-

modules/catkin_ws/src/VeloxProtocolLib/test/TerminalControl.cpp

@@ -94,9 +94,9 @@ int main(int argc, char ** argv)
             auto originalDistance = distance;
             //auto filteredDistance = streamMeanFilter.moveWindow(originalDistance);
             auto filteredDistance = distance;
-            if (filteredDistance <= stopDistance)
-                conn->setSpeed(brakeSpeed);
-            else
+//            if (filteredDistance <= stopDistance)
+//                conn->setSpeed(brakeSpeed);
+//            else
                 conn->setSpeed(speed);
 
             if (!monitorUSS)

scripts/remote_control.py

@@ -97,10 +97,6 @@ class Button:
 		surf.blit(text, text_rect)
 
 
-speedLock = threading.Lock()
-speed = 0
-
-
 def receive_speed():
 	sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
 	server_address = ('0.0.0.0', 10150)
@@ -108,25 +104,14 @@ def receive_speed():
 	while True:
 		data, address = sock.recvfrom(30)
 		if data:
-			print(data)
-			speedLock.acquire()
-			speed = float(data[4:])
-			speedLock.release()
-
-
-def renderSpeed(surf):
-	font = pygame.font.Font(None, 36)
-	speedLock.acquire()
-	text = font.render(str(speed), True, (10, 10, 10))
-	speedLock.release()
-	text_rect = text.get_rect()
-	surf.blit(text, text_rect)
+			print(float(data[4:]))
 
 if __name__ == '__main__':
 	conn = OdroidConnection(ODROID_HOST_ADDRESS, "/root/repos/Hochautomatisiertes-Fahren/modules/catkin_ws/src/VeloxProtocolLib/cmake-build-debug/TerminalControl")
 	conn.connect()
 
-	threading.Thread(target=receive_speed)
+	speedReceiver = threading.Thread(target=receive_speed)
+	speedReceiver.start()
 
 	FPS = 60
 	pygame.init()
@@ -150,8 +135,8 @@ if __name__ == '__main__':
 	buttonsSurface = buttonsSurface.convert()
 	buttonsSurface.fill(BACKGROUND_COLOR)
 
-	SPEED = 0.6
-	ANGLE = 20
+	SPEED = 0.8
+	ANGLE = 30
 	ZERO_SPEED = 0
 	ZERO_ANGLE = -4
 
@@ -214,9 +199,6 @@ if __name__ == '__main__':
 			button.draw(buttonsSurface)
 
 		background.blit(buttonsSurface, buttons_rect)
-
-		renderSpeed(background)
-
 		screen.blit(background, (0, 0))
 		pygame.display.update()
 		fpsClock.tick(FPS)
\ No newline at end of file