def __init__(self, path_info, mode='circular'):
self.path_info = path_info
self.coordinates = self.path_info['coords']
# dll of nodes, where node is a wrapper object 'Coord' for named tuple Coordinates
self.nodes = [Coord(item, self.coordinates[idx - 1] if idx >= 1 else None,
self.coordinates[idx + 1] if idx < len(self.coordinates) - 1 else None) for idx, item in
enumerate(self.coordinates)]
self.elevation = grouper(self.coordinates, 2)
self.distance = grouper(self.path_info['distance'], 2)
self.lat_distance = grouper(self.path_info['latDistance'], 2)
self.lon_distance = grouper(self.path_info['lonDistance'], 2)
self.idx = -1
self.mode = mode
def decode_api_call(self, raw_cmd):
"""
Tries to decode packets received by ZMQ by comparing against known function, or API calls
:param raw_cmd: ZMQ packet to be processed as an API call
"""
cmd = raw_cmd[0]
# cmd = self.map_api[cmd]
cmd = self.api[cmd]
# for key, value in utils.grouper(raw_cmd[1:], 2):
# print key, value
argDict = {key: value for key, value in grouper(raw_cmd[1:], 2)}
cmd(**argDict) # callable functions in map must take kwargs in order to be called..
def qgis(self, *args, **kwargs):
"""
Define the sequence of events that should happen when we've received a message from qgis
:param args:
:param kwargs:
:return:
"""
msg = kwargs.get('coordinate_pairs', None)
coordinate_pairs = [Coordinate(lat=lat, lon=lon) for lon, lat in grouper(msg, 2)]
path_info = self.get_elevation_along_path(**{'coordinate_pairs': coordinate_pairs})
path = Path(path_info, mode='one-shot')
print("QGIS Called")
print(path_info)
"""
@todo: now path class needs to be assigned to a vehicle, and we need to call equations of motion for that
vehicle processing will consist of:
- calling vinc_dist between adjacent points on a circular path
- once we have tracking angle and distance between points, call vinc_pt with information on the vehicles speed
every five seconds.
"""
ground_speed = 48.27 # km/h
dt = .01 # 1 mS
rocd = 0 # constant altitude
# @todo: think about adding this to the creation of the path object
count = 0
tol = .1
results = []
while path.has_next():
try:
current_coord = next(path) # get the current node, a Coord object
next_coord = current_coord.__next__
current_coord = current_coord.data
# print current_coord, type(current_coord), next_coord, type(next_coord)
if next_coord is not None:
inverse = self.vinc_inv(self.flattening, self.semimajor, current_coord, next_coord)
distance = inverse['distance']
fwd_azimuth = inverse['forward_azimuth']
rev_azimuth = inverse['reverse_azimuth']
err = distance
remaining_distance = distance
count = 0
while remaining_distance > 1:
count += 1
# @todo will need to call physical model to get current velocity based on past state and
# acceleration
fpm_to_fps = 0.01666666666667 # Feet per minute to feet per second.
ellipsoidal_velocity = ground_speed # is this correct?
ellipsoidal_distance = ellipsoidal_velocity * dt
remaining_distance -= ellipsoidal_distance
temp_coord, temp = self.vinc_dir(0.00335281068118, 6378137.0, current_coord, fwd_azimuth,
ellipsoidal_distance)
altitude = rocd * fpm_to_fps * dt
current_coord = temp_coord
err = distance - remaining_distance
if count >= 500:
results.append(current_coord)
count = 0
except StopIteration:
break
f = open('recon.csv', 'wt')
try:
writer = csv.writer(f)
writer.writerow(['Lat', 'Lon'])
for elem in results:
writer.writerow([elem.lat, elem.lon])
finally:
f.close()
print("Results", results)
