How to use cmd_stop method in localstack

Best Python code snippet using localstack_python

modeThreads.py

Source:modeThreads.py

1# -*- coding: utf-8 -*-2"""3Created on Sat Dec 07 11:28:11 20194@author: AnaÃ¯s, Nicolas5"""6import time7import can8from threading import Thread, Lock9import sharedRessources as R10MOT=0x010     #identifiant commande moteur CAN11CMD_STOP = 0x0012CMD_V_BACK = 35 + 0x8013CMD_V_MIN = 5014CMD_V_SLOW = 65 + 0x8015CMD_V_TURBO = 75 + 0x8016CMD_O_LEFT = 0x8017CMD_O_RIGHT = 100 + 0x8018CMD_O_MIN = 5019#for auto only20REAL_SIGN_WIDTH = 0.20  #nb Ã  dÃ©terminer en cm21FOCAL = 34222#thread emergency+modeThread23"""24emergencyOn = False25lockEmergencyOn = Lock()26"""27class ModeThread(Thread):28    def __init__(self, bus,intModeL):29        Thread.__init__(self)30        self.bus = bus31        self.intModeL = intModeL32    33    def sendMesgToMot(self,cmdV,cmdO):34        msg = can.Message(arbitration_id=MOT,data=[cmdV, cmdV, cmdO,0,0,0,0,0],extended_id=False)35        time.sleep(0.01)36        self.bus.send(msg)37        38        39class ModeAutoThread (ModeThread):40    def __init__(self, bus):41        ModeThread.__init__(self,bus,2)42        43    def run(self):44        self.sendMesgToMot(CMD_V_SLOW,CMD_STOP)     45        currentModeL=self.intModeL46        counterStopOn = False47        finalValueStopCounter = 048        counterStop=049        50        while (currentModeL==self.intModeL):51            # Emergency stop block52            R.lockEmergencyOn.acquire()53            stateEmergency = R.emergencyOn54            R.lockEmergencyOn.release()55            56            if(stateEmergency):57                R.modeLock.acquire()58                mode = "assist"59                R.modeLock.release()60                61            # Stop sign block62            63            if(counterStopOn):64                if(counterStop<finalValueStopCounter):65                    counterStop+=0.166                else:67                    self.sendMesgToMot(CMD_STOP,CMD_STOP)   68                    time.sleep(4)69                    self.sendMesgToMot(CMD_V_SLOW,CMD_STOP) 70                    counterStop=071                    finalValueStopCounter=072                    counterStopOn = False73            74            else:    75                R.lockWidthStop.acquire()                 76                widthStopSign = R.widthStop           77                R.lockWidthStop.release()78                if(widthStopSign):79                    toSignDistance = (REAL_SIGN_WIDTH*FOCAL)/widthStopSign80                    R.lockWheelSpeed.acquire()81                    speedC= R.wheelSpeed82                    R.lockWheelSpeed.release()83                    if speedC >= 0.14 :84                        finalValueStopCounter = (toSignDistance / speedC)-3  #calcul du temps Ã   attendre, 1.2 => 100 pour la  vitesse avant -1 pour la reconnaissance85                        counterStopOn=True86                    87            88            R.lockModeLaunched.acquire()89            currentModeL = R.modeLaunched90            R.lockModeLaunched.release()91            time.sleep(0.1)92        93        self.sendMesgToMot(CMD_STOP,CMD_STOP) 94        95class ModeAssistThread (ModeThread):96    def __init__(self, bus):97        ModeThread.__init__(self,bus,1)98        99    def run(self):100        self.sendMesgToMot(CMD_STOP,CMD_STOP)     101        currentModeL=self.intModeL102        cmdV = CMD_STOP103        cmdO = CMD_STOP104        R.turboLock.acquire()105        R.turbo ="off"106        R.turboLock.release()107        R.joystickLock.acquire()108        R.joystick = "none"109        R.joystickLock.release()110        R.stateLock.acquire()111        R.state = "off"112        R.stateLock.release()113        114        while (currentModeL==self.intModeL):115            R.stateLock.acquire()                 116            currentState = R.state         117            R.stateLock.release()118            if(currentState=="on"):119                R.joystickLock.acquire()                 120                currentJoystick = R.joystick         121                R.joystickLock.release()122                if(currentJoystick =="none"):123                    cmdO = CMD_O_MIN124                    cmdV = CMD_V_MIN 125                elif(currentJoystick=="right"):126                    cmdO = CMD_O_RIGHT127                    cmdV= CMD_V_MIN 128                elif(currentJoystick=="left"):129                    cmdO = CMD_O_LEFT130                    cmdV = CMD_V_MIN 131                elif(currentJoystick=="front"):132                    R.turboLock.acquire()                 133                    currentTurbo = R.turbo        134                    R.turboLock.release()135                    if(currentTurbo=="on"):136                        cmdV=CMD_V_TURBO137                    else:138                        cmdV= CMD_V_SLOW139                    cmdO = CMD_O_MIN                    140                         141                elif(currentJoystick=="front&right"):142                    cmdO = CMD_O_RIGHT143                    cmdV= CMD_V_SLOW144                elif(currentJoystick=="front&left"):145                    cmdO = CMD_O_LEFT146                    cmdV= CMD_V_SLOW147                 148                elif(currentJoystick=="back"):149                    cmdO = CMD_O_MIN150                    cmdV= CMD_V_BACK151                 152                elif(currentJoystick=="back&right"):153                    cmdO = CMD_O_RIGHT154                    cmdV= CMD_V_BACK155                 156                elif(currentJoystick=="back&left"):157                    cmdO = CMD_O_LEFT158                    cmdV= CMD_V_BACK159                self.sendMesgToMot(cmdV,cmdO)160                         161                         162            else:163                 self.sendMesgToMot(CMD_STOP,CMD_STOP)164                    165            166            R.lockModeLaunched.acquire()167            currentModeL = R.modeLaunched168            R.lockModeLaunched.release()169            time.sleep(0.1)170        ...

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