Python Configuration.getInstance方法代码示例

本文整理汇总了Python中config.Configuration.getInstance方法的典型用法代码示例。如果您正苦于以下问题：Python Configuration.getInstance方法的具体用法？Python Configuration.getInstance怎么用？Python Configuration.getInstance使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类config.Configuration的用法示例。

在下文中一共展示了Configuration.getInstance方法的5个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。

示例1: init

# 需要导入模块: from config import Configuration [as 别名]
# 或者: from config.Configuration import getInstance [as 别名]
    def __init__(self):
        
        self._config = Configuration.getInstance().getConfig()
        
        self._driver = Driver()
        self._createSensor(self._config[Configuration.KEY_IMU_CLASS])
        
        #PID constants must have the same length
        self._pidAnglesSpeedKP = self._config[Configuration.PID_ANGLES_SPEED_KP] 
        self._pidAnglesSpeedKI = self._config[Configuration.PID_ANGLES_SPEED_KI]
        self._pidAnglesSpeedKD = self._config[Configuration.PID_ANGLES_SPEED_KD]
        
        #PID constants must have the same length
        self._pidAnglesKP = self._config[Configuration.PID_ANGLES_KP] 
        self._pidAnglesKI = self._config[Configuration.PID_ANGLES_KI]
        self._pidAnglesKD = self._config[Configuration.PID_ANGLES_KD]
        
        self._pidAccelKP = self._config[Configuration.PID_ACCEL_KP]
        self._pidAccelKI = self._config[Configuration.PID_ACCEL_KI]
        self._pidAccelKD = self._config[Configuration.PID_ACCEL_KD]
        
        #PID
        self._pidKP = self._pidAnglesSpeedKP + self._pidAnglesKP + self._pidAccelKP
        self._pidKI = self._pidAnglesSpeedKI + self._pidAnglesKI + self._pidAccelKI
        self._pidKD = self._pidAnglesSpeedKD + self._pidAnglesKD + self._pidAccelKD
        
        self._pid = PID(FlightController.PID_PERIOD, \
                        self._pidKP, self._pidKI, self._pidKD, \
                        self._readPIDInput, self._setPIDOutput, \
                        "stabilization-pid")
        self._pid.setTargets([0.0]*len(self._pidKP))
        

        self._isRunning = False

开发者ID:hisie，项目名称:eaglebone，代码行数:36，代码来源:controller.py

示例2: init

# 需要导入模块: from config import Configuration [as 别名]
# 或者: from config.Configuration import getInstance [as 别名]
    def __init__(self):
        '''
        Constructor
        '''
        
        self._lock = Lock()
        
        self._config = Configuration.getInstance().getConfig()        
        self._motors = []
        self._baseThrottle = 0.0
        self._motorIncrements = [0.0] * Driver.NUM_MOTORS

        for motorId in range(Driver.NUM_MOTORS):
            motor = self._createMotor(motorId, self._config[Configuration.KEY_MOTOR_CLASS])
            self._motors.append(motor)

开发者ID:hisie，项目名称:eaglebone，代码行数:17，代码来源:driver.py

示例3: init

# 需要导入模块: from config import Configuration [as 别名]
# 或者: from config.Configuration import getInstance [as 别名]
    def __init__(self):
        
        self._config = Configuration.getInstance().getConfig()
        
        self._driver = Driver()
        self._createSensor(self._config[Configuration.KEY_IMU_CLASS])
        
        #PID constants must have the same length
        self._pidAnglesSpeedKP = [k / FlightController.ANGLE_SPEED_FACTOR for k \
                                     in self._config[Configuration.PID_ANGLES_SPEED_KP]]
        self._pidAnglesSpeedKI = [k / FlightController.ANGLE_SPEED_FACTOR for k \
                                     in self._config[Configuration.PID_ANGLES_SPEED_KI]]
        self._pidAnglesSpeedKD = [k / FlightController.ANGLE_SPEED_FACTOR for k \
                                     in self._config[Configuration.PID_ANGLES_SPEED_KD]]
        
        #PID constants must have the same length
        self._pidAnglesKP = self._config[Configuration.PID_ANGLES_KP] 
        self._pidAnglesKI = self._config[Configuration.PID_ANGLES_KI]
        self._pidAnglesKD = self._config[Configuration.PID_ANGLES_KD]
        
        self._pidAccelKP = self._config[Configuration.PID_ACCEL_KP]
        self._pidAccelKI = self._config[Configuration.PID_ACCEL_KI]
        self._pidAccelKD = self._config[Configuration.PID_ACCEL_KD]
        
        #PID
        self._pidKP = self._pidAnglesSpeedKP + self._pidAnglesKP + self._pidAccelKP
        self._pidKI = self._pidAnglesSpeedKI + self._pidAnglesKI + self._pidAccelKI
        self._pidKD = self._pidAnglesSpeedKD + self._pidAnglesKD + self._pidAccelKD
        
        self._pid = PID(FlightController.PID_PERIOD, \
                        self._pidKP, self._pidKI, self._pidKD, \
                        self._readPIDInput, self._setPIDOutput, \
                        "stabilization-pid")
        self._pid.setTargets([0.0]*len(self._pidKP))        

        self._isRunning = False
        
        self._pidThrottleThreshold = 0
        
        self._maxAngleX = self._config[Configuration.KEY_MAX_ANGLE_X]
        self._maxAngleY = self._config[Configuration.KEY_MAX_ANGLE_Y]
        #TODO: Rate mode
        #self._maxAngleSpeedX = self._config[Configuration.KEY_MAX_ANGLE_SPEED_X] #used for rate mode when implemented
        #self._maxAngleSpeedY = self._config[Configuration.KEY_MAX_ANGLE_SPEED_Y] #used for rate mode when implemented
        self._maxAngleSpeedZ = self._config[Configuration.KEY_MAX_ANGLE_SPEED_Z]
        
