abstractmethod
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def set_note(self, freq: int, dur: int) -> None:
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"""Set the note to play and its duration."""
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pass
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@abstractmethod
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def get_note(self) -> tuple[int, int]:
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"""Get the note that is currently playing and its duration."""
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pass
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class BaseButton(ABC):
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"""The base class for the button device."""
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@abstractmethod
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def get_state(self) -> bool:
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"""Get whether the button is pressed."""
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pass
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class NullBuzzer(BaseBuzzer):
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"""A buzzer that does nothing. Used for buzzers that are not connected."""
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def __init__(self) -> None:
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self.frequency = 0
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self.duration = 0
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super().__init__()
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def set_note(self, freq: int, dur: int) -> None:
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"""Set the note to play."""
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self.frequency = freq
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self.duration = dur
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def get_note(self) -> tuple[int, int]:
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"""Get the note that is currently playing and its duration."""
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return self.frequency, self.duration
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class NullButton(BaseButton):
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"""A button that does nothing. Used for buttons that are not connected."""
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def get_state(self) -> bool:
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"""Return whether the button is pressed. Always returns True."""
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# button is always pressed
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return True
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class StartButton(BaseButton):
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"""
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A button to represent the start button on the robot.
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Uses the robot's custom data to determine if the robot is ready to start.
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"""
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def __init__(self) -> None:
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self._initialized = False
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def get_state(self) -> bool:
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"""Return whether the start button is pressed."""
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g = get_globals()
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if not self._initialized:
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if g.robot.getCustomData() != 'start':
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g.robot.setCustomData('ready')
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self._initialized = True
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return bool(g.robot.getCustomData() == 'start')
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