From 7ab16f852de97bd35923a6743da940cfcbf0871b Mon Sep 17 00:00:00 2001
From: flavio <fdanesse@gmail.com>
Date: Sat, 16 Jun 2012 20:15:42 +0000
Subject: Agregando control de sensores y corrijiendo bugs

---
diff --git a/LegoJAM.py b/LegoJAM.py
index be1ac9a..47db6b8 100644
--- a/LegoJAM.py
+++ b/LegoJAM.py
@@ -14,6 +14,7 @@ sys.path.append("nxt_plugin")
 # Importamos las funciones de la API
 import nxt
 from nxt import Motor
+from nxt.sensor import *
 
 from interface.window import Window
 
@@ -57,8 +58,8 @@ class LegoJAM(Window):
         self.show_all()
 
     def select_robot(self, treeview, treepath, column, robots):
-        self.set_layout(robots[treepath[0] - 1])
         treeview.destroy()
+        self.set_layout(robots[treepath[0] - 1])
 
     def set_layout(self, robot):
         self.robot = Robot(robot)
@@ -88,10 +89,11 @@ class LegoJAM(Window):
         num += 1
 
         battery_status = gtk.Label(
-            'Estado de la bateria: %s' % self.robot.get_battery_level())
+            'Estado de la bateria: %s' % self.robot.robot.get_battery_level())
         vbox.pack_end(battery_status)
-        self.robot.connect('battery-level-changed',
-                           lambda w, l: battery_status.set_text(l))
+        
+        self.robot.connect('battery-label-changed',
+                           lambda w, l: battery_status.set_text('Estado de la bateria: %s' % l))
 
         self.canvas.pack_start(vbox, True, True)
         self.show_all()
@@ -127,27 +129,34 @@ class LegoJAM(Window):
 # robot.get_input_values() takes exactly 2 arguments (1 given)
 # robot.get_output_state() takes exactly 2 arguments (1 given)
 
-class Robot():
+class Robot(gobject.GObject):
 
     __gsignals__ = {'battery-label-changed': (gobject.SIGNAL_RUN_LAST,
                                               gobject.TYPE_NONE,
-                                              int)}
+                                              [str])}
 
     def __init__(self, robot):
+        gobject.GObject.__init__(self)
+        
         self.motorA = None
         self.motorB = None
         self.motorC = None
         self.funciones = []
         self.set_up(robot)
 
-        gobject.timout_add(1000, self._update_battery_level)
-
     def set_up(self, robot):
         self.robot = robot.connect()
         self.motorA = Mimotor("A", self.robot, nxt.PORT_A)
         self.motorB = Mimotor("B", self.robot, nxt.PORT_B)
         self.motorC = Mimotor("C", self.robot, nxt.PORT_C)
 
+        self.presion = Touch(self.robot, PORT_1)
+        self.sonido = Sound(self.robot, PORT_2)
+        self.ultrasonido = Ultrasonic(self.robot, PORT_4)
+        self.luz = Light(self.robot, PORT_3)
+        
+        gobject.timeout_add(1000, self.handle)
+        
     def run_motor(self, motor):
         if motor == "A":
             self.motorA.run(power=127, regulated=False)
@@ -163,9 +172,23 @@ class Robot():
             self.motorB.brake()
         elif motor == "C":
             self.motorC.brake()
-
-    def _update_battery_level(self):
-        self.emit('battery-level-changed', self.robot.get_battery_level())
+       
+    def handle(self):
+        valor_boton = self.presion.get_sample()
+        print 'Botón: ', valor_boton
+
+        valor_sonido = self.sonido.get_sample()
+        print 'Botón: ', valor_sonido
+        
+        valor_ultrasonido = self.ultrasonido.get_sample()
+        print 'Ultrasónico: ', valor_ultrasonido
+
+        valor_luz = self.luz.get_sample()
+        print 'luz: ', valor_luz
+        
+        self.emit('battery-label-changed', str(self.robot.get_battery_level()))
+        
+        return True
 
 
 class Mimotor(Motor):
--
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