# limitations under the License.
"""vehicle_driver_altino controller."""
from vehicle import Driver
sensorMax = 1000
driver = Driver()
basicTimeStep = int(driver.getBasicTimeStep())
sensorTimeStep = 4 * basicTimeStep
front_left_sensor = driver.getDistanceSensor('front_left_sensor')
front_center_sensor = driver.getDistanceSensor('front_center_sensor')
front_right_sensor = driver.getDistanceSensor('front_right_sensor')
headlights = driver.getLED("headlights")
backlights = driver.getLED("backlights")
keyboard = driver.getKeyboard()
keyboard.enable(sensorTimeStep)
front_left_sensor.enable(sensorTimeStep)
front_center_sensor.enable(sensorTimeStep)
front_right_sensor.enable(sensorTimeStep)
side_left_sensor = driver.getDistanceSensor('side_left_sensor')
side_right_sensor = driver.getDistanceSensor('side_right_sensor')
back_sensor = driver.getDistanceSensor('back_sensor')
side_left_sensor.enable(sensorTimeStep)
side_right_sensor.enable(sensorTimeStep)
emergency_message = struct.pack("?", mode)
emitter.send(emergency_message)
if not red.get():
red.set(1)
blue.set(0)
else:
red.set(0)
blue.set(1)
if __name__ == '__main__':
# get driver instance
driver = Driver()
# set speed of the vehicle
driver.setCruisingSpeed(100)
speaker = driver.getSpeaker("Siren")
# led sensor
red = driver.getLED("red")
red.set(0)
blue = driver.getLED("blue")
blue.set(0)
# Emitter sensor to provide communication
emitter = driver.getEmitter("emitter")
path = "sounds/AmbulanceSiren.wav"
path = os.path.abspath(path)
file = os.path.isfile(path)
main()