Added checkEBS function

src/fspycan.h

@@ -190,6 +190,20 @@ public:
 		}
 	}
 
+	bool checkEBS()
+	{
+		if (vcu2ai_data.VCU2AI_AS_STATE == fs_ai_api_as_state_e::AS_EMERGENCY_BRAKE)
+		{
+			std::cout << "Detected emegrency break." << std::endl;
+			running = false ; 
+			return true ;
+		}
+		else 
+		{
+			return false ;
+		}
+	}
+
 	void deploy_EBS()
 	{
 		send_ebs = true ;

src/fspycan_ext.cpp

@@ -16,5 +16,6 @@ BOOST_PYTHON_MODULE( fspycan_ext )
 		.def( "get_right_pulse", &FsPyCan::get_right_pulse)
 		.def( "get_yaw", &FsPyCan::get_yaw)
 		.def( "deploy_EBS", &FsPyCan::deploy_EBS)
-		.def( "set_AS_Finished", &FsPyCan::set_AS_Finished);
+		.def( "set_AS_Finished", &FsPyCan::set_AS_Finished)
+		.def( "checkEBS", &FsPyCan::checkEBS);
 }