def provideDirections(self, nextCheckPoint, currentCheckPoint, pos_x, pos_y, speaker):
#threading.Timer(1.0, provideDirections(nextCheckPoint, currentCheckPoint, pos_x, pos_y)).start()
print "start of function"
sayNextCheckPoint = 'your next checkpoint is %s\n' %(mapinfo['map'][nextCheckPoint - 1]['nodeName'])
#speaker.threadedFeedback(sayNextCheckPoint)
speaking_proc = Process(target=speaker.threadedFeedback, args=(sayNextCheckPoint,))
speaking_proc.start()
speaking_proc.join()
detourCheckPoint = False
reachCheckPoint = False
start_time = time.time()
time_to_speak = time.time()
dist = None
change_direction = None
direction = '%s %lf degrees, %lf'
speak_direction = '%s %d degrees, and walk %d point %d meters\n'
isFirstTimeGivingDirections = False
isFirstTimeProcDirections = True
oneSecondHasPassed = False
while True:
if (time.time() - start_time > 1) or isFirstTimeProcDirections:
start_time = time.time()
#distance, heading = input()
dataParser = DataParser()
step = dataParser.get_step_read()
print "NUMBER OF STEPS %d\n", step
compass_read = dataParser.get_compass_read()
print "compass_read", compass_read
del dataParser
if not isFirstTimeProcDirections:
if step == 0:
print 'going into calcDisplacement\n\n\n'
reachCheckPoint, pos_x, pos_y, detourCheckPoint, speak_direction = self.calcDisplacement(0, compass_read, 5, pos_x, pos_y, nextCheckPoint, currentCheckPoint)
else:
for i in range(step):
print 'step #', i
reachCheckPoint, pos_x, pos_y, detourCheckPoint, speak_direction = self.calcDisplacement(1, compass_read, i, pos_x, pos_y, nextCheckPoint, currentCheckPoint)
if oneSecondHasPassed:
isFirstTimeGivingDirections = True
oneSecondHasPassed = False
if isFirstTimeProcDirections:
oneSecondHasPassed = True
isFirstTimeProcDirections = False
if (time.time() - time_to_speak > 4) or isFirstTimeGivingDirections:
isFirstTimeGivingDirections = False
time_to_speak = time.time()
speaking_proc = Process(target=speaker.threadedFeedback, args=(speak_direction,))
speaking_proc.start()
if reachCheckPoint:
speak_direction = 'checkpoint reached'
speaking_proc = Process(target=speaker.threadedFeedback, args=(speak_direction,))
speaking_proc.start()
break
if detourCheckPoint:
break
return reachCheckPoint, pos_x, pos_y, detourCheckPoint
def provideDirections(self, nextCheckPoint, currentCheckPoint, pos_x,
pos_y, speaker):
#threading.Timer(1.0, provideDirections(nextCheckPoint, currentCheckPoint, pos_x, pos_y)).start()
print "start of function"
sayNextCheckPoint = 'your next checkpoint is %s\n' % (
mapinfo['map'][nextCheckPoint - 1]['nodeName'])
#speaker.threadedFeedback(sayNextCheckPoint)
speaking_proc = Process(target=speaker.threadedFeedback,
args=(sayNextCheckPoint, ))
speaking_proc.start()
speaking_proc.join()
detourCheckPoint = False
reachCheckPoint = False
start_time = time.time()
time_to_speak = time.time()
dist = None
change_direction = None
direction = '%s %lf degrees, %lf'
speak_direction = '%s %d degrees, and walk %d point %d meters\n'
isFirstTimeGivingDirections = False
isFirstTimeProcDirections = True
oneSecondHasPassed = False
while True:
if (time.time() - start_time > 1) or isFirstTimeProcDirections:
start_time = time.time()
#distance, heading = input()
dataParser = DataParser()
step = dataParser.get_step_read()
print "NUMBER OF STEPS %d\n", step
compass_read = dataParser.get_compass_read()
print "compass_read", compass_read
del dataParser
if not isFirstTimeProcDirections:
if step == 0:
print 'going into calcDisplacement\n\n\n'
reachCheckPoint, pos_x, pos_y, detourCheckPoint, speak_direction = self.calcDisplacement(
0, compass_read, 5, pos_x, pos_y, nextCheckPoint,
currentCheckPoint)
else:
for i in range(step):
print 'step #', i
reachCheckPoint, pos_x, pos_y, detourCheckPoint, speak_direction = self.calcDisplacement(
1, compass_read, i, pos_x, pos_y,
nextCheckPoint, currentCheckPoint)
if oneSecondHasPassed:
isFirstTimeGivingDirections = True
oneSecondHasPassed = False
if isFirstTimeProcDirections:
oneSecondHasPassed = True
isFirstTimeProcDirections = False
if (time.time() - time_to_speak >
4) or isFirstTimeGivingDirections:
isFirstTimeGivingDirections = False
time_to_speak = time.time()
speaking_proc = Process(target=speaker.threadedFeedback,
args=(speak_direction, ))
speaking_proc.start()
if reachCheckPoint:
speak_direction = 'checkpoint reached'
speaking_proc = Process(target=speaker.threadedFeedback,
args=(speak_direction, ))
speaking_proc.start()
break
if detourCheckPoint:
break
return reachCheckPoint, pos_x, pos_y, detourCheckPoint
