multiprocessing.patch

diff --git a/subpanel/dataPlot/dataPlot.py b/subpanel/dataPlot/dataPlot.py
index 8d879e7..1805a23 100644
--- a/subpanel/dataPlot/dataPlot.py
+++ b/subpanel/dataPlot/dataPlot.py
@@ -3,6 +3,9 @@ Created on Nov 21, 2012
 
 @author: Ted Carancho
 '''
+from multiprocessing import Manager
+import multiprocessing
+import time
 
 from PyQt4 import QtGui, QtCore
 from pyqtgraph import PlotCurveItem
@@ -19,6 +22,8 @@ class dataPlot(QtGui.QWidget, subpanel):
         self.ui = Ui_plotWindow()
         self.ui.setupUi(self)
 
+        self.manager = Manager()
+
     def start(self, xmlSubPanel, boardConfiguration):
         '''This method starts a timer used for any long running loops in a subpanel'''
         self.xmlSubPanel = xmlSubPanel
@@ -33,7 +38,7 @@ class dataPlot(QtGui.QWidget, subpanel):
         self.ui.graphicsView.clear()
         self.ui.treeWidget.clear()
 
-        self.data, self.curves, colors = [], [], [
+        self.data, self.curves, colors = self.manager.list([]), [], [
             QtGui.QColor('blue'),
             QtGui.QColor('red'),
             QtGui.QColor('lime'),
@@ -68,15 +73,42 @@ class dataPlot(QtGui.QWidget, subpanel):
             telemetry = self.xml.find(self.xmlSubPanel + '/Telemetry').text
             if telemetry != '':
                 self.comm.write(telemetry)
-            self.timer = QtCore.QTimer()
-            self.timer.timeout.connect(self.readContinuousData)
-            self.timer.start(50)
             self.startCommThread()
 
         self.plot_timer = QtCore.QTimer()
         self.plot_timer.timeout.connect(self.update_plot)
         self.plot_timer.start(100)
 
+
+
+    def startCommThread(self):
+        self.communicationThread = multiprocessing.Process(target=self.commThread, args=[])
+        self.communicationThread.start()
+
+    def commThread(self):
+        data = [[0.0] * 128 for _ in xrange(self.plotCount)]
+        while True:
+            try:
+                if self.comm.dataAvailable():
+                    rawData = self.comm.read()
+                    split_data = rawData.split(',')
+
+                    for i in xrange(self.plotCount):
+                        try:
+                            dataValue = split_data[i + self.plotIndex]
+
+                            data[i].insert(0, float(dataValue))
+                            data[i].pop()
+                            self.data[i] = data[i]
+                        except:
+                            pass
+            except:
+                pass
+
+            time.sleep(0.01)
+
+
+
     def readContinuousData(self):
         '''This method continually reads telemetry from the AeroQuad'''
         if self.comm.isConnected() and not self.commData.empty():
@@ -98,6 +130,7 @@ class dataPlot(QtGui.QWidget, subpanel):
         for i in xrange(self.plotCount):
             legendRow = self.legend.child(i)
             if legendRow.checkState(0) == 2:
+                legendRow.setText(2, str(self.data[i][0]))
                 self.curves[i].setData(self.data[i])
                 if self.curves[i] not in self.ui.graphicsView.items():
                     self.ui.graphicsView.addItem(self.curves[i])
diff --git a/subpanel/subPanelTemplate.py b/subpanel/subPanelTemplate.py
index 41d4899..8f49016 100644
--- a/subpanel/subPanelTemplate.py
+++ b/subpanel/subPanelTemplate.py
@@ -4,8 +4,8 @@ Created on Nov 19, 2012
 @author: Ted Carancho
 '''
 import time
-import threading
-import Queue
+import multiprocessing
+from multiprocessing import Queue
 from PyQt4 import QtCore
 
 class subpanel(object):
@@ -17,13 +17,14 @@ class subpanel(object):
     def __init__(self):
         self.connected = False
         self.commState = False
+        self.communicationThread = None
         self.timer = None
         self.xml = None
         self.xmlSubPanel = None
         self.comm = None
         self.mainUi = None
         self.boardConfiguration = {}
-        self.commData = Queue.Queue()
+        self.commData = None
                
     def initialize(self, commTransport, xml, mainWindow):
         '''This initializes your class with required external arguments'''
@@ -71,33 +72,33 @@ class subpanel(object):
                 print(i)
                 
     def startCommThread(self):
-        self.commState = True
-        self.communicationThread = threading.Thread(target=self.commThread, args=[])
+        self.commData  = Queue()
+        self.communicationThread = multiprocessing.Process(target=self.commThread, args=[])
         self.communicationThread.start()
+        #self.communicationThread.join()
             
     def commThread(self):
         '''This runs an independent thread dedicated to reading the comminucations port
         The data is written to the class variable self.data
         To exit this thread, set self.commState = False
         '''
-        while(self.commState):
+        while(True):
             try:
                 if self.comm.dataAvailable():
                     self.commData.put(self.comm.read())
                 else:
-                    time.sleep(0.100)
+                    time.sleep(0.001)
             except:
-                self.commState = False
-        # Thread halted, flush out comm port
-        if (self.comm.isConnected()):
-            self.comm.write(self.xml.find("./Settings/StopTelemetry").text)
-            self.comm.flushResponse()
+                pass#self.commState = False
 
     def stop(self):
         '''This method enables a flag which closes the continuous serial read thread'''
-        self.commState = False # Halt comm thread
+        if self.communicationThread and self.communicationThread.is_alive():
+            self.communicationThread.terminate()
         time.sleep(0.250)
-        if self.comm.isConnected() == True:
+        if self.comm.isConnected():
+            self.comm.write(self.xml.find("./Settings/StopTelemetry").text)
+            self.comm.flushResponse()
             if self.timer != None:
                 self.timer.timeout.disconnect(self.readContinuousData)
                 self.timer.stop()