def run(self):
while 1:
data = self.sock.recv(1024).decode()
print data
d = data.find(Dest_string)
l = data.find(Loc_string)
if d is not -1: # found destination substring
print "Got destination"
na = data[(len(Dest_string))+1:] # slising to name of destination only
print str(na) # Ensuring got the right name.
self.route.name = na
wplist = None
try:
wplist = config.get("routes", self.route.name).split(",")
except:
pass
self.route.waypoints_list = wp_to_dp(wplist)
# got name for destination, TODO
if l is not -1:
print "Got position\n"
position = data[(len(Loc_string)):]
pos_array = position.split(",")
next_p = self.route.get_next_wp(pos_array)
# print next_p
send_location('', 11112, pos_array ,next_p)
if not data:
#print "Connection lost"
self.stop()
break
DEBUG_LEVEL = config.getint("general", "debug_level")
URL = config.get("general", "url")
CAL_SAVE_PATH = config.get("calibrate_paths", "cal_save")
UPSIDE_DOWN_LIST = config.get("general", "upside_down_list")
CAMERA_LIST = config.get("odroid", "camera_list").split(",")
SECONDS = int(config.get("general", "seconds"))
POSITION_LOG_PATH = config.get("capture_paths", "position_log")
SOCKET_HOST = config.get("socket", "host")
SOCKET_PORT = int(config.get("socket", "port"))
FLOORMAP_PATH = config.get("capture_paths", "floormap")
# Load waypoints from file.
waypoints = pickle.load(open(CAL_SAVE_PATH, "rb"))
floormaps = {}
dest_points = wp_to_dp() # for demo navigation
for w in waypoints:
for i in w.keys():
if w[i].floor not in floormaps.keys():
floormaps[w[i].floor] = cv2.imread(FLOORMAP_PATH + str(w[i].floor) + ".png")
def send_location(host, port, wp):
current_pos = "Current point is: " + str(wp.phys_pos[0]) + ", " + str(wp.phys_pos[1]) + ", " + str(wp.floor)
next_pos = "WayPoint out of the route"
for i in range(0,len(dest_points)):
if dest_points[i].wp_id == wp.wp_id:
if dest_points[i] == dest_points[-1]: # if it's last one?
next_pos = "Destination point"
else:
