def run(self):
global isNextPathNeeded
global nextPathSema
while 1:
# if isNextPathNeeded:
# print self.threadName, "blocking"
# nextPathSema.acquire()
locationTrackerLock.acquire()
if self.count == 0:
locationTracker.updateLocation(stop=isNextPathNeeded, recalibrating=newLevelReached)
print "Total Steps:", locationTracker.getTotalSteps()
print "Total Distance:", locationTracker.getTotalDistance()
print "Deviation from N:", locationTracker.getHeadingInDeg()
print "True deviation from N:", locationTracker.getTrueHeadingInDeg()
print locationTracker.getLocation()
print "Height:", locationTracker.getHeightInCM()
self.count = 0
else:
self.count += 1
locationTrackerLock.release()
time.sleep(1.5)
def run(self):
while 1:
locationTrackerLock.acquire()
locationTracker.updateLocation(False, False)
if self.count == 0:
print "Total Steps:", locationTracker.getTotalSteps()
print "Total Distance:", locationTracker.getTotalDistance()
print "Deviation from N:", locationTracker.getHeadingInDeg()
print "True deviation from N:", locationTracker.getTrueHeadingInDeg()
print locationTracker.getLocation()
print "Height:", locationTracker.getHeightInCM()
self.count = 0
else:
self.count += 1
# locationTracker.gyroCompass.updateOffset()
locationTrackerLock.release()
time.sleep(1.5)
def run(self):
global naviCount
global obstacleDetected
global checkSideObstacle
global isFirstCleared
while 1:
# feedback steps walked
navi.feedbackWalking(locationTracker.getTotalSteps())
naviCount += 1
locationTrackerLock.acquire()
curX = locationTracker.getXCoord()
curY = locationTracker.getYCoord()
heading = locationTracker.getHeadingInDeg()
locationTrackerLock.release()
# update location and next node direction for obstacle avoidance
## obstacle.setNextNodeDirection(navi.getGeneralTurnDirection())
## obstacle.setCurrentLocation(curX, curY)
# every second, check navigation
## if (naviCount%10 == 0) :
## navi.updateCurLocation(curX, curY, heading)
## if obstacleDetected == 1 or checkSideObstacle == 1:
## navi.ignoreNodeObstacle()
## time.sleep(0.1)
## continue
## if isFirstCleared == 1 :
## navi.updateClearSteps(locationTracker.getTotalSteps())
## isFirstCleared = 0
## else :
## navi.updateCurrentSteps(locationTracker.getTotalSteps())
isNavigationDone = navi.fullNavigate()
if isNavigationDone is True:
return
time.sleep(1)
