def run_controller(self):
"""Start controller in a distinguish process
"""
self.process = Process(target=self.vel_control)
self.process.start()
while not self.process.is_alive():
continue
def shutdown_controller(self):
"""Terminate process and clear other stuff
"""
self.process.terminate()
self.log.debug("Controller process was terminated")
if __name__ == '__main__':
controller = VelocityController()
controller.run_controller()
planner_data = Manager().Namespace()
planner_data.Xd = [1.0, 2.0, 3.0]
planner_data.dXd = [0, 0, 1]
robot_data = Manager().Namespace()
robot_data.X_cur = [1, 5, 3, 4, 5, 6]
controller.set_cur_state(planner_data, robot_data)
sleep(2)
print(controller.get_new_velocity())
controller.shutdown_controller()
print("Done")