renamed controller to masterloop

script/walker.py

@@ -7,7 +7,7 @@ import rospy
 import tf
 from naoqi import ALProxy
 
-from controller import inform_controller_factory
+from masterloop import inform_masterloop_factory
 
 
 FW = None
@@ -40,7 +40,7 @@ def global_init():
     RR = n_way(cz, x['rr'], 2), x['rr']
 
 
-_inform_controller = inform_controller_factory('walker')
+_inform_masterloop = inform_masterloop_factory('walker')
 
 
 def _speed(pos, interval):
@@ -58,7 +58,7 @@ def _speed(pos, interval):
 if __name__ == '__main__':
     rospy.init_node('walker')
     global_init()
-    rospy.wait_for_service('inform_controller')
+    rospy.wait_for_service('inform_masterloop')
     ll = tf.TransformListener()
     mp = ALProxy('ALMotion', os.environ['NAO_IP'], 9559)
     mp.wakeUp()
@@ -75,7 +75,7 @@ if __name__ == '__main__':
 
         except Exception as e:
             mp.stopMove()
-            _inform_controller('stop')
+            _inform_masterloop('stop')
             continue
 
         movement = [0, 0, 0]
@@ -95,12 +95,12 @@ if __name__ == '__main__':
 
         if not any(movement):
             rospy.logdebug('WALKER: STOP')
-            _inform_controller('stop')
+            _inform_masterloop('stop')
             # mp.move(0, 0, 0)
             mp.stopMove()
             continue
 
-        permission = _inform_controller('move')
+        permission = _inform_masterloop('move')
 
         if not permission:
             mp.stopMove()