How to use run_callback method in lisa

Best Python code snippet using lisa_python

drone_pid.py

Source:drone_pid.py

...95    # If tuning roll, then also initialize gain values for roll PID controller96    roll_params   = {'tau_p': 0, 'tau_d': 0, 'tau_i': 0}97    98    # Call run_callback, passing in the dicts of thrust and roll gain values99    hover_error, max_allowed_velocity, drone_max_velocity, max_allowed_oscillations, total_oscillations = run_callback(thrust_params, roll_params, VISUALIZE=VISUALIZE)100    101    # Calculate best_error from above returned values102    best_error = None103    104    # Implement your code to use twiddle to tune the params and find the best_error105    106    # Return the dict of gain values that give the best error.107    108    return thrust_params, roll_params109def find_parameters_with_int(run_callback, tune='thrust', DEBUG=False, VISUALIZE=False): 110    '''111    Student implementation of twiddle algorithm will go here. Here you can focus on 112    tuning gain values for Thrust test case with Integral error113    114    Args:115    run_callback: A handle to DroneSimulator.run() method. You should call it with your116                PID gain values that you want to test with. It returns an error value that indicates 117                how well your PID gain values followed the specified path.118        119    tune: This will be passed by the test harness. 120            A value of 'thrust' means you only need to tune gain values for thrust. 121            A value of 'both' means you need to tune gain values for both thrust and roll.122    123    DEBUG: Whether or not to output debugging statements during twiddle runs124    VISUALIZE: Whether or not to output visualizations during twiddle runs125    126    Returns:127        tuple of the thrust_params, roll_params:128            thrust_params: A dict of gain values for the thrust PID controller129              thrust_params = {'tau_p': 0.0, 'tau_d': 0.0, 'tau_i': 0.0}130            roll_params: A dict of gain values for the roll PID controller131              roll_params   = {'tau_p': 0.0, 'tau_d': 0.0, 'tau_i': 0.0}132    '''133    134    # Initialize a list to contain your gain values that you want to tune, e.g.,135    params = [0,0,0]136    137    # Create dicts to pass the parameters to run_callback138    thrust_params = {'tau_p': params[0], 'tau_d': params[1], 'tau_i': params[2]}139    140    # If tuning roll, then also initialize gain values for roll PID controller141    roll_params   = {'tau_p': 0, 'tau_d': 0, 'tau_i': 0}142    143    # Call run_callback, passing in the dicts of thrust and roll gain values144    hover_error, max_allowed_velocity, drone_max_velocity, max_allowed_oscillations, total_oscillations = run_callback(thrust_params, roll_params, VISUALIZE=VISUALIZE)145    146    # Calculate best_error from above returned values147    best_error = None148    149    # Implement your code to use twiddle to tune the params and find the best_error150    151    # Return the dict of gain values that give the best error.152    153    return thrust_params, roll_params154def find_parameters_with_roll(run_callback, tune='both', DEBUG=False, VISUALIZE=False): 155    '''156    Student implementation of twiddle algorithm will go here. Here you will 157    find gain values for Thrust as well as Roll PID controllers.158    159    Args:160    run_callback: A handle to DroneSimulator.run() method. You should call it with your161                PID gain values that you want to test with. It returns an error value that indicates 162                how well your PID gain values followed the specified path.163        164    tune: This will be passed by the test harness. 165            A value of 'thrust' means you only need to tune gain values for thrust. 166            A value of 'both' means you need to tune gain values for both thrust and roll.167    168    DEBUG: Whether or not to output debugging statements during twiddle runs169    VISUALIZE: Whether or not to output visualizations during twiddle runs170    171    Returns:172        tuple of the thrust_params, roll_params:173            thrust_params: A dict of gain values for the thrust PID controller174              thrust_params = {'tau_p': 0.0, 'tau_d': 0.0, 'tau_i': 0.0}175            roll_params: A dict of gain values for the roll PID controller176              roll_params   = {'tau_p': 0.0, 'tau_d': 0.0, 'tau_i': 0.0}177    '''178    # Initialize a list to contain your gain values that you want to tune, e.g.,179    params = [0,0,0]180    181    # Create dicts to pass the parameters to run_callback182    thrust_params = {'tau_p': params[0], 'tau_d': params[1], 'tau_i': params[2]}183    184    # If tuning roll, then also initialize gain values for roll PID controller185    roll_params   = {'tau_p': 0, 'tau_d': 0, 'tau_i': 0}186    187    # Call run_callback, passing in the dicts of thrust and roll gain values188    hover_error, max_allowed_velocity, drone_max_velocity, max_allowed_oscillations, total_oscillations = run_callback(thrust_params, roll_params, VISUALIZE=VISUALIZE)189    190    # Calculate best_error from above returned values191    best_error = None192    193    # Implement your code to use twiddle to tune the params and find the best_error194    195    # Return the dict of gain values that give the best error.196    197    return thrust_params, roll_params198def who_am_i():199    # Please specify your GT login ID in the whoami variable (ex: jsmith322).200    whoami = ''...

