def clusterTrackpoints(self, trackpointsList, cluster_distance):
"""
Groups points that are less than cluster_distance pixels apart at
a given zoom level into a cluster.
"""
points = [{'latitude': point.latitude, 'longitude': point.longitude} for point in trackpointsList[0]]
self.set('clPoints', points)
clusters = []
while len(points) > 0:
point1 = points.pop()
cluster = []
for point2 in points[:]:
pixel_distance = geo.distance(point1['latitude'],
point1['longitude'],
point2['latitude'],
point2['longitude'])
if pixel_distance < cluster_distance:
points.remove(point2)
cluster.append(point2)
# add the first point to the cluster
if len(cluster) > 0:
cluster.append(point1)
clusters.append(cluster)
else:
clusters.append([point1])
return clusters
def from_monav_result(cls, result):
"""Convert route nodes from the Monav routing result"""
# to (lat, lon) tuples
if result:
# route points
routePoints = []
mLength = 0 # in meters
if result.nodes:
firstNode = result.nodes[0]
prevLat, prevLon = firstNode.lat, firstNode.lon
# there is one from first to first calculation on start,
# but as it should return 0, it should not be an issue
for node in result.nodes:
routePoints.append((node.lat, node.lon, None))
mLength += geo.distance(prevLat, prevLon, node.lat, node.lon) * 1000
prevLat, prevLon = node.lat, node.lon
way = cls(routePoints)
way.duration = result.seconds
way._setLength(mLength)
# detect turns
messagePoints = detect_monav_turns(result)
way.add_message_points(messagePoints)
return way
else:
return None
def from_handmade(cls, start, middlePoints, destination):
"""Convert hand-made route data to a way """
if start and destination:
# route points & message points are generated at once
# * empty string as message => no message point, just route point
routePoints = [(start[0], start[1], None)]
messagePoints = []
mLength = 0 # in meters
lastLat, lastLon = start[0], start[1]
for point in middlePoints:
lat, lon, elevation, message = point
mLength += geo.distance(lastLat, lastLon, lat, lon) * 1000
routePoints.append((lat, lon, elevation))
if message != "": # is it a message point ?
point = TurnByTurnPoint(lat, lon, elevation, message)
point.distanceFromStart = mLength
messagePoints.append(point)
lastLat, lastLon = lat, lon
routePoints.append((destination[0], destination[1], None))
way = cls(routePoints)
way.add_message_points(messagePoints)
# huge guestimation (avg speed 60 km/h = 16.7 m/s)
seconds = mLength / 16.7
way.duration = seconds
way._setLength(mLength)
# done, return the result
return way
else:
return None
def findNearestPoint(self):
"""find the nearest point of the active tracklog(nearest to our position)"""
pos = self.get('pos', None)
if pos is None:
return False
# self.log.debug(profile)
# (sx,sy) = proj.screenPos(0.5, 0.5)
# (sLat,sLon) = proj.xy2ll(sx, sy)
(pLat, pLon) = pos
# list order: distance from pos/screen center, lat, lon, distance from start, elevation
distList = [(geo.distance(pLat, pLon, i[2],
i[3]), i[2], i[3], i[0], i[1])
for i in self.routeProfileData]
# distList.sort()
l = [k[0] for k in distList
] # make a list with only distances to our position
self.nearestIndex = l.index(
min(l)) # get index of the shortest distance
self.nearestPoint = distList[
self.nearestIndex] # get the nearest point
self.distanceList = distList
return True
def fromMonavResult(result, getTurns=None):
"""convert route nodes from the Monav routing result"""
# to (lat, lon) tuples
if result:
# route points
routePoints = []
mLength = 0 # in meters
if result.nodes:
firstNode = result.nodes[0]
prevLat, prevLon = firstNode.latitude, firstNode.longitude
# there is one from first to first calculation on start,
# but as it should return 0, it should not be an issue
for node in result.nodes:
routePoints.append((node.latitude, node.longitude, None))
mLength += geo.distance(prevLat, prevLon, node.latitude, node.longitude) * 1000
prevLat, prevLon = node.latitude, node.longitude
way = Way(routePoints)
way.setDuration(result.seconds)
way._setLength(mLength)
