elif time.time() - last_ball_found_time > Constants.HOLD_TARGET_TIME:
odom_table.putBoolean("ball_found", False)
return True
except Empty:
return False
ball_process_manager = ProcessManager(
lambda: D435Process(frame_queue, ball_queue, xyzrpy_value),
ball_update,
)
# main loop
while True:
# get pose
t265_process_manager.update()
odom_table.putBoolean('pose_good', t265_process_manager.is_connected)
# get CV
cv_process_manager.update()
odom_table.putBoolean('target_good', cv_process_manager.is_connected)
ball_process_manager.update()
odom_table.putBoolean('ball_good', ball_process_manager.is_connected)
# handshake
odom_table.putNumber('client_time', time.time())
# update camera server
camera_server.set_output(odom_table.getString("video_output", ""))
try:
