Merge branch 'master' of github.com:Fabien-B/robotSim

Fabien-B · Jan 11, 2021 · ba372bd · ba372bd
2 parents 74783c0 + 6745f0a
commit ba372bd
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Showing 2 changed files with 8 additions and 3 deletions.
diff --git a/ivy_interface.py b/ivy_interface.py
@@ -15,6 +15,8 @@
 POS_REPORT = "PosReport {} {} {} {}"
 ACTUATOR_REPORT = "ActuatorReport {} {} {}"
 
+KILL_CMD = "Shutdown {}"
+
 
 class IvyInterface(Interface):
 
@@ -23,10 +25,12 @@ def __init__(self, robot_name, bus=BUS):
         IvyInit(robot_name, robot_name + " ready!")
         self.rid = robot_name
         self.bus = bus
+        self.running = True
         IvyBindMsg(self.on_speed_cmd,      SPEED_REG.format(self.rid))
         IvyBindMsg(self.on_pos_cmd,        POS_REG.format(self.rid))
         IvyBindMsg(self.on_pos_orient_cmd, POS_ORIENT_REG.format(self.rid))
         IvyBindMsg(self.on_actuator_cmd,   ACTUATOR_CMD.format(self.rid))
+        IvyBindMsg(self.on_kill_cmd, KILL_CMD.format (self.rid))
 
     def start(self):
         IvyStart(self.bus)
@@ -76,4 +80,5 @@ def on_pos_orient_cmd(self, sender, x, y, theta):
         pos.theta = float(theta)
         for cb in self.cbs.get(m.PosCommand, []):
             cb(pos)
-
+    def on_kill_cmd (self,*args):
+        self.running = False
diff --git a/simu_robot.py b/simu_robot.py
@@ -72,10 +72,10 @@ def update_actuators(self, dt):
                 self.com.report_actuator(ac)
 
     def run(self):
-        while True:
+        while self.com.running :
             self.update()
             time.sleep(0.01)
-
+        self.com.stop ()
 
 if __name__ == '__main__':
     if len(sys.argv) != 2: