Python IPConnection.destroy方法代码示例

# 需要导入模块: from tinkerforge.ip_connection import IPConnection [as 别名]
# 或者: from tinkerforge.ip_connection.IPConnection import destroy [as 别名]
class Sensors(object):

    def __init__(self):
     self.__ipcon = IPConnection('localhost', 4223)
     
    def __del__(self):
        self.__ipcon.destroy()
        
    def add(self, pSensor):
        self.__ipcon.add_device(pSensor)
        

# 需要导入模块: from tinkerforge.ip_connection import IPConnection [as 别名]
# 或者: from tinkerforge.ip_connection.IPConnection import destroy [as 别名]
# -*- coding: utf-8 -*-  
# this one creates an array of connected devices called dev
# and acts as enum in standalone mode 

from tinkerforge.ip_connection import IPConnection
from settings import HOST, PORT

dev = []
def cb_enumerate(uid, name, stack_id, is_new):
    
    if is_new:
        print("New device:")
        dev.append([name, uid, stack_id])
    else:
        print("Removed device:")
        for i in dev:
            if i[1] == uid:
                dev.remove(i)
    if __name__ == "__main__":
        print(" Name:     " + name)
        print(" UID:      " + uid)
        print(" Stack ID: " + str(stack_id))
        print("")
     
if __name__ == "__main__":
    ipcon = IPConnection(HOST, PORT) # Create IP connection to brickd
    ipcon.enumerate(cb_enumerate) # Enumerate Bricks and Bricklets

    raw_input('Press key to exit\n') # Use input() in Python 3
    ipcon.destroy()

# 需要导入模块: from tinkerforge.ip_connection import IPConnection [as 别名]
# 或者: from tinkerforge.ip_connection.IPConnection import destroy [as 别名]
class TomIMU:	
	def __init__(self,host,port,uid,callbackPeriodMS=100):
		self.host=host
		self.port=port
		self.uid=uid
		self._imu = IMU(uid) # Create device object
		self._ipcon = IPConnection(self.host,self.port)  # Create IPconnection to brickd
		self._ipcon.add_device(self._imu) # Add device to IP connection
		
		self.ready = True # Don't use device before it is added to a connection
		
		# Set period for quaternion callback (defaults to 100ms)
		self._imu.set_quaternion_period(callbackPeriodMS)
		
		# Register quaternion callback
		self._imu.register_callback(self._imu.CALLBACK_QUATERNION, self._QuaternionCallback)
		
		self._imu.leds_off() # Turn LEDs off.
		self._imu.set_convergence_speed(5) # 5ms convergence.
		
		# Orientation origin and most recent values
		q = self._imu.get_quaternion() # Get a temp quaternion from current pose.
		self.rel_x = q.x
		self.rel_y = q.y
		self.rel_z = q.z
		self.rel_w = q.w
		self.x = q.x
		self.y = q.y
		self.z = q.z
		self.w = q.w
		
	def __destroy__(self):
		self._ipcon.destroy()
	
	def _QuaternionCallback(self, x, y, z, w):
		""" Records the most recent quaternion orientation values. """
		self.x,self.y,self.z,self.w = x,y,z,w
		
	def SetOrientationOrigin(self, origin=None):
		""" Resets the orientation origin to the given values, or the latest reading if none. """
		if origin is None:
			self.rel_x, self.rel_y, self.rel_z, self.rel_w = self.x, self.y, self.z, self.w
		else:
			self.rel_x, self.rel_y, self.rel_z, self.rel_w = origin
	
	def GetEulerOrientation(self):
		x,y,z,w = self.GetQuaternionOrientation()
		from math import atan2, asin
		roll  = atan2(2.0*y*w - 2.0*x*z, 1.0 - 2.0*y*y - 2.0*z*z)
		pitch = atan2(2.0*x*w - 2.0*y*z, 1.0 - 2.0*x*x - 2.0*z*z)
		yaw   =  asin(2.0*x*y + 2.0*z*w)
		return roll,pitch,yaw
	
	def GetQuaternionOrientation(self):
		# Conjugate
		x,y,z = -self.x, -self.y, -self.z
		w = self.w
		# Multiply
		wn = w * self.rel_w - x * self.rel_x - y * self.rel_y - z * self.rel_z
		xn = w * self.rel_x + x * self.rel_w + y * self.rel_z - z * self.rel_y
		yn = w * self.rel_y - x * self.rel_z + y * self.rel_w + z * self.rel_x
		zn = w * self.rel_z + x * self.rel_y - y * self.rel_x + z * self.rel_w
		return xn,yn,zn,wn
	
	def GetConvergenceSpeed(self):
		return self._imu.get_convergence_speed()
	
	def SetConvergenceSpeed(self, speed):
		self._imu.set_convergence_speed(speed)