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e32_client graceful exit

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This commit is contained in:
Alex Mikhalev 2019-02-09 19:48:52 -08:00
parent 95ea8a4155
commit 39d6298c0d
2 changed files with 14 additions and 10 deletions
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0
e32_client/requirements.txt Normal file
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24
e32_client/ugv.py
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@ -38,7 +38,7 @@ class UGVComms(E32):
def __rx_thread_entry(ugv: UGVComms): def __rx_thread_entry(ugv: UGVComms):
while True: while ugv.ser.is_open:
try: try:
msg = ugv.read_message() msg = ugv.read_message()
if msg is not None: if msg is not None:
@ -59,15 +59,19 @@ if __name__ == "__main__":
# ugv.reset() # ugv.reset()
cmd_id = 1 cmd_id = 1
time.sleep(0.2) time.sleep(0.2)
while True: try:
gmsg = messages.GroundMessage() while True:
gmsg.command.id = cmd_id gmsg = messages.GroundMessage()
gmsg.command.type = messages.DISABLE gmsg.command.id = cmd_id
cmd_id += 1 gmsg.command.type = messages.DISABLE
print("writing message: ", gmsg) cmd_id += 1
ugv.write_message(gmsg) print("writing message: ", gmsg)
time.sleep(2.) ugv.write_message(gmsg)
time.sleep(2.)
except KeyboardInterrupt:
print("exiting...")
finally:
ugv.ser.close()
rx_thread.In
rx_thread.join() rx_thread.join()