Merge branch 'master' of github.com:CentraleNantesRobotics/ping360_so…

…nar_python
CentraleNantesRobotics · Jan 24, 2020 · e4cfd27 · e4cfd27
2 parents f1a4928 + bc8d7e4
commit e4cfd27
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Showing 3 changed files with 20 additions and 16 deletions.
diff --git a/.all-contributorsrc b/.all-contributorsrc
@@ -31,12 +31,14 @@
       "avatar_url": "https://avatars3.githubusercontent.com/u/56969577?v=4",
       "profile": "https://github.com/tomlogan501",
       "contributions": [
-        "ideas"
+        "ideas",
+        "test",
+        "bug"
       ]
     }
   ],
   "contributorsPerLine": 7,
-  "projectName": "ping360_sonar_python",
+  "projectName": "ping360_sonar",
   "projectOwner": "CentraleNantesRobotics",
   "repoType": "github",
   "repoHost": "https://github.com",

diff --git a/README.md b/README.md
@@ -136,7 +136,7 @@ Please report bugs and request features using the [Issue Tracker](https://github
   <tr>
     <td align="center"><a href="https://github.com/Hameck"><img src="https://avatars2.githubusercontent.com/u/14954732?v=4" width="100px;" alt=""/><br /><sub><b>Henrique Martinez Rocamora</b></sub></a><br /><a href="https://github.com/CentraleNantesRobotics/ping360_sonar/commits?author=Hameck" title="Code">💻</a> <a href="https://github.com/CentraleNantesRobotics/ping360_sonar/commits?author=Hameck" title="Tests">⚠️</a></td>
     <td align="center"><a href="https://stormix.co"><img src="https://avatars2.githubusercontent.com/u/18377687?v=4" width="100px;" alt=""/><br /><sub><b>Anas Mazouni</b></sub></a><br /><a href="https://github.com/CentraleNantesRobotics/ping360_sonar/commits?author=Stormiix" title="Code">💻</a> <a href="https://github.com/CentraleNantesRobotics/ping360_sonar/commits?author=Stormiix" title="Tests">⚠️</a></td>
-    <td align="center"><a href="https://github.com/tomlogan501"><img src="https://avatars3.githubusercontent.com/u/56969577?v=4" width="100px;" alt=""/><br /><sub><b>tomlogan501</b></sub></a><br /><a href="#ideas-tomlogan501" title="Ideas, Planning, & Feedback">🤔</a></td>
+    <td align="center"><a href="https://github.com/tomlogan501"><img src="https://avatars3.githubusercontent.com/u/56969577?v=4" width="100px;" alt=""/><br /><sub><b>tomlogan501</b></sub></a><br /><a href="#ideas-tomlogan501" title="Ideas, Planning, & Feedback">🤔</a> <a href="https://github.com/CentraleNantesRobotics/ping360_sonar/commits?author=tomlogan501" title="Tests">⚠️</a> <a href="https://github.com/CentraleNantesRobotics/ping360_sonar/issues?q=author%3Atomlogan501" title="Bug reports">🐛</a></td>
   </tr>
 </table>
 

diff --git a/src/ping360_sonar/node.py b/src/ping360_sonar/node.py
@@ -139,20 +139,22 @@ def main():
 
         # Prepare scan msg
         index = int(round((angle * 2 * pi / 400) / angle_increment))
+
         # Get the first high intensity value
-        detectedIntensity = next((x for x in data if x >= threshold), None)
-        if detectedIntensity:
-            detectedIndex = data.index(detectedIntensity)
-            # The index+1 represents the number of samples which then can be used to deduce the range
-            distance = calculateRange(
-                (1 + detectedIndex), samplePeriod, speedOfSound)
-            if distance >= 0.75 and distance <= sonarRange:
-                ranges[index] = distance
-                intensities[index] = detectedIntensity
-                if debug:
-                    print("Object at {} grad : {}m - intensity {}%".format(angle,
-                                                                           ranges[index],
-                                                                           float(intensities[index] * 100 / 255)))
+        for detectedIntensity in data:
+            if detectedIntensity >= threshold:
+                detectedIndex = data.index(detectedIntensity)
+                # The index+1 represents the number of samples which then can be used to deduce the range
+                distance = calculateRange(
+                    (1 + detectedIndex), samplePeriod, speedOfSound)
+                if distance >= 0.75 and distance <= sonarRange:
+                    ranges[index] = distance
+                    intensities[index] = detectedIntensity
+                    if debug:
+                        print("Object at {} grad : {}m - intensity {}%".format(angle,
+                                                                               ranges[index],
+                                                                               float(intensities[index] * 100 / 255)))
+                    break
         # Contruct and publish Sonar scan msg
         scanDataMsg = generateScanMsg(ranges, intensities, sonarRange, step)
         laserPub.publish(scanDataMsg)