Node 2 Sensor Fusion

lidarNode.py

# Sensor Fusion happens at Node 2
def on_message(client, userdata, msg):

    word = msg.payload.decode()

    # objAttributes contains label,
    # theta min and max separated by |
    objAttributes = word.split('|')

    now = time.localtime()
    if (now.tm_min * 60 + now.tm_sec - int(objAttributes[3])  >= 1):
        return

    theta1 = float(objAttributes[1])
    theta2 = float(objAttributes[2])

    dist = getObjectDistance(int(theta1) + 90 + 59, int(theta2) + 90 + 59)

    # convert distance from mm to cms
    dist = round(float (dist / 1000), 1)

    theta_mid = int((theta1 + theta2) / 2)

    # if near then announce an alert!
    # Passing the hue value on MQTT. 0 = Red. 0.3 = Green
    if (dist < 2.0):
    
        announceText = "ALERT ALERT "
        client.publish("object/flashlight", "0.0")
    else:
        announceText = ""
        client.publish("object/flashlight", "0.3")