# was a directions generation method provided ?
if getTurns:
# generate directions
messagePoints = getTurns(result)
way.addMessagePoints(messagePoints)
return way
else:
return None
def from_handmade(cls, start, middlePoints, destination):
"""Convert hand-made route data to a way """
if start and destination:
# route points & message points are generated at once
# * empty string as message => no message point, just route point
routePoints = [(start[0], start[1], None)]
messagePoints = []
mLength = 0 # in meters
lastLat, lastLon = start[0], start[1]
for point in middlePoints:
lat, lon, elevation, message = point
mLength += geo.distance(lastLat, lastLon, lat, lon) * 1000
routePoints.append((lat, lon, elevation))
if message != "": # is it a message point ?
point = TurnByTurnPoint(lat, lon, elevation, message)
point.distanceFromStart = mLength
messagePoints.append(point)
lastLat, lastLon = lat, lon
routePoints.append((destination[0], destination[1], None))
way = cls(routePoints)
way.add_message_points(messagePoints)
# huge guestimation (avg speed 60 km/h = 16.7 m/s)
seconds = mLength / 16.7
way.duration = seconds
way._setLength(mLength)
# done, return the result
return way
else:
return None
def from_monav_result(cls, result):
"""Convert route nodes from the Monav routing result"""
# to (lat, lon) tuples
if result:
# route points
routePoints = []
mLength = 0 # in meters
if result.nodes:
firstNode = result.nodes[0]
prevLat, prevLon = firstNode.latitude, firstNode.longitude
# there is one from first to first calculation on start,
# but as it should return 0, it should not be an issue
for node in result.nodes:
routePoints.append((node.latitude, node.longitude, None))
mLength += geo.distance(prevLat, prevLon, node.latitude, node.longitude) * 1000
prevLat, prevLon = node.latitude, node.longitude
way = cls(routePoints)
way.duration = result.seconds
way._setLength(mLength)
# detect turns
messagePoints = detect_monav_turns(result)
way.add_message_points(messagePoints)
return way
else:
return None
def fromMonavResult(result, getTurns=None):
"""convert route nodes from the Monav routing result"""
# to (lat, lon) tuples
if result:
# route points
routePoints = []
mLength = 0 # in meters
if result.nodes:
firstNode = result.nodes[0]
prevLat, prevLon = firstNode.latitude, firstNode.longitude
# there is one from first to first calculation on start,
# but as it should return 0, it should not be an issue
for node in result.nodes:
routePoints.append((node.latitude, node.longitude, None))
mLength += geo.distance(prevLat, prevLon, node.latitude,
node.longitude) * 1000
prevLat, prevLon = node.latitude, node.longitude
way = Way(routePoints)
way.setDuration(result.seconds)
way._setLength(mLength)
# was a directions generation method provided ?
if getTurns:
# generate directions
messagePoints = getTurns(result)
way.addMessagePoints(messagePoints)
return way
else:
return None
def cluster_trackpoints(self, trackpointsList, cluster_distance):
"""
Groups points that are less than cluster_distance pixels apart at
a given zoom level into a cluster.
