From cde197acc14ecb39938fd8127f722c032a5cc59d Mon Sep 17 00:00:00 2001
From: Aaron Brown <aaronwbrown@msn.com>
Date: Fri, 1 Sep 2017 11:44:20 -0700
Subject: [PATCH 1/3] Update server.py

adding dbw_enable status change from the simulator's manual control button
---
 ros/src/styx/server.py | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/ros/src/styx/server.py b/ros/src/styx/server.py
index 32d942a139..cd4e23540e 100755
--- a/ros/src/styx/server.py
+++ b/ros/src/styx/server.py
@@ -14,11 +14,12 @@
 bridge = Bridge(conf)
 msgs = []
 
+dbw_enable = False
 
 @sio.on('connect')
 def connect(sid, environ):
     print("connect ", sid)
-    bridge.publish_dbw_status(True)
+    bridge.publish_dbw_status(dbw_enable)
 
 def send(topic, data):
     s = 1
@@ -29,6 +30,10 @@ def send(topic, data):
 
 @sio.on('telemetry')
 def telemetry(sid, data):
+    global dbw_enable
+    if(data["dbw_enable"] != dbw_enable):
+        dbw_enable = data["dbw_enable"]
+        bridge.publish_dbw_status(dbw_enable)
     bridge.publish_odometry(data)
     for i in range(len(msgs)):
         topic, data = msgs.pop(0)

From 7c8233518f1c036907f161a85df21eba60b6e050 Mon Sep 17 00:00:00 2001
From: Aaron Brown <aaronwbrown@msn.com>
Date: Fri, 1 Sep 2017 15:11:07 -0700
Subject: [PATCH 2/3] Update server.py

changed to hard coded False when starting, its False because car starts in manual mode and dbw_enable is false at that state. Removed the parenthesis
---
 ros/src/styx/server.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ros/src/styx/server.py b/ros/src/styx/server.py
index cd4e23540e..6583d111f1 100755
--- a/ros/src/styx/server.py
+++ b/ros/src/styx/server.py
@@ -19,7 +19,7 @@
 @sio.on('connect')
 def connect(sid, environ):
     print("connect ", sid)
-    bridge.publish_dbw_status(dbw_enable)
+    bridge.publish_dbw_status(False)
 
 def send(topic, data):
     s = 1
@@ -31,7 +31,7 @@ def send(topic, data):
 @sio.on('telemetry')
 def telemetry(sid, data):
     global dbw_enable
-    if(data["dbw_enable"] != dbw_enable):
+    if data["dbw_enable"] != dbw_enable:
         dbw_enable = data["dbw_enable"]
         bridge.publish_dbw_status(dbw_enable)
     bridge.publish_odometry(data)

From cfed9b72595f61d7904ed0ae17a6f6d656a9e00e Mon Sep 17 00:00:00 2001
From: Aaron Brown <aaronwbrown@msn.com>
Date: Fri, 1 Sep 2017 15:11:58 -0700
Subject: [PATCH 3/3] Update server.py

remove the unneeded line
---
 ros/src/styx/server.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/ros/src/styx/server.py b/ros/src/styx/server.py
index 6583d111f1..a356bfbfeb 100755
--- a/ros/src/styx/server.py
+++ b/ros/src/styx/server.py
@@ -19,7 +19,6 @@
 @sio.on('connect')
 def connect(sid, environ):
     print("connect ", sid)
-    bridge.publish_dbw_status(False)
 
 def send(topic, data):
     s = 1