def __init__(self):
super(Nav, self).__init__()
self.runLevel = Nav.RUNLVL_NORMAL
## Sets the run interval, in terms of number of seconds
self.RUN_INTERVAL = 2
########## Private vars ##########
self.__model = {
'path': None,
'currLoc': Point.fromParam()
}
## For multithreading
self._threadListen = None
self._active = True
## For interprocess comms
self.DISPATCHER_PORT = 9001
self._dispatcherClient = DispatcherClient(port=self.DISPATCHER_PORT)
## Attach event listeners upon instantiation (to prevent duplicates)
self.attachEvents()
## For collision detection: lock navigation until ready
self.collisionLocked = False
self.obstacle = None
## For pausing nav
self.toPause = False
logging.info('Nav Daemon running.')
def onPoint(args):
"""Update location based on interprocess posting
by cruncher
"""
locInfo = json.loads(args.get('payload'))
x = locInfo.get('x')
y = locInfo.get('y')
z = locInfo.get('z')
angle = locInfo.get('ang')
self.__model['currLoc'] = Point.fromParam(
x=x,
y=y,
z=z,
orientation=angle)
