def __init__(self, logger):
self.log = logger
self.log.info('Starting navigator...')
self.db = DB(logger=logger)
self.maps = MapsRepo()
self.audio = AudioDriver()
self.sc = StepCounter(logger)
self.hc = HeadingCalculator(logger)
self.cam = Process(target=camera, name="Camera", args=(QUEUE,))
self.current_prompt = None
self.navi_chunk_finished = False
self.heading_timestamp = utils.now()
GPIO.setwarnings(False)
GPIO.cleanup()
GPIO.setmode(GPIO.BCM)
GPIO.setup(GPIO_OVERRIDE_PIN, GPIO.IN, pull_up_down=GPIO.PUD_UP)
def find_path(building, level, start_node, end_node):
m = MapsRepo()
graph = m.map(building, level)
return run_dijkstra(graph, start_node, end_node)
