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38 lines
1.3 KiB
Python
38 lines
1.3 KiB
Python
from dataclasses import dataclass
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import threading
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import numpy as np
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import time
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@dataclass
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class State:
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"""Class to represent the current state of the car."""
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x: float # x position in cm
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y: float # y position in cm
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theta: float # angle in radians
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v: float = 0 # velocity in cm/s
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last_update: float = time.time() # time since last position compute in ms
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motor_command: int = 150 # last received motor command
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servo_command: int = 150 # last received steering command
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beacon: bool = False # beacon status on/off
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dist_L: float = 0 # left distance sensor reading in cm
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dist_R: float = 0 # right distance sensor reading in cm
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_lock = threading.Lock() # lock to ensure thread safety
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class SharedState:
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"""Singleton class to manage shared state with thread safety."""
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_instance = None
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def __new__(cls, x=240, y=30, theta=np.pi/2):
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"""Creates a new instance of State if none exists, otherwise returns the existing one."""
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if cls._instance is None:
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cls._instance = State(x, y, theta)
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return cls._instance
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@classmethod
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def reset(cls):
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"""Resets the singleton instance."""
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cls._instance = None
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def __del__(cls):
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cls._instance = None
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