def main():
rospy.init_node('test_epc')
pg.init()
screen = pg.display.set_mode((300,300))
test_gen = TestEPGenerator(100)
test_epc = EPC('test_epc')
# wait for keys p for pause and s for stop
test_epc.last_time = rospy.get_time()
def keyboard_cb(timer_event):
pg.event.get()
keys = pg.key.get_pressed()
if keys[pg.K_s] or keys[pg.K_q]:
test_epc.stop_epc = True
if keys[pg.K_p] and rospy.get_time() - test_epc.last_time > 0.3:
test_epc.pause_epc = not test_epc.pause_epc
test_epc.last_time = rospy.get_time()
Timer(rospy.Duration(0.1), keyboard_cb)
test_epc.epc_motion(test_gen, 0.1, 10)
