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:

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.

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

Data fields

This sensor exports these datafields at each simulation step:

• timestamp (float, initial value: 0.0)

  number of milliseconds in simulated time

• temperature (float, initial value: 0.0)

  Temperature in Celsius

Interface support:

• yarp as yarp::Bottle (morse.middleware.yarp_datastream.YarpPublisher)
• socket as straight JSON serialization (morse.middleware.socket_datastream.SocketPublisher)
• text as key = value format with timestamp and index value (morse.middleware.text_datastream.Publisher)

Services for Thermometer Sensor

• get_local_data() (blocking)

  Returns the current data stored in the sensor.

  • Return value

    a dictionary of the current sensor’s data

• get_configurations() (blocking)

  Returns the configurations of a component (parsed from the properties).

  • Return value

    a dictionary of the current component’s configurations

• get_properties() (blocking)

  Returns the properties of a component.

  • Return value

    a dictionary of the current component’s properties

Examples

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

from morse.builder import *

robot = ATRV()

# 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')

Other sources of examples

• Source code
• Unit-test

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