def connect_to_ecm():
stopped = False
s = nav_comm.open_socket2()
ecmt0 = time.time()
counter = 0
g.crashacc = None
while True:
if g.crashacc:
#g.crash = False
if not stopped:
counter = 9
#s.send("crash".encode('ascii'))
print("crash: %f" % g.crash)
g.remote_control = True
#stop()
driving.drive(0)
#speak("ouch")
nav_signal.warningblink(True)
stopped = True
s112 = nav_comm.open_socket3()
sstr = ('accident %f %f %f %s\n' % (
g.ppx, g.ppy, g.crashacc, g.VIN)).encode("ascii")
print(sstr)
s112.send(sstr)
print(sstr)
resp = s112.recv(1024)
print(resp)
resp = resp.decode("ascii")
print(resp)
if True:
resp = json.loads(resp)
print(resp)
say = resp['speak']
else:
say = resp
print(say)
speak(say)
s112.close()
if True:
t = time.time()
if t-ecmt0 > 1.0:
#s.send("bar".encode('ascii'))
g.crashacc = 0.0
if g.crash:
g.crashacc = g.crash
nav_tc.send_to_ground_control(
"message crash %f" % g.crashacc)
s.send(('{"crash":%d, "x":%f, "y":%f, "crashacc":%f}\n' % (
counter, g.ppx, g.ppy, g.crashacc)).encode("ascii"))
ecmt0 = t
time.sleep(0.05)
if counter != 9:
counter = (counter+1)%8
def connect_to_ecm():
stopped = False
s = nav_comm.open_socket2()
ecmt0 = time.time()
counter = 0
g.crashacc = None
while True:
if g.crashacc:
#g.crash = False
if not stopped:
counter = 9
#s.send("crash".encode('ascii'))
print("crash: %f" % g.crash)
g.remote_control = True
#stop()
driving.drive(0)
#speak("ouch")
nav_signal.warningblink(True)
stopped = True
s112 = nav_comm.open_socket3()
sstr = ('accident %f %f %f %s\n' %
(g.ppx, g.ppy, g.crashacc, g.VIN)).encode("ascii")
print(sstr)
s112.send(sstr)
print(sstr)
resp = s112.recv(1024)
print(resp)
resp = resp.decode("ascii")
print(resp)
if True:
resp = json.loads(resp)
print(resp)
say = resp['speak']
else:
say = resp
print(say)
speak(say)
s112.close()
if True:
t = time.time()
if t - ecmt0 > 1.0:
#s.send("bar".encode('ascii'))
g.crashacc = 0.0
if g.crash:
g.crashacc = g.crash
nav_tc.send_to_ground_control("message crash %f" %
g.crashacc)
s.send(('{"crash":%d, "x":%f, "y":%f, "crashacc":%f}\n' %
(counter, g.ppx, g.ppy, g.crashacc)).encode("ascii"))
ecmt0 = t
time.sleep(0.05)
if counter != 9:
counter = (counter + 1) % 8