def gpsread():
while True:
try:
report = session.next()
if report['class'] == 'TPV':
if hasattr(report, 'lat'):
lat = report.lat
if hasattr(report, 'lon'):
lon = report.lon
if hasattr(report, 'track'):
track = report.track
if hasattr(report, 'speed'):
speed = report.speed * gps.MPS_TO_KPH
loc = lat, lon
except KeyError:
pass
except KeyboardInterrupt:
quit()
except StopIteration:
session = None
print "GPSD has terminated"
def gotoloc(destination):
while repeat:
distto = dist(loc, destination)
repeat = 1
if (distto > changedistance)
steer = heading(loc, destination)
steer = steer - track
if (steer > 30)
steer = 30
if (steer < -30)
steer = -30
steer(steer)
throttle(throttle)
else if (distto < changedistance)
repeat = 0
return('done: ' + destination);
while True:
dest = path.readline()
if dest == 'end':
throttle(0)
steer(0)
break
dest = strip(dest)
dest = split(dest, ':')
gotoloc(dest)
if __name__ == '__main__':
gpsproc = Process(target=gpsread)
gpsproc.start()
gpsproc.join()
def gotoloc(destination):
while repeat:
distto = dist(loc, destination)
repeat = 1
if (distto > changedistance)
steer = heading(loc, destination)
steer = steer - track
if (steer > 30)
steer = 30
if (steer < -30)
steer = -30
steer(steer)
throttle(throttle)
else if (distto < changedistance)
repeat = 0
return('done: ' + destination);
