if len(tmp_mps) == 1: mp_obj_dict[notify_data["object_id"]].data_update( tmp_mps[0]) else: #TODO pass s.close() notify_s.close() if __name__ == "__main__": dbus.mainloop.glib.DBusGMainLoop(set_as_default=True) dbus.mainloop.glib.threads_init() gobject.threads_init() bus = dbus.SystemBus() base_name = dbus.service.BusName(BASE_IFACE, bus) dbus_loop = gobject.MainLoop() change_monitor_srv = Thread(target=change_monitor, args=[bus]) change_monitor_srv.damon = True change_monitor_srv.start() print("Zatel Dbus service is up and running...") try: dbus_loop.run() except KeyboardInterrupt: flag_quit = True change_monitor_srv.join()
} landing_para = {'marks': ['r', 'g', 'b'], 'r': [0, 10], 'g': [60, 10], 'b': [120, 10], 'img_h': 240, 'img_w': 320, 'height_coeff': 18.7, 'x_coeff': 1, 'y_coeff': 1, 'c_pid': {'g': 0, 'p': 0.5, 'i': 0.0, 'd': 0.0, 'n': -1}, 'xy_pid': {'g': 0, 'p': 0.4, 'i': 0.0, 'd': 0.0, 'n': -1}, 'y_pid': {'g': 0, 'p': 0.4, 'i': 0.0, 'd': 0.0, 'n': -1}, 'z_pid': {'g': 0.5, 'p': 0.6, 'i': 0.0, 'd': 0.0, 'n': -1} } if __name__ == '__main__': global node node = talkerNode(station_para, landing_para) def stop_server(*args, **kwargs): os.kill(os.getpid(), 9) signal.signal(signal.SIGINT, stop_server) server = Thread(target=httpserver) server.damon = True server.start() #webbrowser.open('http://127.0.0.1:5000') #app.run(host='0.0.0.0', port=5000, debug= True) #worker = Thread(target=node.talk);worker.start() #wserver.serve_forever() node.talk()