        #TODO: Read initial flight mode from configuration
        self._flightMode = FlightController.FLIGHT_MODE_ANGLE

开发者ID:dpm76，项目名称:eaglebone，代码行数:50，代码来源:controller.py

示例4: _dispatch

# 需要导入模块: from config import Configuration [as 别名]
# 或者: from config.Configuration import getInstance [as 别名]
    def _dispatch(self, message):
        
        if self._started and message["key"] == "target":
            
            newTargets = message["data"]
            self._controller.setTargets(newTargets)
            
#         elif self._started and message["key"] == "throttle":
#             
#             newThrottle = message["data"]
# 
#             if newThrottle > 0:
#                 dThrottle = newThrottle - self._throttle
#                 
#                 if dThrottle != 0:
#                     self._throttle = newThrottle
#             
#                     self._controller.addThrottle(dThrottle)
#             else:
#                 self._throttle = 0
#                 self._controller.standBy()
        
        elif message["key"] == "is-started":
            
            self._started = message["data"]
            self._throttle = 0
            
            if self._started:
                self._controller.standBy()
                self._controller.startPid()
                    
            else:                
                self._controller.stopPid()
                self._controller.idle()                

        elif message["key"] == "integrals":
            
            enable = message["data"]
            
            if enable:                
                self._controller.enableIntegrals()
            else:
                self._controller.disableIntegrals()
                
        elif message["key"] == "pid-calibration":
            
            data = message["data"]
            
            axisSwitcher = {
                            "X": 0,
                            "Y": 1,
                            "Z": 2
                            }
            
            axisIndex = axisSwitcher.get(data["axis"])
            constantP = data["p"]
            constantI = data["i"]
            constantD = data["d"]
            
            pidLevel = data["pid"]
            
            if pidLevel == "ang-speed":            
                self._controller.alterPidAnglesSpeedConstants(axisIndex, constantP, constantI, constantD)
                
            elif pidLevel == "angles":
                self._controller.alterPidAnglesConstants(axisIndex, constantP, constantI, constantD)
                
            else: #accel
                self._controller.alterPidAccelConstants(axisIndex, constantP, constantI, constantD)
         
        elif message["key"] == "read-drone-config":

            config = Configuration.getInstance().getConfig()
            self._send(message["key"], config)
            
        elif message["key"] == "read-drone-state":
            
            state = self._controller.readState()
            self._send(message["key"], state.__dict__)

开发者ID:hisie，项目名称:eaglebone，代码行数:81，代码来源:dispatching.py

示例5: _dispatch

# 需要导入模块: from config import Configuration [as 别名]
# 或者: from config.Configuration import getInstance [as 别名]
    def _dispatch(self, message):
        
        if self._started and message["key"] == "target":
            
            controlData = message["data"]
            newTargets = [controlData[0] * Dispatcher.MAX_ANGLE / 100.0,
                          controlData[1] * Dispatcher.MAX_ANGLE / 100.0,
                          controlData[2] * Dispatcher.MAX_ANGLE_SPEED / 100.0,
                          controlData[3] * Dispatcher.MAX_ACCEL_Z / 100.0]            
            
            self._controller.setTargets(newTargets)
            
        elif self._started and message["key"] == "throttle":
            
            if not self._throttleByUser:
                #Disable Z-accel stabilization
                self._controller.alterPidAccelConstants(2, 0.0, 0.0, 0.0)
                self._throttle = 0
                self._controller.standBy()
                
                self._throttleByUser = True
            
             
            newThrottle = message["data"]
 
            if newThrottle > 0:
                dThrottle = newThrottle - self._throttle
                 
                if dThrottle != 0:
                    self._throttle = newThrottle
             
                    self._controller.addThrottle(dThrottle)
            else:
                self._throttle = 0
                self._controller.standBy()
        
        elif message["key"] == "is-started":
            
            self._started = message["data"]
            self._throttle = 0
            
            if self._started:
                self._controller.standBy()
                    
            else:                
                self._controller.idle()                

#         elif message["key"] == "integrals":
#             
#             enable = message["data"]
#             
#             if enable:                
#                 self._controller.enableIntegrals()
#             else:
#                 self._controller.disableIntegrals()
                
        elif message["key"] == "pid-calibration":
            
            data = message["data"]
            
            axisSwitcher = {
                            "X": 0,
                            "Y": 1,
                            "Z": 2
                            }
            
            axisIndex = axisSwitcher.get(data["axis"])
            constantP = data["p"]
            constantI = data["i"]
            constantD = data["d"]
            
            pidLevel = data["pid"]
            
            if pidLevel == "ang-speed":            
                self._controller.alterPidAnglesSpeedConstants(axisIndex, constantP, constantI, constantD)
                
            elif pidLevel == "angles":
                self._controller.alterPidAnglesConstants(axisIndex, constantP, constantI, constantD)
                
            else: #accel
                self._controller.alterPidAccelConstants(axisIndex, constantP, constantI, constantD)
         
        elif message["key"] == "read-drone-config":

            config = Configuration.getInstance().getConfig()
            self._send(message["key"], config)
            
        elif message["key"] == "read-drone-state":
            
            state = self._controller.readState()
            self._send(message["key"], state.__dict__)

开发者ID:dpm76，项目名称:eaglebone，代码行数:93，代码来源:dispatching.py

注：本文中的config.Configuration.getInstance方法示例由纯净天空整理自Github/MSDocs等开源代码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。

示例1: __init__

示例2: __init__

示例3: __init__

示例4: _dispatch

示例5: _dispatch

示例1: init

示例2: init

示例3: init