"""
points = [{'latitude': point.latitude, 'longitude': point.longitude} for point in trackpointsList[0]]
self.set('clPoints', points)
clusters = []
while len(points) > 0:
point1 = points.pop()
cluster = []
for point2 in points[:]:
pixel_distance = geo.distance(point1['latitude'],
point1['longitude'],
point2['latitude'],
point2['longitude'])
if pixel_distance < cluster_distance:
points.remove(point2)
cluster.append(point2)
# add the first point to the cluster
if len(cluster) > 0:
cluster.append(point1)
clusters.append(cluster)
else:
clusters.append([point1])
return clusters
def _drawPoint(self, crPosUnitsProj, point, colors, distance=True, action="", highlight=False):
(cr, pos, units, proj) = crPosUnitsProj
(lat, lon) = point.getLL() # TODO use getLLE for 3D distance
(lat1, lon1) = pos # current position coordinates
kiloMetricDistance = geo.distance(lat, lon, lat1, lon1)
unitString = units.km2CurrentUnitString(kiloMetricDistance, 0, True)
if distance and pos and units:
distanceString = " (%s)" % unitString
else:
distanceString = ""
text = "%s%s" % (point.name, distanceString)
(x, y) = proj.ll2xy(lat, lon)
# get colors
(bgColor, textColor) = colors
if highlight:
# draw the highlighting circle
cr.set_line_width(8)
cr.set_source_rgba(*bgColor.getCairoColor()) # highlight circle color
cr.arc(x, y, 15, 0, 2.0 * math.pi)
cr.stroke()
cr.fill()
# draw the point
cr.set_source_rgb(0.0, 0.0, 0.0)
cr.set_line_width(10)
cr.arc(x, y, 3, 0, 2.0 * math.pi)
cr.stroke()
cr.set_source_rgb(0.0, 0.0, 1.0)
cr.set_line_width(8)
cr.arc(x, y, 2, 0, 2.0 * math.pi)
cr.stroke()
# draw a caption with transparent background
cr.set_font_size(25)
extents = cr.text_extents(text) # get the text extents
(w, h) = (extents[2], extents[3])
border = 2
cr.set_line_width(2)
cr.set_source_rgba(*bgColor.getCairoColor()) # trasparent blue
(rx, ry, rw, rh) = (x - border + 12, y + border + h * 0.2 + 6, w + 4 * border, -(h * 1.4))
cr.rectangle(rx, ry, rw, rh) # create the transparent background rectangle
cr.fill()
# register clickable area
click = self.m.get("clickHandler", None)
if click:
# make the POI caption clickable
click.registerXYWH(rx, ry - (-rh), rw, -rh, action)
cr.fill()
# draw the actual text
cr.set_source_rgba(*textColor.getCairoColor()) # slightly transparent white
cr.move_to(x + 15, y + 7)
cr.show_text(text) # show the transparent result caption
cr.stroke()
def drawMenu(self, cr, menuName, args=None):
if menuName == 'infoAbout':
menus = self.m.get('menu', None)
if menus:
button1 = ('Discussion', 'generic',
"ms:menu:open_url:%s" % self.discussions[0][0])
button2 = ('Donate', 'generic',
"ms:menu:open_url:%s" % self.pay_pal_url)
web = " <u>www.modrana.org</u> "
email = " [email protected] "
text = "modRana version:\n\n%s\n\n\n\nFor questions or feedback,\n\ncontact the <b>modRana</b> project:\n\n%s\n\n%s\n\n" % (
self.versionString, web, email)
box = (text, "ms:menu:open_url:http://www.modrana.org")
menus.drawThreePlusOneMenu(cr, 'infoAbout', 'set:menu:info',
button1, button2, box)
elif menuName == "infoDirection":
menus = self.m.get('menu', None)
if menus:
button1 = ('set point', 'generic', "info:setPoint")
button2 = ('clear', 'generic', "info:clearPoint")
boxText = "no point selected"
if self._dirPoint:
lat = self._dirPoint.lat
lon = self._dirPoint.lon
boxText = "lat: <b>%f</b> lon: <b>%f</b>" % (lat, lon)
# if possible, add distance information
units = self.m.get("units", None)
pos = self.get("pos", None)
if pos and units:
lat1, lon1 = pos
distance = geo.distance(lat, lon, lat1, lon1) * 1000
distance, shortUnit, longUnit = units.humanRound(
distance)
boxText += " %s %s" % (str(distance), shortUnit)
box = (boxText, "")
# draw the buttons and main box background
menus.drawThreePlusOneMenu(cr, 'infoDirection',
'set:menu:info', button1, button2,
box)
# get coordinates for the box
(e1, e2, e3, e4, alloc) = menus.threePlusOneMenuCoords()
# upper left corner XY
(x4, y4) = e4
