class AdminTask(threading.Thread):
def __init__(self):
threading.Thread.__init__(self)
self.tabletComm = TCPServlet()
self.tabletComm.start()
self.robotComm = ArduinoComm("/dev/ttyACM0", 9600)
self.msgQueue = queue.Queue(0) # infinite queue size
self.start()
def getMsgFromTablet(self):
print("AdminTask::getMsgFromTablet")
tabletQueue = self.tabletComm.getMsgQueue()
while not tabletQueue.empty():
self.msgQueue.put(tabletQueue.get())
def enqueueToRobot(self):
print("AdminTask::enqueueToRobot")
while not self.msgQueue.empty():
msg = self.msgQueue.get()
if msg[0] == MessageFormat.retInv:
for info in msg[1][1]:
robotService = ArduinoService()
encAbove = robotService.getLocationBoxAbove(info[0])
aQueue = queue.Queue(0)
aQueue.put([MessageFormat.retInv, (msg[0], list(info)+encAbove, msg[1][2]) ])
self.robotComm.enqueue(aQueue)
# [MessageFormat.depInv, barcode]
elif msg[0] == MessageFormat.depInv:
aQueue = queue.Queue(0)
aQueue.put(msg)
self.robotComm.enqueue(aQueue)
def run(self):
print("AdminTask::run")
while True:
if self.tabletComm.getMsgQueue().empty():
time.sleep(1) # poll tablet msgQueue every 1 second
continue
self.getMsgFromTablet()
self.enqueueToRobot()
def main():
tabletService = AndroidService()
# (True, [inventoryDetailsId, X_index, Y_index, X_encoder, Y_encoder]..., newVirtualCartRowId)
reservationInfo1 = tabletService.reserveInventoryIfAvailable(1, 1, 1)
reservationInfo2 = tabletService.reserveInventoryIfAvailable(1, 2, 1)
depositInfo1 = (MessageFormat.depInv, 1)
depositInfo2 = (MessageFormat.depInv, 2)
print(reservationInfo1)
print(reservationInfo2)
aQueue = queue.Queue(maxsize=0)
arduinoComm = ArduinoComm("/dev/ttyACM0", baudrate=9600, timeout=None)
# [ MessageFormat.retInv
# (True,
# [inventoryDetailsId, barcodeDetailsFk, X_index, Y_index, X_encoder, Y_encoder, checkoutFlag],
# newVirtualCartRowId)
# ]
robotService = ArduinoService()
for info in reservationInfo1[1]:
encAbove = robotService.getLocationBoxAbove(info[0])
aQueue.put([MessageFormat.retInv, (reservationInfo1[0], list(info)+encAbove, reservationInfo1[2])])
arduinoComm.enqueue(aQueue)
time.sleep(5)
for info in reservationInfo2[1]:
encAbove = robotService.getLocationBoxAbove(info[0])
aQueue.put([MessageFormat.retInv, (reservationInfo2[0], list(info)+encAbove, reservationInfo2[2]) ])
arduinoComm.enqueue(aQueue)
time.sleep(5)
aQueue.put(depositInfo1)
arduinoComm.enqueue(aQueue)
time.sleep(5)
aQueue.put(depositInfo2)
arduinoComm.enqueue(aQueue)