fc.py 文件源码

def send_status(self):
        """ Run our code """
        next_status_send = rospy.get_rostime().to_sec()
        next_picture_send = rospy.get_rostime().to_sec()
        while True:
            rospy.sleep(0.1)
            if not self.zarj_comm.connected:
                continue

            now = rospy.get_rostime().to_sec()
            if now >= next_status_send:
                next_status_send = now + self.STATUS_INTERVAL
                zmsg = ZarjStatus(self.task, self.checkpoint, self.elapsed_time, now, self.score, self.harness)
                self.zarj_comm.push_message(zmsg)

            if self.picture_interval > 0.01 and now >= next_picture_send:
                next_picture_send = now + self.picture_interval
                self.send_left_camera()
                if self.task >= 3:
                    self.send_lidar(True)