Minor optimizations; now using set_angle() to manipulate all servos

src/modules/logic.py

@@ -1,21 +1,19 @@
 
 import logging, socket, time, modules.calc
 from .control_thread import StoppableThread
+from .utils import SocketType
 
 logger = logging.getLogger('log')
 
 class LogicThread(StoppableThread):
 
-    data = None
-    values = None
+    data = values = None
 
     def __init__(self, *args, **kwargs):
         super(LogicThread, self).__init__(*args, **kwargs)
 
-        global data
+        global data, values
         data = self._kwargs['data']
-
-        global values
         values = self._kwargs['values']
 
     def station_keeping(self):
@@ -36,7 +34,6 @@ def run(self):
         values['start_time'] = time.time()
 
         while True:
-
             if self.stopped():
                 break
 
@@ -145,7 +142,7 @@ def turn_rudder(self):
         values['rudder_angle'] = a * (values['max_rudder_angle'] / values['max_turn_rate_angle'])
 
         logger.debug('Set the rudder angle to: %f' % values['rudder_angle'])
-        self._kwargs['data_thread'].set_rudder_angle(values['rudder_angle'])
+        self._kwargs['data_thread'].set_angle(values['rudder_angle'], SocketType.rudder)
 
     def turn_winch(self):
         a = data['wind_dir']
@@ -164,4 +161,4 @@ def turn_winch(self):
         values['winch_angle'] = 80 - 40 * (a / (180 - values['gybe_angle'] - values['tack_angle']))
 
         logger.debug('Set the winch angle to: %f' % values['winch_angle'])
-        self._kwargs['data_thread'].set_winch_angle(values['winch_angle'])
+        self._kwargs['data_thread'].set_angle(values['winch_angle'], SocketType.winch)