Thermometer Sensor
==================


This sensor emulates a Thermometer, measuring the temperature with respect
to the distance to heat sources. It defines a default temperature throughout
the scenario, which is affected by local fire sources. The temperature rises
exponentially when the distance between the sensor and the heat source
decreases. Its equation is given by:

.. math::

 temperature = DefaultTemperature + \Sigma_{s} FireTemperature(s) * \exp ( - \alpha * distance(s) )
 
Each fire source must define a property named as the FireTag (default is 'Fire').
If this property is an int or a float, its value is used as the source fire temperature. 


.. cssclass:: properties morse-section

Configuration parameters for Thermometer Sensor
-----------------------------------------------


You can set these properties in your scripts with ``<component>.properties(<property1>=..., <property2>=...)``.

- ``FireTag`` (string, default: ``"Fire"``)
	Tag indicating that an object is a fire source
- ``DefaultTemperature`` (float, default: ``15.0``)
	Default temperature: returned by the sensor when no source is detected
- ``FireTemperature`` (float, default: ``200.0``)
	Temperature of fire sources. Can be overriden by objects using the FireTag property
- ``Range`` (float, default: ``9223372036854775807``)
	Maximum distance to which fire sources are detected
- ``Alpha`` (float, default: ``0.2``)
	Attenuation coefficient alpha


.. cssclass:: fields morse-section

Data fields
-----------


This sensor exports these datafields at each simulation step:

- ``timestamp`` (float, initial value: ``0.0``)
	number of seconds in simulated time
- ``temperature`` (float, initial value: ``0.0``)
	Temperature in Celsius

*Interface support:*

- :tag:`yarp`  as yarp::Bottle (:py:mod:`morse.middleware.yarp_datastream.YarpPublisher`)
- :tag:`socket`  as straight JSON serialization (:py:mod:`morse.middleware.socket_datastream.SocketPublisher`)
- :tag:`text`  as key = value format with timestamp and index value (:py:mod:`morse.middleware.text_datastream.Publisher`)
- :tag:`moos`  as StringPublisher (:py:mod:`morse.middleware.moos.abstract_moos.StringPublisher`)


.. cssclass:: services morse-section

Services for Thermometer Sensor
-------------------------------

- ``get_properties()`` (blocking)
    Returns the properties of a component.
    
    
  - Return value

    a dictionary of the current component's properties  

- ``get_local_data()`` (blocking)
    Returns the current data stored in the sensor.
    
    
  - Return value

    a dictionary of the current sensor's data 

- ``set_property(prop_name, prop_val)`` (blocking)
    Modify one property on a component
    
    
  - Parameters

    - ``prop_name``: the name of the property to modify (as shown the documentation)
    - ``prop_val``: the new value of the property. Note that there is no checking about the type of the value so be careful

  - Return value

    nothing 

- ``get_configurations()`` (blocking)
    Returns the configurations of a component (parsed from the properties).
    
    
  - Return value

    a dictionary of the current component's configurations  



.. cssclass:: examples morse-section

Examples
--------


The following examples show how to use this component in a *Builder* script:

.. code-block:: python


    from morse.builder import *
    
    # adds a default robot (the MORSE mascott!)
    robot = Morsy()
    
    # creates a new instance of the sensor
    thermometer = Thermometer()

    # place your component at the correct location
    thermometer.translate(<x>, <y>, <z>)
    thermometer.rotate(<rx>, <ry>, <rz>)
    
    robot.append(thermometer)
    
    # define one or several communication interface, like 'socket'
    thermometer.add_interface(<interface>)

    env = Environment('empty')
    

.. cssclass:: files morse-section

Other sources of examples
+++++++++++++++++++++++++

- `Source code <../../_modules/morse/sensors/thermometer.html>`_
- `Unit-test <../../_modules/base/thermometer_testing.html>`_




*(This page has been auto-generated from MORSE module morse.sensors.thermometer.)*