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)
def run(self):
global navi
global skip_init
global isNextPathNeeded
global nextPathSema
global data
global newLevelReached
initialResponseIsLow = True
while 1:
## if isNextPathNeeded:
## print self.threadName, "blocking"
## nextPathSema.acquire()
locationTrackerLock.acquire()
curX = locationTracker.getXCoord()
curY = locationTracker.getYCoord()
heading = locationTracker.getHeadingInDeg()
locationTrackerLock.release()
navi.updateCurLocation(curX, curY, heading)
isNavigationDone = navi.fullNavigate()
# push button for switching to next node
response = keypad.get_binary_response_timed(initialResponseIsLow, 0.1)
initialResponseIsLow = response[1]
if response[0]:
navi.reroutePath()
if isNavigationDone is True :
print ("\n\n\n\n\nLE SWITCHEROO\n\n\n\n")
if navi.hasNextPath() is True :
isNextPathNeeded = True
# userInputLock.acquire()
print "press start to continue"
UISpeaker.speak("Now entering new map. Press start to continue.")
while keypad.get_binary_response():
pass
# print "data in serial / data before flush:", dataFeeder.serialPort.inWaiting(), len(data[2]), len(data[3])
# data = [deque() for x in range(NUM_QUEUED_ID)]
# data_single = [0 for x in range(NUM_SINGLE_ID)]
# data.extend(data_single)
# dataFeeder.serialPort.flushInput()
# dataFeeder.serialPort.flushOutput()
# print "data in serial / data after flush:", dataFeeder.serialPort.inWaiting(), len(data[2]), len(data[3])
navi.switchToNextPathList()
# update location tracker initial heading/coordinates
locationTracker.updateMapNorth(navi.getNorthDifference())
(initX, initY) = navi.getFirstCoordinates()
locationTracker.setLocation(initX, initY)
newLevelReached = navi.isDifferentLevel()
isNextPathNeeded = False
# turn on location tracker and receive data threads
# userInputLock.release()
# for thread in mainThreads:
# if thread.threadID != 6 and thread.threadID != 5:
# nextPathSema.release()
else :
return
time.sleep(3)
