Fixed bug with robot env sensor

Author: etsardou

stream_simulator/base_classes/basic_sensor.py

@@ -234,7 +234,7 @@ def sensor_read(self):
 
         while self.info["enabled"]:
             time.sleep(1.0 / self.hz)
-            print("Sensor read", self.state)
+            # print("Sensor read", self.state)
 
             if self.state is None or self.state == "off":
                 continue
@@ -353,6 +353,7 @@ def stop(self):
         - get_mode_rpc_server
         - set_mode_rpc_server
         """
+        self.logger.warning("Stopping sensor %s", self.name)
         self.info["enabled"] = False
         while not self.stopped:
             time.sleep(0.1)

stream_simulator/controllers/env_devices/controller_temperature_sensor.py

@@ -97,14 +97,14 @@ def get_simulation_value(self):
         if affections is None:
             return amb
 
-        print(affections)
+        # print(affections)
         for a in affections:
             r = (1 - affections[a]['distance'] / affections[a]['range']) * \
                 affections[a]['info']['temperature']
             temps.append(r)
 
         mms = 0
-        print(temps)
+        # print(temps)
         if len(temps) > 0:
             mms = max(temps)
 
@@ -114,6 +114,6 @@ def get_simulation_value(self):
         else:
             self.dynamic_value += (final_value - self.dynamic_value)/6
 
-        print(f"Temperature: {self.dynamic_value}")
+        # print(f"Temperature: {self.dynamic_value}")
         return self.dynamic_value + random.uniform(-0.1, 0.1)
 

stream_simulator/controllers/sensors/controller_env.py

@@ -176,6 +176,7 @@ def sensor_read(self):
                         tem_aff[a]['info']['temperature']
                     temps.append(r)
 
+                final_temp = amb
                 if len(temps) != 0:
                     final_temp = max(temps)
                 final_temp = amb if amb > final_temp else final_temp