ac_control.py 文件源码

def main():
    rospy.init_node("evaluation_ac")
    ac = ACControllerSimulator()
    rospy.Subscriber("/aide/ac_control", Bool, callback=lambda msg: ac.increase_ac() if msg.data else ac.decrease_ac())

    console = Console()
    console.preprocess = lambda source: source[3:]
    atexit.register(loginfo, "Going down by user-input.")
    ac_thread = Thread(target=ac.simulate)
    ac_thread.daemon = True
    pub_thread = Thread(target=publish, args=(ac, ))
    pub_thread.daemon = True
    pub_thread.start()
    while not rospy.is_shutdown():
        try:
            command = console.raw_input("ac> ")
            if command == "start":
                ac_thread.start()
            if command == "end":
                return

        except EOFError:
            print("")
            ac.finished = True
            rospy.signal_shutdown("Going down.")