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https://github.com/firestar5683/StarPilot.git
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firestar5683
84 lines
2.6 KiB
Python
84 lines
2.6 KiB
Python
from __future__ import annotations
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import math
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import time
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from collections.abc import Callable, Sequence
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class MotionDetector:
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"""Detect sustained changes in the accelerometer magnitude.
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The detector deliberately returns edge events instead of owning any I/O. That
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keeps the movement policy testable and lets the daemon decide how to capture
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frames or notify Galaxy.
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"""
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def __init__(
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self,
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*,
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sensitivity: float = 0.04,
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warning_trigger_count: int = 10,
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alarm_trigger_count: int = 25,
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alarm_time: float = 30.0,
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reset_time: float = 60.0,
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clock: Callable[[], float] = time.monotonic,
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):
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self.sensitivity = sensitivity
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self.warning_trigger_count = warning_trigger_count
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self.alarm_trigger_count = alarm_trigger_count
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self.alarm_time = alarm_time
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self.reset_time = reset_time
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self.clock = clock
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self.previous_acceleration: tuple[float, float, float] | None = None
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self.trigger_count = 0
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self.trigger_started_at: float | None = None
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self.alarm_triggered = False
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@staticmethod
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def _magnitude(acceleration: Sequence[float]) -> float:
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if len(acceleration) < 3:
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raise ValueError("accelerometer samples must contain x, y, and z")
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return math.sqrt(sum(float(component) ** 2 for component in acceleration[:3]))
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def reset(self) -> None:
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self.previous_acceleration = None
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self.trigger_count = 0
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self.trigger_started_at = None
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self.alarm_triggered = False
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def update(self, acceleration: Sequence[float], now: float | None = None) -> str | None:
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now = self.clock() if now is None else now
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current = tuple(float(component) for component in acceleration[:3])
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if len(current) < 3:
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raise ValueError("accelerometer samples must contain x, y, and z")
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if self.previous_acceleration is None:
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self.previous_acceleration = current
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return None
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delta = abs(self._magnitude(current) - self._magnitude(self.previous_acceleration))
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self.previous_acceleration = current
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if delta > self.sensitivity:
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self.trigger_count += 1
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if self.trigger_started_at is None:
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self.trigger_started_at = now
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if self.trigger_count == self.warning_trigger_count:
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return "warning"
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if (
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self.trigger_count > self.alarm_trigger_count
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and now - self.trigger_started_at >= self.alarm_time
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and not self.alarm_triggered
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):
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self.alarm_triggered = True
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return "alarm"
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if self.trigger_started_at is not None and now - self.trigger_started_at >= self.reset_time:
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self.trigger_count = 0
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self.trigger_started_at = None
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self.alarm_triggered = False
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return None
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