indiclient.py

Source:indiclient.py

...31    def device_names(self):32        return [d.getDeviceName() for d in self.getDevices()]33    def newDevice(self, d):34        device = Device(d.getDeviceName(), self)35        self.run_callback('on_new_device', device)36    def removeDevice(self, d):37        self.run_callback('on_device_removed', d.getDeviceName())38    def newProperty(self, p):39        self.run_callback('on_new_property', device=p.getDeviceName(), group=p.getGroupName(), property_name=p.getName())40    def removeProperty(self, p):41        self.run_callback('on_remove_property', p)42    def newBLOB(self, bp):43        self.run_callback('on_new_blob', bp)44    def newSwitch(self, svp):45        self.run_callback('on_new_switch', svp)46    def newNumber(self, nvp):47        self.run_callback('on_new_number', nvp)48    def newText(self, tvp):49        self.run_callback('on_new_text', tvp)50    def newLight(self, lvp):51        self.run_callback('on_new_light', lvp)52    def newMessage(self, d, m):53        device = Device(d.getDeviceName(), self)54        message = device.get_queued_message(m)55        self.run_callback('on_new_message', device, message)56    def serverConnected(self):57        self.run_callback('on_server_connected')        58    def serverDisconnected(self, code):59        self.run_callback('on_server_disconnected', code)60    def run_callback(self, name, *args, **kwargs):61        callback = self.callbacks.get(name)62        if callback:63            callback(*args, **kwargs)64    def __devices_by_interface(self, interface):65        return [x.name for x in self.devices() if interface in x.interfaces]66 67    def __str__(self):68        return 'INDI client connected to {0}:{1}'.format(self.host, self.port)69    def __repr__(self):...

__init__.py

Source:__init__.py

1from ..core.context import Context2from ..util import BaseList3from typing import Union, Sequence4class Callback():5    """6    Callback for running operations(training, evaluation, prediction, etc.).7    """8    def __init__(self):9        super().__init__()10    def begin(self, ctx: Context):11        pass12    def end(self, ctx: Context):13        pass14    def step_begin(self, ctx: Context):15        pass16    17    def step_end(self, ctx: Context):18        pass19    def epoch_begin(self, ctx: Context):20        pass21    def epoch_end(self, ctx: Context):22        pass23# callback or sequence of callbacks24C_SEQ = Union[Callback, Sequence[Callback]]25class CallbackContainer(Callback, BaseList):26    """27    Maintaining a list that contains callbacks, combination mode.28    """29    def __init__(self, callbacks: C_SEQ = None):30        super().__init__()31        BaseList.__init__(self, callbacks)32    def begin(self, ctx: Context):33        for run_callback in self:34            run_callback.begin(ctx)35    36    def end(self, ctx: Context):37        for run_callback in self:38            run_callback.end(ctx)39    40    def step_begin(self, ctx: Context):41        for run_callback in self:42            run_callback.step_begin(ctx)43    44    def step_end(self, ctx: Context):45        for run_callback in self:46            run_callback.step_end(ctx)47    48    def epoch_begin(self, ctx: Context):49        for run_callback in self:50            run_callback.epoch_begin(ctx)51    52    def epoch_end(self, ctx: Context):53        for run_callback in self:...

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