def __init__(self): cfg.initConfig() self.robotIP = cfg.getVal("ROBOTINFO", "IP") self.streamAddress = "http://%s:%s%s" % ( self.robotIP, cfg.getVal("ROBOTINFO", "STREAMPORT"), cfg.getVal("ROBOTINFO", "STREAMNAME"), ) self.shouldCollectFrame = boolTrans.get(cfg.getVal("ROBOTMODE", "COLLECTFRAME"), True) self.shouldRunFeet = boolTrans.get(cfg.getVal("ROBOTMODE", "RUNFEET"), True) self.manualMode = boolTrans.get(cfg.getVal("ROBOTMODE", "MANUAL"), False) self.shouldShowContour = boolTrans.get(cfg.getVal("ROBOTMODE", "SHOWCONTOUR"), False) self.blinkTime = float(cfg.getVal("DURATION", "BLINKTIME")) movingModule = cfg.getVal("MOVINGALG", "MODULE") movingClass = cfg.getVal("MOVINGALG", "CLASS") self.movingAlg = getattr(import_module(movingModule), movingClass) self.showInfo()
def __init__(self): configer.initConfig() self.TIME_UNIT = float( configer.getVal('CONSTANTS', 'TIME_UNIT')) self.FORWARD_MARGIN = int( configer.getVal('CONSTANTS', 'FORWARD_MARGIN')) self.MOVEON_MARGIN = int( configer.getVal('CONSTANTS', 'MOVEON_MARGIN')) self.CENTRAL_MARGIN = int( configer.getVal('CONSTANTS', 'CENTRAL_MARGIN')) self.SAVE_MARGIN_PERCENT = float(configer.getVal('CONSTANTS','SAVE_MARGIN_PERCENT')) self.TURN_STEP_TIME = int(configer.getVal('CONSTANTS','TURN_STEP_TIME')) self.HIGH_VARIANCE_MARGIN_PERCENT = float(configer.getVal('CONSTANTS','HIGH_VARIANCE_MARGIN_PERCENT')) self.STEP_TURN_MARGIN_PERCENT = float(configer.getVal('CONSTANTS','STEP_TURN_MARGIN_PERCENT'))