def stop():
print('stopping')
# send a short burst if some of them don't arrive
for i in range(10):
pedalPositionRequest = messages.opendlv_proxy_PedalPositionRequest()
pedalPositionRequest.position = 0
session.send(1086, pedalPositionRequest.SerializeToString())
time.sleep(0.1)
print('waitForCar -> waitAtIntersection', seeCar,
time.time() - startedWaitingTime)
state = 'waitAtIntersection'
if state == "waitAtIntersection":
pedalPosition = 0
groundSteering = steeringOffset
if not seeCar and time.time() - startedWaitingTime > waitTimeout:
print('waitAtIntersection -> continueAfterIntersection')
state = "continueAfterIntersection"
if state == "continueAfterIntersection":
if steer == None:
continue
pedalPosition = calcPedalPosition(steer)
groundSteering = calcGroundSteering(steer)
if not seeIntersection:
totalSteer = 0
print('continueAfterIntersection -> drive')
state = "drive"
groundSteeringRequest = messages.opendlv_proxy_GroundSteeringRequest()
groundSteeringRequest.groundSteering = groundSteering
session.send(1090, groundSteeringRequest.SerializeToString())
pedalPositionRequest = messages.opendlv_proxy_PedalPositionRequest()
pedalPositionRequest.position = pedalPosition
session.send(1086, pedalPositionRequest.SerializeToString())