class Arbiter():
""" Arbiter controls which states are currently active """
def __init__(self):
self.rc_disable = False
self.rc_overridden = True
rospy.init_node('arbiter')
self.sub_rc = rospy.Subscriber('/drone/rc/in', RCIn, self.rc_callback)
self.pub_rc = rospy.Publisher('/drone/rc/override', OverrideRCIn, queue_size=10)
self.robot = Drone()
# Decides which actions need to run
self.state = FiducialFollower(self.robot)
# self.state = BaseFly(self.robot)
# Loops until task has been fully completed
def rc_callback(self, data):
val = data.channels[5]
self.rc_disable = val > 1500
def go(self):
r = rospy.Rate(30)
while not rospy.is_shutdown() or not self.state.finished():
if not self.rc_disable:
self.state.run()
self.rc_overridden = True
else:
self.pub_rc.publish([0]*8)
self.rc_overridden = False
r.sleep()
def __init__(self):
self.rc_disable = False
self.rc_overridden = True
rospy.init_node('arbiter')
self.sub_rc = rospy.Subscriber('/drone/rc/in', RCIn, self.rc_callback)
self.pub_rc = rospy.Publisher('/drone/rc/override', OverrideRCIn, queue_size=10)
self.robot = Drone()
# Decides which actions need to run
self.state = FiducialFollower(self.robot)
