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:
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.
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 seconds in simulated time
temperature
(float, initial value:0.0
)- Temperature in Celsius
Interface support:
socket
as straight JSON serialization (morse.middleware.socket_datastream.SocketPublisher
)yarp
as YarpPublisher (morse.middleware.yarp_datastream.YarpPublisher
)moos
as StringPublisher (morse.middleware.moos.abstract_moos.StringPublisher
)text
as key = value format with timestamp and index value (morse.middleware.text_datastream.Publisher
)
Services for Thermometer Sensor¶
get_configurations()
(blocking)Returns the configurations of a component (parsed from the properties).
Return value
a dictionary of the current component’s configurations
get_local_data()
(blocking)Returns the current data stored in the sensor.
Return value
a dictionary of the current sensor’s data
get_properties()
(blocking)Returns the properties of a component.
Return value
a dictionary of the current component’s properties
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
Examples¶
The following examples show how to use this component in a Builder script:
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')
Other sources of examples¶
(This page has been auto-generated from MORSE module morse.sensors.thermometer.)