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)
newLevelReached = False
UIThreads = []
if not skip_init:
# UI threads
UIThreads.append(UIThread(-2, "Run UI"))
for thread in UIThreads:
thread.start()
for thread in UIThreads:
thread.join()
if not skip_init:
locationTracker.setLocation(startLocation.getLocationXCoord(), startLocation.getLocationYCoord())
else:
locationTracker.setLocation(11815, 406)
# Navigation initialization
naviCount = 0
navi = fullNavi.fullNavi(voiceQueue, voiceSema)
# navi.generateFullPath(startBuilding, startLevel, start, endBuilding, endLevel, end)
# navi.generateFullPath("com1", 2, 1, "com1", 2, 10)
if skip_init:
navi.generateFullPath("com1", 2, 31, "com2", 2, 17)
else:
navi.generateFullPath(startLocation.getBuildingName(),
startLocation.getLevelNumber(),
startLocation.getLocationPointIndex(),
