ignore distances without intersection

raspberry-pi/sensors/acusticSensor.py

@@ -74,7 +74,9 @@ class AcusticSensor:
     # partially missing values will be ignored
     if value[0] >= 0 and value[1] >= 0:
       self.calibrate(value)
-      self.pass_to_gui(self.calculate_position(value) + value)
+      position = self.calculate_position(value)
+      if position != None:
+        self.pass_to_gui(position + value)
 
   def calibrate(self, value):
     if self.calibration_state.get_state() == self.calibration_state.ACCUMULATING_1:
@@ -144,11 +146,14 @@ class AcusticSensor:
       distance_right = val2 * self.sonic_speed
       # compute intersection of distance circles
       x = (self.sensor_distance**2 - distance_right**2 + distance_left**2) / (2*self.sensor_distance) + self.left_sensor_x_offset
-      y = math.sqrt(max(distance_left**2 - x**2, 0)) - self.sensor_y_offset
-      return (x, y)
+      if distance_left**2 - x**2 >= 0:
+        y = math.sqrt(distance_left**2 - x**2) - self.sensor_y_offset
+        return (x, y)
+      else:
+        return None
     except Exception as e:
       print(values)
       traceback.print_exc()
 
   def pass_to_gui(self, data):
-    self.ac_queue.put(("data", data))
+    self.ac_queue.put(("data", data))