Sensor service

A sensor is a device that can detect one or more kinds of information from the outside world and can be transformed into electrical signals or other required forms of information output according to certain rules. The robot can sense the outside environment through the sensor. Because of the sensor, robots have human-like perception and response capabilities.

The sensor service provides a series of interfaces for controlling the robot's sensors. We can obtain SensorManager through [RobotContext[ to control the sensors.

SensorManager sensorManager = robotContext.getSystemService(SensorManager.SERVICE);

Obtain the sensor

Before using the sensor, you can get the list of sensors supported by the robot and view the sensor information.

• Obtain the sensor of a specified ID

java SensorDevice sensorDevice = sensorManager.getDevice(sensorId);/* [1] */

[1] The SensorDevice object describes the information from the sensor as follows:``

Type	Attributes	Descriptions
String	id	Sensor ID
String	type	Sensor type
String	name	Sensor name
String	description	Description
List	supportedCommandList	The list of instructions supported
Map	commandOptionClassMap	Special instruction parameters

• Obtain the list of sensors java List<SensorDevice> sensorDeviceList = sensorManager.getDeviceList();

• Obtain the list of sensors of a specified type

java List<SensorDevice> sensorDeviceList = sensorManager.getDeviceList(type);/* [2] */

[2] The sensor type is defined by the implementation of specific sensor services and varies according to product design.

Turn the sensor on/off

You can turn the sensor on/off through ID

• Turn the sensor on

Promise<Void, SensorException> result = sensorManager.enable(sensorId);/* [1] */

[1]The method that the returned result is Promise is an asynchronous method. You can obtain the execution result by registering a callback, or you can execute the get () method to convert it to a synchronous method. For details, see async.

• Turn the sensor off

Promise<Void, SensorException> result = ssensorManager.disable(sensorId);

Obtain the status of the sensor

You can query the status of the sensor by ID

boolean sensorStatus = sensorManager.isEnabled(sensorId);

monitor

• Register a sensor monitor

SensorListener sensorListener = new SensorListener() {
@Override
public void onSensorChanged(SensorDevice sensorDevice, SensorEvent sensorEvent/* [1] */) {
//view the event of sensor changes here
          }
};
sensorManager.registerListener(sensorId, sensorListener);

[1] The sensor value's changed values are stored in SensorEvent object. The specific information is as follows:

Type	Attribute	Description
String	id	Sensor ID
long	timestamp	Time stamp
float[]	values	Changed sensor value

• Remove sensor monitor

sensorManager.unregisterListener(sensorListener);

Sensor list

Name	Id
ultrasonic1	ultrasonic1
ultrasonic2	ultrasonic2
ultrasonic3	ultrasonic3
ultrasonic4	ultrasonic4
ultrasonic5	ultrasonic5
ultrasonic6	ultrasonic6
ultrasonic7	ultrasonic7
ultrasonic8	ultrasonic8
rgbd	rgbd1
wallIR1	wallIR1
wallIR2	wallIR2
wallIR3	wallIR3
wallIR4	wallIR4
wallIR5	wallIR5
wallIR6	wallIR6
groundIR1	groundIR1
groundIR2	groundIR2
groundIR3	groundIR3
groundIR4	groundIR4
groundIR5	groundIR5
groundIR6	groundIR6
lidar	lidar1
obstacle_detect	obstacle_detect
human_detect	human_detect
cliff_detect	cliff_detect
humiture	humiture
pyroelectric	pyroelectric
TOF_infrared	TOF_infrared
geomagnetism_detect	geomagnetism_detect
LPalm_skin	LPalm_skin
LPalm_switch	LPalm_switch
LFArm_skin	LFArm_skin
LBArm_skin	LBArm_skin
RPalm_skin	RPalm_skin
RPalm_switch	RPalm_switch
RFArm_skin	RFArm_skin
RBArm_skin	RBArm_skin
emergency_stop	emergency_stop
totalSwitch	totalSwitch