def updateMap(self, loop=True):
if not self.paused and not self.dataInit: # wait until first data update to update map
# draw map using slam data # 16ms
self.data.drawBreezyMap(self.slam.getBreezyMap())
self.data.drawInset() # new relative map # 7ms
self.insetFrame.updateMap(self.data.get_robot_rel(), self.data.getRelDestination(), self.data.getInsetMatrix()) # 25ms
if FAST_MAPPING:
self.regionFrame.displayMap(self.data.getMapArray((CV_IMG_SIZE,CV_IMG_SIZE))) # 36ms
self.regionFrame.displayRobot(self.data.get_robot_abs())
if self.regionFrame.refresh() == 27: self.closeWin() # ESC key pressed
else:
self.regionFrame.updateMap(self.data.get_robot_rel(), self.data.getDestination(), self.data.getMapMatrix())
if loop and not self.restarting: self.master.after(MAP_RATE, self.updateMap)
if __name__ == '__main__':
print(GPL)
logFilePath = os.path.join(*(logFileDirectory+[logFileName]))
if LOG_ALL_DATA: logFile = askForFile(logFilePath, 'w')
else: logFile = None
KWARGS, gvars = {}, globals()
for var in KWARGS_keys:
KWARGS[var] = gvars[var] # constants required in modules
main()
if LOG_ALL_DATA: logFile.close()
def updateMap(self, loop=True):
if not self.paused and not self.dataInit: # wait until first data update to update map
# draw map using slam data # 16ms
self.data.drawBreezyMap(self.slam.getBreezyMap())
self.data.drawInset() # new relative map # 7ms
self.insetFrame.updateMap(self.data.get_robot_rel(), self.data.getRelDestination(), self.data.getInsetMatrix()) # 25ms
if FAST_MAPPING:
self.regionFrame.displayMap(self.data.getMapArray((CV_IMG_SIZE,CV_IMG_SIZE))) # 36ms
self.regionFrame.displayRobot(self.data.get_robot_abs())
if self.regionFrame.refresh() == 27: self.closeWin() # ESC key pressed
else:
self.regionFrame.updateMap(self.data.get_robot_rel(), self.data.getDestination(), self.data.getMapMatrix())
if loop and not self.restarting: self.master.after(MAP_RATE, self.updateMap)
if __name__ == '__main__':
print(GPL)
logFilePath = os.path.join(*(logFileDirectory+[logFileName]))
logFile = askForFile(logFilePath, 'r')
KWARGS, gvars = {}, globals()
for var in KWARGS_keys:
KWARGS[var] = gvars[var] # constants required in modules
main()
logFile.close()
def updateMap(self, loop=True):
if not self.paused and not self.dataInit: # wait until first data update to update map
# draw map using slam data # 16ms
self.data.drawBreezyMap(self.slam.getBreezyMap())
self.data.drawInset() # new relative map # 7ms
self.insetFrame.updateMap(self.data.get_robot_rel(), self.data.getRelDestination(), self.data.getInsetMatrix()) # 25ms
if FAST_MAPPING:
self.regionFrame.displayMap(self.data.getMapArray((CV_IMG_SIZE,CV_IMG_SIZE))) # 36ms
self.regionFrame.displayRobot(self.data.get_robot_abs())
if self.regionFrame.refresh() == 27: self.closeWin() # ESC key pressed
else:
self.regionFrame.updateMap(self.data.get_robot_rel(), self.data.getDestination(), self.data.getMapMatrix())
if loop and not self.restarting: self.master.after(MAP_RATE, self.updateMap)
if __name__ == '__main__':
print(GPL)
logFilePath = os.path.join(*(logFileDirectory+[logFileName]))
if LOG_ALL_DATA: logFile = askForFile(logFilePath, 'w')
else: logFile = None
KWARGS, gvars = {}, globals()
for var in KWARGS_keys:
KWARGS[var] = gvars[var] # constants required in modules
main()
if LOG_ALL_DATA: logFile.close()
