def rgt():
cont = True
current_target = Target()
current_target.local_velocity = (current_target.local_velocity[0],
speed_linear)
data = pickle.dumps(current_target)
clientsocket.send(data)
def bck():
cont = True
current_target = Target()
current_target.local_velocity = (-speed_linear,
current_target.local_velocity[1])
data = pickle.dumps(current_target)
clientsocket.send(data)
sleep(2)
if server.command_reset_localisation(expect_response=True, log=True):
print("T - Localisation Reset")
else:
print("T - Localisation Reset Failed")
sleep(2)
if server.command_set_planner(test_planner, expect_response=True, log=True):
print("T - Planner Updated")
else:
print("T - Planner Update Failed")
sleep(2)
for speed in test_speeds:
test_target.local_velocity = speed
server.command_set_target(test_target)
sleep(2)
print("T - Testing rapid target changes")
sleep(3)
for i in range(1,100):
speed = (i/50,0)
test_target.local_velocity = speed
server.command_set_target(test_target)
sleep(0.02)
print("T - Inital Test Complete - testing watchdog")
test_target.local_velocity = (1,0)
server.command_set_target(test_target)