def init_crew (self):
'''
method to initialize the various crew on the boat
'''
print ('initializing crew')
# hardware crew
self.gps_listener = gps_listener (bs = self.bs, pars = self.pars)
self.system_health_listener = system_health_listener (bs = self.bs, pars = self.pars)
self.imu_listener = imu_listener (bs = self.bs, pars = self.pars)
self.wdir_listener = wdir_listener (bs = self.bs, pars = self.pars)
self.bs_logger = bs_logger (bs = self.bs, pars = self.pars)
# sailing crew
self.arduino_commander = arduino_commander (bs = self.bs, pars = self.pars)
self.helm = helm (bs = self.bs, pars = self.pars)
self.trimmer = trimmer (bs = self.bs, pars = self.pars)
self.skipper = skipper (bs = self.bs, pars = self.pars,
arduino_commander = self.arduino_commander,
helm = self.helm, trimmer = self.trimmer)
# navigation crew
self.geofencer = geofencer (bs = self.bs, pars = self.pars)
self.waypointer = waypointer (bs = self.bs, pars = self.pars)
self.navigator = navigator (bs = self.bs, pars = self.pars, geofencer = self.geofencer,
waypointer = self.waypointer)
# human interface
self.state_plotter = state_plotter (bs = self.bs, pars = self.pars, geofencer = self.geofencer,
waypointer = self.waypointer)
self.human_interface = human_interface (bs = self.bs, pars = self.pars,
restart_callback = self.restart, stop_callback = self.stop,
nav_callback = self.navigator.human_callback, state_plotter = self.state_plotter)
return
def __init__(self):
"""
constructor sets up analyzer and kills the subprocess
"""
self.pars = boat_pars()
self.boatstate = boatstate() # full boatstate
self.bs = self.boatstate.bs # bs dict
self.wdir_listener = wdir_listener(bs=self.boatstate, pars=self.pars)
# now try to kill the wdir_daemon subprocess
try:
self.wdir_listener.wdir.kill()
except:
pass
return
