def __init__(self, voiceQueue, voiceSema) :
self.prev_message_time_turn = 0
self.prev_message_time_str = 0
self.message_delay = 0
self.voiceQueue = voiceQueue
self.voiceSema = voiceSema
self.ANGLE_TOLERANCE = 0
self.pathFind = pathFinder()
self.hasAnotherPath = False
self.hasTwoPaths = False
self.hasThreePaths = False
self.startBuilding = None
self.endBuilding = None
self.startLevel = 0
self.endLevel = 0
self.midBuilding = None
self.midLevel = None
self.mapNumber = 0 # index of map in comMap list
self.startLocation = 0
self.endLocation = 0
self.curX = 0 # cm
self.curY = 0 # cm
self.heading = 0 # -180 to 180 degrees
# used to feedback steps to user
self.walkingCount = 0
self.WALKING_VIBRATE_DURATION = 0.1
# tolerance
self.maxTolerance = 200
# list of json parsing maps
self.comMap = []
# path lists
self.pathList = []
self.pathList2 = []
self.pathList3 = []
# north of cuurent map
self.curMapNorth = 0
# if connection between the building has stairs
self.hasStairs1 = 0
self.hasStairs2 = 0
# parameters to set when switching to new map
self.hasStairs = 0
self.northDifference = 0
self.xFirst = None
self.yFirst = None
self.pathListIndex = 0
self.northAt = 0 # 0 to 360 degrees
self.prevX = 0 # cm
self.prevY = 0 # cm
self.nexX = 0 # cm
self.nexY = 0 # cm
self.nodeNavi = navigation(self.voiceQueue, self.voiceSema)
self.leftPin = 9
self.rightPin = 10
import p2pNavi
voiceQueue = None
voiceSema = None
p2p = p2pNavi.navigation(voiceQueue, voiceSema)
p2p.setNorthAt(0)
p2p.setPrevCoordinates(0, 0)
p2p.setNexCoordinates(1500, 1500)
p2p.setNextNodeName("random node")
isDone = 0
while(isDone == 0) :
x = int(raw_input("x: "))
y = int(raw_input("y: "))
p2p.updateHeading(0)
p2p.updateCurCoord(x, y)
print "alrdy alerted: " + str(p2p.alreadyAlerted)
isDone = p2p.navigate()
p2p.setNexCoordinates(2500, 2500)
isDone = 0
while(isDone == 0) :
x = int(raw_input("x: "))
y = int(raw_input("y: "))
p2p.updateHeading(0)
p2p.updateCurCoord(x, y)
print "alrdy alerted: " + str(p2p.alreadyAlerted)
isDone = p2p.navigate()
