Sensor Connection

This article describes how to quickly connect sensors in Gripper-related device development.

1. Scan Sensor List

Import modules and scan for available sensors. You need to replace the actual master control service identifier:

import sys
from xensesdk import ExampleView, Sensor, call_service

MASTER_SERVICE = "master_d672f584b17a"
ret = call_service(MASTER_SERVICE, "scan_sensor_sn")
if ret is None:
    print("Scan failed, check master control service")
    sys.exit(1)
serial_number = list(ret.keys())[0]

2. Create Sensor Instance

Create a sensor object using the serial number and extracted MAC address:

mac_address = MASTER_SERVICE.split("_")[-1]
sensor = Sensor.create(serial_number, mac_addr=mac_address)

3. Configure Data Processing (Optional)

If visualization is required, create a view and define data callback:

view = ExampleView(sensor)
view_2d = view.create2d(Sensor.OutputType.Difference, Sensor.OutputType.Depth)

def data_callback():
    diff_data, depth_data = sensor.selectSensorInfo(
        Sensor.OutputType.Difference, Sensor.OutputType.Depth
    )
    view_2d.setData(Sensor.OutputType.Difference, diff_data)
    view_2d.setData(Sensor.OutputType.Depth, depth_data)
view.setCallback(data_callback)
view.show()

4. Start and Release Resources

Start the display and release resources when finished:

sensor.release()
sys.exit()

Notes

Ensure the master control service identifier is correct, the sensor is powered on and on the same network
For multiple sensors, you can loop through all serial numbers in ret
release() must be called to avoid device occupation conflicts