Merge pull request udacity#33 from Team-Autobots-SDC/feature/fix-brid…

…ge-error

Fix for bridge race condition

ros/src/styx/bridge.py

@@ -36,8 +36,9 @@
 
 
 class Bridge(object):
-    def __init__(self, conf):
+    def __init__(self, conf, server):
         rospy.init_node('styx_server')
+        self.server = server
         self.vel = 0.
         self.yaw = None
         self.angular_vel = 0.
@@ -55,9 +56,6 @@ def __init__(self, conf):
         self.publishers = {e.name: rospy.Publisher(e.topic, TYPE[e.type], queue_size=1)
                            for e in conf.publishers}
 
-    def register_server(self, server):
-        self.server = server
-
     def create_light(self, x, y, z, yaw, state):
         light = TrafficLight()
 

ros/src/styx/server.py

@@ -11,7 +11,6 @@
 
 sio = socketio.Server()
 app = Flask(__name__)
-bridge = Bridge(conf)
 msgs = []
 
 dbw_enable = False
@@ -25,7 +24,7 @@ def send(topic, data):
     msgs.append((topic, data))
     #sio.emit(topic, data=json.dumps(data), skip_sid=True)
 
-bridge.register_server(send)
+bridge = Bridge(conf, send)
 
 @sio.on('telemetry')
 def telemetry(sid, data):