async def send_kills(self):
while True:
if self.home_page_connection is None:
js = Joystick()
js.kill = True
js.forward_back = 0
js.left_right = 0
self.lcm_.publish("/drive_control", js.encode())
await asyncio.sleep(0.5)
def __init__(self): # other args if ya want em
# all initially defined variables should be here
# while not technically globals, this is basically where they are
# defined for the sim, since the entire instance is the SimMetaClass
Obstacles = []
Waypoints = []
Tennis_Balls = []
# below: class list, one class for each message type
# published or recieved. instantiate them at the bottom
# of this message definition block
# use the provided imported classes and dump these later
# you still need to set all the defaults
self.NavStatusMsg = NavStatus()
self.JoystickMsg = Joystick()
# self.GPSMsg = GPS()
# self.BearingMsg = Bearing()
self.GPSMsg = GPS()
self.ObstacleMsg = Obstacle()
self.TennisBallMsg = TennisBall()
self.CourseMsg = Course()
self.AutonStateMsg = AutonState()
self.NavStatusMsg.nav_state = 0
self.NavStatusMsg.completed_wps = 0
self.NavStatusMsg.missed_wps = 0
self.NavStatusMsg.total_wps = 0
self.JoystickMsg.forward_back = 0
self.JoystickMsg.left_right = 0
self.JoystickMsg.dampen = 0
self.GPSMsg.latitude_deg = 39
self.GPSMsg.latitude_min = 0
self.GPSMsg.longitude_deg = -110
self.GPSMsg.longitude_min = 0
self.GPSMsg.bearing = 0
self.GPSMsg.speed = -999 # this value is never used
# so it's being set to a dummy value. DO NOT USE IT
self.ObstacleMsg.detected = 0
self.ObstacleMsg.bearing = 0
self.TennisBallMsg.found = 0
self.TennisBallMsg.bearing = 0
self.TennisBallMsg.distance = 0
self.CourseMsg.num_waypoints = 0
self.CourseMsg.hash = 0
self.CourseMsg.waypoints = []
self.AutonStateMsg.is_auton = False
async def transmit_fake_joystick():
while True:
new_joystick = Joystick()
new_joystick.forward_back = random.uniform(-1, 1)
new_joystick.left_right = random.uniform(-1, 1)
new_joystick.dampen = random.uniform(-1, 1)
new_joystick.kill = False
new_joystick.restart = False
with await lock:
lcm_.publish('/joystick', new_joystick.encode())
print("Published new joystick\nfb: {} lr: {}"
.format(new_joystick.forward_back, new_joystick.left_right))
await asyncio.sleep(0.5)