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status.py
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status.py
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#!/usr/bin/env python
# Objective: Code that acts as the intitialization and diagnostics check for the vehicle.
# Diagnostic errors will be coded as follows:
# 'k' = killswitch
# 'l' = leak sensor
# 't' = temp/humid sensor
# 'r' = thrusters
# 'd' = depth sensor
# 'c' = camera
# 'p' = processor
# 'b' = battery
import rospy
def initialize(debug): #debug should be set to False initially and will be updated to the above letters upon encountering errors
# I'm sure there's 100 better ways to write this out
# Run kill switch initialization
killswitch = check.killswitch()
if killswitch == False:
if debug == False:
debug = 'k'
else:
debug += 'k'
# Run leak sensor initialization
if leak_sensor == False:
if debug == False:
debug = 'l'
else:
debug += 'l'
# Run temp/humidity initialization
if temp_humidity == false:
if debug == False:
debug = 't'
else debug += 't'
# Run thruster initialization
if thrusters == False:
if debug == False:
debug = 'r'
else:
debug += 'r'
#Run depth sensor initialization
if depth_sensor == False:
if debug == False:
debug = 'd'
else:
debug += 'd'
#Run camera initialization
if camera == False:
if debug == False:
debug = 'c'
else:
debug += 'c'
#Run processor initialization
if processor == False:
if debug == False:
debug = 'p'
else:
debug += 'p'
#Run battery initialization
if battery == False:
if debug == False:
debug = 'b'
else:
debug += 'b'
return debug
# Define function that indicates that the AUV is underwater, initialized, and no killswitch
def running(debug):
if depth.reading > nominal air pressure:
if debug == False:
return True
else:
return False
# Define function that checks whether the vehicle is in rc or auto mode
def check_mode():
if joystick signal received:
return rc
else
return auto