def onStart(self):
# Set up socket for emitting fake tag messages
s = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)
s.bind(("", 0))
self.sock = s
# Set up the sensor receiver plan
self.sensor = SensorPlanTCP(self, server=self.srvAddr[0])
self.sensor.start()
self.timeForStatus = self.onceEvery(1)
self.timeForLaser = self.onceEvery(1 / 15.0)
self.timeForFrame = self.onceEvery(1 / 20.0)
self.timeForFilter = self.onceEvery(1.0 / 10.0)
progress("Using %s:%d as the waypoint host" % self.srvAddr)
self.T0 = self.now
# Setup autonomous mode timer
self.timeForAuto = self.onceEvery(1)
self.auto = False
self.core = Core(Mode.SIMULATION, self)
self.robSim = RedRobotSim(self.core, fn=None)
self.core.setSim(self.robSim)
self.core.start()
self.startedFilter = False
