kuukar-rpi/kuukar/kuukar_sensors.py

from telemetrix_rpi_pico import telemetrix_rpi_pico

from kuukar.kuukar_config import DHT22_PIN, SONAR_1_ECHO_PIN, SONAR_1_TRIG_PIN,\
    SONAR_2_ECHO_PIN, SONAR_2_TRIG_PIN, SONAR_3_ECHO_PIN, SONAR_3_TRIG_PIN,\
    LIGHT_ANALOG_PIN


class sensors:

    __sonar_trig_pins = [SONAR_1_TRIG_PIN,
                         SONAR_2_TRIG_PIN, SONAR_3_TRIG_PIN]
    __sonar_distances = [0, 0, 0]
    __temperature = 0
    __humidity = 0
    __brightness = 0

    def __init__(self, aux_board: telemetrix_rpi_pico.TelemetrixRpiPico, driver_board: telemetrix_rpi_pico.TelemetrixRpiPico) -> None:
        self.aux = aux_board
        self.driver = driver_board
        self.driver.set_pin_mode_sonar(
            SONAR_1_TRIG_PIN, SONAR_1_ECHO_PIN, self.__sonar_callback)
        self.driver.set_pin_mode_sonar(
            SONAR_2_TRIG_PIN, SONAR_2_ECHO_PIN, self.__sonar_callback)
        self.driver.set_pin_mode_sonar(
            SONAR_3_TRIG_PIN, SONAR_3_ECHO_PIN, self.__sonar_callback)
        self.driver.set_pin_mode_dht(DHT22_PIN, self.__dht22_callback)
        self.aux.set_pin_mode_analog_input(LIGHT_ANALOG_PIN, 0, self.__light_sensor_callback())

    def sonar_get_distance(self, id: int) -> float:
        return self.__sonar_distances[id]

    def __sonar_callback(self, data):
        pin = data[1]
        distance = data[2]
        sonar_id = self.__sonar_trig_pins.index(pin)
        self.__sonar_distances[sonar_id] = distance

    def get_brightness_pct(self) -> float:
        return self.__brightness

    def get_temperature(self) -> float:
        return self.__temperature

    def get_humidity_pct(self) -> float:
        return self.__humidity

    def __light_sensor_callback(self, data):
        self.__brightness = data[2]

    def __dht22_callback(self, data):
        humidity = data[3]
        temperature = data[4]
        self.__humidity = humidity
        self.__temperature = temperature