Added initial support for Beacon V2...

Added support for getting Beacon Robot ID.
playi · Aug 14, 2019 · d9accd7 · d9accd7
1 parent 907add2
commit d9accd7
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Showing 2 changed files with 22 additions and 1 deletion.
diff --git a/WonderPy/components/wwSensorBeacon.py b/WonderPy/components/wwSensorBeacon.py
@@ -153,3 +153,18 @@ def get_robot_type(self):
                         highest_count = new_count
 
             return ret
+
+
+class WWSensorBeaconV2(WWSensorBase):
+    # For now, just use this to keep track of Beacon IDs
+    def __init__(self, robot):
+        super(WWSensorBeaconV2, self).__init__(robot)
+        self._robot_id_raw = None
+
+    @property
+    def robot_id_raw(self): 
+        return self._robot_id_raw
+
+    def parse(self, single_component_dictionary):
+        if _rcv.WW_SENSOR_VALUE_BEACON_ROBOT_ID in single_component_dictionary:
+            self._robot_id_raw = single_component_dictionary[_rcv.WW_SENSOR_VALUE_BEACON_ROBOT_ID]
diff --git a/WonderPy/core/wwSensors.py b/WonderPy/core/wwSensors.py
@@ -7,7 +7,7 @@
 from WonderPy.components.wwSensorMedia import WWSensorMedia
 from WonderPy.components.wwSensorAngle import WWSensorAngle
 from WonderPy.components.wwSensorDistance import WWSensorDistance
-from WonderPy.components.wwSensorBeacon import WWSensorBeacon
+from WonderPy.components.wwSensorBeacon import WWSensorBeacon,WWSensorBeaconV2
 from WonderPy.components.wwSensorWheel import WWSensorWheel
 from WonderPy.components.wwSensorGyroscope import WWSensorGyroscope
 
@@ -46,6 +46,7 @@ def setup_all_sensors(self, robot):
 
         # dash & cue
         self._beacon                      = WWSensorBeacon       (robot)
+        self._beacon_v2                   = WWSensorBeaconV2     (robot)
         self._distance_front_left_facing  = WWSensorDistance     (robot)
         self._distance_front_right_facing = WWSensorDistance     (robot)
         self._distance_rear               = WWSensorDistance     (robot)
@@ -60,6 +61,7 @@ def setup_all_sensors(self, robot):
             _rc.WW_SENSOR_ACCELEROMETER               : self._accelerometer,
             _rc.WW_SENSOR_ANIMATION_PLAYING           : self._animation,
             _rc.WW_SENSOR_BEACON                      : self._beacon,
+            _rc.WW_SENSOR_BEACON_V2                   : self._beacon_v2,
             _rc.WW_SENSOR_BODY_POSE                   : self._pose,
             _rc.WW_SENSOR_BUTTON_1                    : self._button_1,
             _rc.WW_SENSOR_BUTTON_2                    : self._button_2,
@@ -89,6 +91,10 @@ def animation(self):
     def beacon(self):
         return self._beacon
 
+    @property
+    def beacon_v2(self):
+        return self._beacon_v2
+
     @property
     def button_1(self):
         return self._button_1