Disable nav map rendering in proximity mapper view (anki#52)

shawnblakesley · Michelle Sintov · commit e2cc54b3bb65 · 2018-12-07T16:12:22.000-08:00
diff --git a/anki_vector/robot.py b/anki_vector/robot.py
@@ -99,7 +99,7 @@ def __init__(self,
                  enable_camera_feed: bool = False,
                  enable_audio_feed: bool = False,
                  enable_custom_object_detection: bool = False,
-                 enable_nav_map_feed: bool = False,
+                 enable_nav_map_feed: bool = None,
                  show_viewer: bool = False,
                  show_3d_viewer: bool = False,
                  requires_behavior_control: bool = True):
@@ -169,13 +169,16 @@ def __init__(self,
 
         self._enable_camera_feed = enable_camera_feed
         self._enable_audio_feed = enable_audio_feed
-        self._enable_nav_map_feed = enable_nav_map_feed
+        if enable_nav_map_feed is not None:
+            self._enable_nav_map_feed = enable_nav_map_feed
+        else:
+            self._enable_nav_map_feed = False
         self._show_viewer = show_viewer
         if show_viewer and not enable_camera_feed:
             self.logger.warning("enable_camera_feed should be True for viewer to render correctly.")
             self._enable_camera_feed = True
         self._show_3d_viewer = show_3d_viewer
-        if show_3d_viewer and not enable_nav_map_feed:
+        if show_3d_viewer and enable_nav_map_feed is None:
             self.logger.warning("enable_nav_map_feed should be True for 3d viewer to render correctly.")
             self._enable_nav_map_feed = True
 
diff --git a/anki_vector/viewer.py b/anki_vector/viewer.py
@@ -358,7 +358,8 @@ def _update(self):
 
         :param robot: the robot being updated by this View Controller
         """
-        while not self._close_event.is_set():
+        close_event = self._close_event
+        while close_event and not close_event.is_set():
             try:
                 input_intents = self._input_intent_queue.get(True, timeout=2)  # type: RobotControlIntents
 
@@ -383,6 +384,7 @@ def _update(self):
                     self.robot.motors.set_head_motor(input_intents.head_speed, _return_future=True)
             except mp.queues.Empty:
                 pass
+            close_event = self._close_event
 
     def _on_robot_state_update(self, *_):
         """Called from SDK process whenever the robot state is updated (so i.e. every engine tick).
@@ -397,10 +399,12 @@ def _on_robot_state_update(self, *_):
         """
         from .opengl import opengl_vector
         world_frame = opengl_vector.WorldRenderFrame(self.robot)
-        try:
-            self._world_frame_queue.put(world_frame, False)
-        except mp.queues.Full:
-            pass
+        queue = self._world_frame_queue
+        if queue:
+            try:
+                queue.put(world_frame, False)
+            except mp.queues.Full:
+                pass
         # self._view_controller.update(self.robot) # TODO: <- sounds like this has something to do with keyboard input...
 
     def _on_nav_map_update(self, _, msg):
@@ -414,7 +418,9 @@ def _on_nav_map_update(self, _, msg):
             We can safely capture any robot and world state here, and push to OpenGL
             (main) process via a multiprocessing queue.
         """
-        try:
-            self._nav_map_queue.put(msg, False)
-        except mp.queues.Full:
-            pass
+        queue = self._nav_map_queue
+        if queue:
+            try:
+                queue.put(msg, False)
+            except mp.queues.Full:
+                pass
diff --git a/examples/apps/proximity_mapper/proximity_mapper.py b/examples/apps/proximity_mapper/proximity_mapper.py
@@ -304,7 +304,11 @@ def open_point_sort_func(position: Vector3):
 if __name__ == '__main__':
     # Connect to the robot
     args = parse_command_args()
-    with anki_vector.Robot(args.serial, enable_camera_feed=True, show_viewer=True, show_3d_viewer=True) as robotInstance:
+    with anki_vector.Robot(args.serial,
+                           enable_camera_feed=True,
+                           show_viewer=True,
+                           enable_nav_map_feed=False,
+                           show_3d_viewer=True) as robotInstance:
         robotInstance.behavior.drive_off_charger()
         loop = asyncio.get_event_loop()
         loop.run_until_complete(map_explorer(robotInstance))
