t1 = t def run_planner(self): """Start planner in a distinguish process """ self.process = Process(target=self.force_planner_solution) self.process.start() while not self.process.is_alive(): continue def shutdown_planner(self): """Terminate process and clear other stuff """ self.process.terminate() self.log.debug("Planner process was terminated") if __name__ == '__main__': planner = ForcePlanner() planner.run_planner() robot = Manager().Namespace() robot.Xg = [1.0, 2.0, 3.0] robot.dXg = [0, 0, 0] robot.F_cur = 30 robot.Fd_ideal = 900 planner.set_cur_state(robot) sleep(2) print(planner.get_new_state()) planner.shutdown_planner() print("Done")