def letsgobaby(anchor, targetfromflask):
host = 'localhost'
port = 1883
con = MQTT_READ.MQTT(broker_address=host, port=port, clientname='Dzungar1')
anchorlist = []
targetlist = targetfromflask
for item in anchor:
_anchor = Target.Beacon(item['x'], item['y'])
anchorlist.append(_anchor)
for target in targetlist:
target.distanceTab = []
for i, anchor in enumerate(anchorlist):
topic = "test/" + str(target.targetID) + "/" + str(i + 1)
print(f'Topic we read from for {target}', topic)
v = con.read(topic)
target.distanceTab.append(float(v.msg))
l = idxfor3smallest(target.distanceTab)
print(f'Indexes for trilateration of {target}', l)
print(f'Target{target} distance tab', target.distanceTab)
target.Update(l)
print("Target XY ", target.x, target.y)
t = 'test/front/' + str(target.targetID)
print('Topic published to : ', t)
con.publish(t,
str(math.floor(target.x)) + " " +
str(math.floor(target.y)) + " " + str(target.targetID),
retain=False)
print("Python calculated position and send it")
def my_create_rectangle(self, x, y):
rec = self.canvas.create_rectangle(x * self.imscale,
y * self.imscale,
(x + 5) * self.imscale,
(y + 5) * self.imscale,
fill='red',
activefill='black',
tags='rec')
x = (x * self.imscale + (x + 5) * self.imscale) / 2
y = (y * self.imscale + (y + 5) * self.imscale) / 2
anchor = Target.Beacon(x, y)
Canvas.relationtable.append((rec, anchor))