本文整理汇总了Python中pprzlink.ivy.IvyMessagesInterface.unsubscribe_all方法的典型用法代码示例。如果您正苦于以下问题：Python IvyMessagesInterface.unsubscribe_all方法的具体用法？Python IvyMessagesInterface.unsubscribe_all怎么用？Python IvyMessagesInterface.unsubscribe_all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pprzlink.ivy.IvyMessagesInterface的用法示例。
在下文中一共展示了IvyMessagesInterface.unsubscribe_all方法的1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: MagCalibrator
# 需要导入模块: from pprzlink.ivy import IvyMessagesInterface [as 别名]
# 或者: from pprzlink.ivy.IvyMessagesInterface import unsubscribe_all [as 别名]
class MagCalibrator(object):
def __init__(self, plot_results=True, verbose=False):
self._interface = IvyMessagesInterface("calib_mag")
self.plotter = MagPlot()
self.data = []
self.flt_meas = []
self.p0 = np.array([0, 0, 0, 0, 0, 0])
self.optimization_done = False
self.plot_results = plot_results
def start_collect(self):
self._interface.subscribe(self.message_recv, "(.*IMU_MAG_RAW.*)")
def stop_collect(self):
self._interface.unsubscribe_all()
def message_recv(self, ac_id, msg):
self.data.append(np.array([int(v) for v in msg.fieldvalues]))
if self.plot_results:
self.plotter.add_data((map(int, msg.fieldvalues)))
def shutdown(self):
if self._interface is not None:
print("Shutting down ivy interface...")
self._interface.shutdown()
self._interface = None
def __del__(self):
self.shutdown()
def calc_min_max_guess(self):
if len(self.data) > 3:
# filter out noisy measurements?
self.flt_meas = np.array(self.data)
self.p0 = calibration_utils.get_min_max_guess(self.flt_meas, 1.0)
def print_min_max_guess(self):
self.calc_min_max_guess()
if self.data:
print("Current guess from %d measurements: neutral [%d, %d, %d], scale [%.3f, %.3f, %.3f]" % (len(self.flt_meas),
int(round(self.p0[0])), int(round(self.p0[1])), int(round(self.p0[2])),
self.p0[3]*2**11, self.p0[4]*2**11, self.p0[5]*2**11))
def calibrate(self):
self.calc_min_max_guess()
if len(self.flt_meas) < 10:
logging.warning("Not enough measurements")
return
cp0, np0 = calibration_utils.scale_measurements(self.flt_meas, self.p0)
logging.info("initial guess : avg "+str(np0.mean())+" std "+str(np0.std()))
calibration_utils.print_xml(self.p0, "MAG", 11)
def err_func(p, meas, y):
cp, np = calibration_utils.scale_measurements(meas, p)
err = y * scipy.ones(len(meas)) - np
return err
p1, cov, info, msg, success = optimize.leastsq(err_func, self.p0[:], args=(self.flt_meas, 1.0), full_output=1)
self.optimization_done = success in [1, 2, 3, 4]
if not self.optimization_done:
logging.warning("Optimization error: ", msg)
cp1, np1 = calibration_utils.scale_measurements(self.flt_meas, p1)
if self.optimization_done:
logging.info("optimized guess : avg " + str(np1.mean()) + " std " + str(np1.std()))
calibration_utils.print_xml(p1, "MAG", 11)
else:
logging.info("last iteration of failed optimized guess : avg " + str(np1.mean()) + " std " + str(np1.std()))
if self.plot_results:
calibration_utils.plot_results("MAG", np.array(self.data), range(len(self.data)),
self.flt_meas, cp0, np0, cp1, np1, 1.0, blocking=False)
calibration_utils.plot_mag_3d(self.flt_meas, cp1, p1)