belt.py 文件源码

def __init__(self, servo_group, event, belt_speed, frequency,
                 mqtt_client, master_shadow, args=(), kwargs={}):
        super(BeltControlThread, self).__init__(
            name="belt_control_thread", args=args, kwargs=kwargs
        )
        self.sg = servo_group
        self.rolling = False
        self.cmd_event = event
        self.belt_speed = belt_speed
        self.frequency = frequency
        self.reversed = False
        self.active_state = 'initialized'
        self.last_state = 'initialized'
        self.control_stages = collections.OrderedDict()
        self.control_stages['roll'] = self.roll
        self.mqttc = mqtt_client
        self.master_shadow = master_shadow

        self.master_shadow.shadowRegisterDeltaCallback(self.shadow_mgr)
        log.debug("[bct.__init__] shadowRegisterDeltaCallback()")