Open Road Code

Documentation

Environmental Controllers

Source: controllers/environmental/README.md

Environmental controllers normalize physical sensor data into application-facing state without tying applications to a particular hardware source.

Ambient Light

AmbientLightController reports ambient illuminance in lux through the hardware-independent AmbientLightSensorIf contract.

The Android path supports both direct component testing and the streamed sensor service:

Android TYPE_LIGHT
    -> Android sensor bridge
    -> AndroidSensorBridgeClient
    -> BufferedAmbientLightSensor
    -> AmbientLightController
    -> openroad.environmental.ambient_light

The buffered sensor lets AndroidSensorService feed values already received on /stream/imu through the controller without making a second HTTP request for every light sample.

Run the direct Android adapter/controller component test from this branch:

cd ~/src/OpenRoadCode
git switch android-ambient-light
git pull
python -m controllers.environmental.component_test.ambient_light_cli

To read a phone bridge from another ORC machine, enable Remote Sensor Access in the Android bridge app and provide its address:

cd ~/src/OpenRoadCode
git switch android-ambient-light
git pull
python -m controllers.environmental.component_test.ambient_light_cli \
    --url http://PHONE_IP:8766

Use --once to read a single sample. Zero lux is a valid reading; negative and non-finite values are rejected.

Barometric Controller

The barometric controller converts normalized pressure and temperature samples into absolute altitude, relative altitude, and filtered vertical speed.

Architecture

  • BarometricControllerIf is the application-facing controller contract.
  • BarometricSourceIf is the controller-facing sensor contract.
  • Bmp3xxBarometricAdapter adapts either a BMP388 or BMP390 hardware device to normalized BarometricSample values.
  • BarometricController processes those samples into BarometricState.
  • BarometricControllerStub supplies deterministic state for demos.
  • UnconfiguredBarometricController explicitly reports unavailable support.

Component Test

Run the complete BMP3XX adapter and controller path:

python3 -m controllers.environmental.component_test.barometric_cli

Read one sample, select address 0x76, or use imperial display units:

python3 -m controllers.environmental.component_test.barometric_cli \
    --address 0x76 \
    --once \
    --imperial

Altitude defaults to the standard sea-level reference pressure of 101325 Pa. Use a local reference for better altitude accuracy:

python3 -m controllers.environmental.component_test.barometric_cli \
    --sea-level-pressure 100800