import threading
import atexit
from Debug import Debug
# if vlsDebugEnabled
if Debug.isDebugEnabled():
javalcm = True
from lcm.lcm import LCM
from lcm.lcm import LCMSubscriber
from VLS import VLSLauncher
else:
import lcm
javalcm = False
from asvlcm import motor_t, vehicleState_t, desired_t, controlState_t, auxAct_t, auxAdc_t, kill_t, kill_status_t, \
console_t, processedScene_t, visionCommand_t, const_t, buoyMap_t, colorinit_t, desiredPath_t, pinger_t, controlSource_t
from asvPylib.timing import get_utime
from asvPylib import Location
from math import sin, cos, radians
from asvPylib.conversion import rotated
if javalcm:
controllersuperclass = LCMSubscriber
else:
controllersuperclass = object
class LCMreceiver(LCMSubscriber if javalcm else object):
'''
This is the LCM message handler for use in missions.
Openchannel(self, channel_struct())
