def __init__(self, sockets):
logfile = user_data_dir + sep + 'ICARUS.log'
log_config(filename=logfile,
level=DEBUG,
format='%(asctime)s - %(levelname)s: %(message)s')
log_info('icarus starting up')
self.setpoints = [0.0, 0.0, 2.0] # x, y, z
self.flight_time = 0
self.icarus_takeover = False
self.emergency_land = False
self.factory = ICARUS_MissionFactory
self.fsm = FlightSM(self.error, self.broadcast, self.takeoff,
self.land, self.move, self.stop)
self.landing_spots = LandingSpots(3.0)
self.pilot = PilotInterface(sockets['pilot'], sockets['mon'])
#self.gps_shifter = GPS_Shifter()
self.state_emitter = StateEmitter(sockets['state'])
self.powerman = PowerMan(sockets['power_ctrl'], sockets['power_mon'])
start_daemon_thread(self.power_state_monitor)
start_daemon_thread(self.state_time_monitor)
start_daemon_thread(self.pilot_monitor)
self.activity = DummyActivity()
self.activity.start()
self.icarus_srv = ICARUS_Server(sockets['ctrl'], self)
self.icarus_srv.start()
log_info('icarus up and running')
