def main():
velocities = (0.3, 0.3, 0.3) # m/s
max_alt = 3000 # mm
tag_timeout = 15 # seconds
prev_state_timeout = 5 # seconds
reacquisition = Reacquisition(velocities, max_alt, tag_timeout, prev_state_timeout)
rate = rospy.Rate(10) # 10 Hz
rospy.loginfo("Started Reacquisition Mode")
while not rospy.is_shutdown():
# print reacquisition.transition_in
if(state == 'reacquisition'):
reacquisition.move()
# if(reacquisition.timer() > reacquisition.max_time):
# reacquisition.land()
rate.sleep()
takeoff = Takeoff(takeoff_speed, takeoff_max_alt, takeoff_timeout) # Takeoff Mode Instantiation emergency = Emergency() # Take Picture Mode Instantiation takepicture_time = 300 # seconds # takepicture_max_time = 3 # seconds takepicture = TakePicture(takepicture_time) # Reacquisition Mode Instantiation reac_velocities = (0.3, 0.3, 0.3) # m/s reac_max_alt = 3000 # mm reac_tag_timeout = 15 # seconds reac_prev_state_timeout = 5 # seconds reac = Reacquisition(reac_velocities, reac_max_alt, reac_tag_timeout, reac_prev_state_timeout) # follow = Follow() # Create the timers to transition to Reacquisition mode # takeoff_to_reac_timer = rospy.Timer(rospy.Duration(takeoff_to_reac_timeout), goto_reacquisition) # land_to_reac_timer = rospy.Timer(rospy.Duration(land_to_reac_timeout), goto_reacquisition) # follow_to_reac_timer = rospy.Timer(rospy.Duration(follow_to_reac_timeout), goto_reacquisition) smach = Smach() # TODO: Test all of this # The start of it all # def main(): takeoff.turn_off_timer(takeoff.timer, 'Takeoff') land.turn_off_timer(land.timer, 'Land') reac.turn_off_timer(reac.prev_state_timer, 'Reac prev state')
takeoff = Takeoff(takeoff_speed, takeoff_max_alt, takeoff_timeout)
# Takeoff Mode Instantiation
emergency = Emergency()
# Take Picture Mode Instantiation
takepicture_time = 300 # seconds
# takepicture_max_time = 3 # seconds
takepicture = TakePicture(takepicture_time)
# Reacquisition Mode Instantiation
reac_velocities = (0.3, 0.3, 0.3) # m/s
reac_max_alt = 3000 # mm
reac_tag_timeout = 15 # seconds
reac_prev_state_timeout = 5 # seconds
reac = Reacquisition(reac_velocities, reac_max_alt, reac_tag_timeout,
reac_prev_state_timeout)
# follow = Follow()
# Create the timers to transition to Reacquisition mode
# takeoff_to_reac_timer = rospy.Timer(rospy.Duration(takeoff_to_reac_timeout), goto_reacquisition)
# land_to_reac_timer = rospy.Timer(rospy.Duration(land_to_reac_timeout), goto_reacquisition)
# follow_to_reac_timer = rospy.Timer(rospy.Duration(follow_to_reac_timeout), goto_reacquisition)
smach = Smach()
# TODO: Test all of this
# The start of it all
# def main():
takeoff.turn_off_timer(takeoff.timer, 'Takeoff')
land.turn_off_timer(land.timer, 'Land')
reac.turn_off_timer(reac.prev_state_timer, 'Reac prev state')
