def main():
print constants.STEP_LENGTH
constants.STEP_LENGTH = 1
print constants.STEP_LENGTH
currmap = MapSync()
wifi = Wifi()
currmap.loadLocation("DemoBuilding" , "1")
# currmap.loadLocation("COM1", "2")
# print packet
# apNodes = packet.get('wifi')
north = currmap.north
mapNodes = currmap.mapNodes
apNodes = currmap.apNodes
def main():
mapUsed = [] #store the mapsync obj of the maps to be used later.
interMapNodes = []
COM12 = MapSync()
COM12.loadLocation('1', '2')
COM22 = MapSync()
COM22.loadLocation('2', '2')
COM23 = MapSync()
COM23.loadLocation('2', '3')
allMaps = {'12' : COM12, '22' : COM22 , '23': COM23}
# voiceOutput = Voice()
### VOICE THREAD ###
voiceOutput = VoiceHandler()
voiceThread = threading.Thread(target = voiceOutput.voiceLoop)
voiceThread.start()
guiding = Guide(voiceOutput)
initialise.arduinoHandshake(voiceOutput) #add in the code whereby if handshake fails, try another few more times
initialise.calibrateStep(voiceOutput)
#userInput = initialise.getInitialInput(voiceOutput)
userInput = {'buildingstart': '1', 'levelstart': '2', 'start': '14', 'buildingend': '2', 'levelend': '2', 'end': '17'}
startKey = userInput.get('buildingstart') + userInput.get('levelstart')
endKey = userInput.get('buildingend') + userInput.get('levelend')
mapUsed.append(allMaps.get(startKey))
interMapNodes.append(userInput.get('start'))
if userInput.get('buildingstart') != userInput.get('buildingend'):
if userInput.get('levelstart') != userInput.get('levelend'): #diff floor diff build
for k, v in (mapUsed[0].mapConnection).iteritems():
if v.get('building') == '2' and v.get('level') == '2' :
interMapNodes.append(k)
interMapNodes.append(v.get('node'))
mapUsed.append(allMaps.get('22'))
for k, v in (mapUsed[1].mapConnection).iteritems():
if v.get('building') == userInput.get('buildingend') and v.get('level') == userInput.get('levelend') :
interMapNodes.append(k)
interMapNodes.append(v.get('node'))
mapUsed.append(allMaps.get(endKey))
else:
print "inside" #diff floor same level
for k, v in (mapUsed[0].mapConnection).iteritems():
if v.get('building') == userInput.get('buildingend') and v.get('level') == userInput.get('levelend') :
interMapNodes.append(k)
interMapNodes.append(v.get('node'))
mapUsed.append(allMaps.get(endKey))
else:
if userInput.get('levelstart') != userInput.get('levelend'):#same level diff build
for k, v in (mapUsed[0].mapConnection).iteritems():
if v.get('building') == userInput.get('buildingend') and v.get('level') == userInput.get('levelend') :
interMapNodes.append(k)
interMapNodes.append(v.get('node'))
mapUsed.append(allMaps.get(endKey))
interMapNodes.append(userInput.get('end'))
print "current interMap coor is " ,
print interMapNodes
print "mapUsed is "
for i in range(len(mapUsed)):
currmap = mapUsed[i]
apNodes = currmap.apNodes
# map north stored as anti clockwise
# previous calculation is based on rotating anti clockwise,
# current input is based on clockwise, hence need to offset
map_north = (abs(currmap.north-360))%360
mapNodes = currmap.mapNodes
navigate = Navigation(mapNodes, map_north, voiceOutput)
navigate.getRoute(interMapNodes[i*2], interMapNodes[i*2+1])
navigate.beginNavigation(apNodes)
if i != len(mapUsed)-1:
# voiceOutput.say('You have reach the end of a map, switching to a new map.',2)
voiceOutput.addToQueue('You have reach the end of a map, switching to a new map.', constants.HIGH_PRIORITY)
guiding.destinationReached()
