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This commit is contained in:
Max 2021-09-22 14:17:48 +01:00
parent e85ab09991
commit 9b000777da
1 changed files with 8 additions and 1 deletions
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9
Control/Pi/main_server.py
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@ -80,7 +80,11 @@ def safety_system():
ThisSystem = psutil.Process(current_system_pid) ThisSystem = psutil.Process(current_system_pid)
ThisSystem.terminate() ThisSystem.terminate()
if PROXIMITY_STOP_ENABLED:
def proximity_system():
logger.info('Started proximity system')
if PROXIMITY_STOP_ENABLED:
PROXIMITY_ARRAY.check_proximity() PROXIMITY_ARRAY.check_proximity()
@ -112,6 +116,9 @@ def safety_watchdog():
safety_system_thread = threading.Thread(target=safety_system) safety_system_thread = threading.Thread(target=safety_system)
safety_system_thread.start() safety_system_thread.start()
proximity_system_thread = threading.Thread(target=proximity_system)
proximity_system_thread.start()
watchdog_thread = threading.Thread(target=safety_watchdog) watchdog_thread = threading.Thread(target=safety_watchdog)
watchdog_thread.start() watchdog_thread.start()