def process_lidar(lidar_data):
""" process the lidar image """
if not SCHEDULER.is_lidar_enable():
return
if SCHEDULER.is_lidar_occupied() or TURTLE.is_occupied():
return
state = SCHEDULER.get_state()
if SCHEDULER.debug_option["show_timer"] and (state != "construction"):
SCHEDULER.check_time("lidar", min=0.4, stop_when_delay=False)
set_lidar_values(lidar_data)
state = SCHEDULER.get_state()
front = get_object_distance("front")
if (front < 0.15) and (front > 0):
TURTLE.stop()
return
if state is "default":
leftside = get_object_distance("leftside")
print(leftside)
if (leftside < 0.35) and (leftside > 0):
rospy.Timer(rospy.Duration(5),
SCHEDULER.release_lidar_occupied,
oneshot=True)
SCHEDULER.set_state("to_construction")
return
elif state is "to_construction":
leftside = get_object_distance("leftside")
print("to_construction: " + str(leftside))
if (leftside < 0.35) and (leftside > 0):
SCHEDULER.set_state("construction")
return
# rospy.Timer(
# rospy.Duration(0.15), SCHEDULER.release_lidar_occupied, oneshot=True
# )
# process_construction()
elif state is "construction":
process_construction()
elif state is "parking":
process_parking()
def process_lidar(lidar_data):
""" process the lidar image """
if not SCHEDULER.is_lidar_enable():
return
if SCHEDULER.is_lidar_occupied() or TURTLE.is_occupied():
return
state = SCHEDULER.get_state()
if SCHEDULER.debug_option["show_timer"] and (state != "construction"):
SCHEDULER.check_time("lidar", min=0.4, stop_when_delay=False)
set_lidar_values(lidar_data)
state = SCHEDULER.get_state()
front = get_object_distance("front")
if (front < 0.15) and (front > 0):
TURTLE.stop()
return
# if STEP >= 10:
# process_parking()
# else:
# process_construction()
# return
if state is "intersection_left":
left = get_object_distance("left")
if (left > 0) and (left < 0.50):
TURTLE.set_speed("slow")
SCHEDULER.set_state("to_construction")
elif state is "to_construction":
rospy.Timer(rospy.Duration(0.15),
SCHEDULER.release_lidar_occupied,
oneshot=True)
process_construction_new()
elif state is "construction":
process_construction_new()
elif state is "parking":
process_parking()
elif state is "tunnel":
process_tunnel()
