arm.py 文件源码

def __init__(self, servo_group, event, stage_topic, mqtt_client,
                 master_shadow, args=(), kwargs={}):
        super(ArmControlThread, self).__init__(
            name="arm_control_thread", args=args, kwargs=kwargs
        )
        self.sg = servo_group
        log.debug("[act.__init__] servo_group:{0}".format(self.sg))
        self.cmd_event = event
        self.active_state = 'initialized'
        self.last_state = 'initialized'
        self.control_stages = collections.OrderedDict()
        self.control_stages['home'] = self.home
        self.control_stages['find'] = self.find
        self.control_stages['pick'] = self.pick
        self.control_stages['sort'] = self.sort
        self.stage_topic = stage_topic
        self.mqtt_client = mqtt_client
        self.master_shadow = master_shadow
        self.found_box = None

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