# width and height
(w, h, dx, dy) = alloc
w4 = w - x4
h4 = h - y4
# draw the direction indicator
axisX = x4 + w4 / 2.0
axisY = y4 + h4 / 2.0
# shortest side
shortestSide = min(w4, h4)
# usable side - 10% border
side = shortestSide * 0.7
angle = self._getDirectionAngle()
self._drawDirectionIndicator(cr, axisX, axisY, side, angle)
def localAddPointsToLine(lat1, lon1, lat2, lon2, maxDistance):
distance = geo.distance(lat1, lon1, lat2, lon2)
if distance <= maxDistance: # the termination criterion
return
else:
middleLat = (lat1 + lat2) / 2.0 # fin the midpoint between the two points
middleLon = (lon1 + lon2) / 2.0
pointsBetween.append((middleLat, middleLon))
# process the 2 new line segments
localAddPointsToLine(lat1, lon1, middleLat, middleLon, maxDistance)
localAddPointsToLine(middleLat, middleLon, lat2, lon2, maxDistance)
def localAddPointsToLine(lat1, lon1, lat2, lon2, maxDistance):
distance = geo.distance(lat1, lon1, lat2, lon2)
if distance <= maxDistance: # the termination criterion
return
else:
middleLat = (lat1 + lat2) / 2.0 # fin the midpoint between the two points
middleLon = (lon1 + lon2) / 2.0
pointsBetween.append((middleLat, middleLon))
# process the 2 new line segments
localAddPointsToLine(lat1, lon1, middleLat, middleLon, maxDistance)
localAddPointsToLine(middleLat, middleLon, lat2, lon2, maxDistance)
def drawMenu(self, cr, menuName, args=None):
if menuName == 'infoAbout':
menus = self.m.get('menu', None)
if menus:
button1 = ('Discussion', 'generic', "ms:menu:openUrl:%s" % self.getDiscussionUrls()[0][0])
button2 = ('Donate', 'generic', "ms:menu:openUrl:%s" % self.getPayPalUrl())
web = " <u>www.modrana.org</u> "
email = " [email protected] "
text = "modRana version:\n\n%s\n\n\n\nFor questions or feedback,\n\ncontact the <b>modRana</b> project:\n\n%s\n\n%s\n\n" % (
self.versionString, web, email)
box = (text, "ms:menu:openUrl:http://www.modrana.org")
menus.drawThreePlusOneMenu(cr, 'infoAbout', 'set:menu:info', button1, button2, box)
elif menuName == "infoDirection":
menus = self.m.get('menu', None)
if menus:
button1 = ('set point', 'generic', "info:setPoint")
button2 = ('clear', 'generic', "info:clearPoint")
boxText = "no point selected"
if self._dirPoint:
lat = self._dirPoint.lat
lon = self._dirPoint.lon
boxText= "lat: <b>%f</b> lon: <b>%f</b>" % (lat, lon)
# if possible, add distance information
units = self.m.get("units", None)
pos = self.get("pos", None)
if pos and units:
lat1, lon1 = pos
distance = geo.distance(lat, lon, lat1, lon1)*1000
distance, shortUnit, longUnit = units.humanRound(distance)
boxText+=" %s %s" % (str(distance), shortUnit)
box = (boxText, "")
# draw the buttons and main box background
menus.drawThreePlusOneMenu(cr, 'infoDirection', 'set:menu:info', button1, button2, box)
# get coordinates for the box
(e1, e2, e3, e4, alloc) = menus.threePlusOneMenuCoords()
# upper left corner XY
(x4, y4) = e4
# width and height
(w, h, dx, dy) = alloc
w4 = w - x4
h4 = h - y4
# draw the direction indicator
axisX = x4 + w4/2.0
axisY = y4 + h4/2.0
# shortest side
shortestSide = min(w4,h4)
# usable side - 10% border
side = shortestSide*0.7
angle = self._getDirectionAngle()
self._drawDirectionIndicator(cr, axisX, axisY, side, angle)
def getClosestStep(self):
"""get the geographically closest step"""
proj = self.m.get('projection', None) # we also need the projection module
pos = self.get('pos', None) # and current position
if pos and proj:
(lat1, lon1) = pos
tempSteps = self.route.getMessagePoints()
for step in tempSteps:
(lat2, lon2) = step.getLL()
step.setCurrentDistance = geo.distance(lat1, lon1, lat2, lon2) * 1000 # km to m
closestStep = sorted(tempSteps, key=lambda x: x.getCurrentDistance())[0]
return closestStep
def getClosestStep(self):
"""get the geographically closest step"""
proj = self.m.get('projection', None) # we also need the projection module
pos = self.get('pos', None) # and current position
if pos and proj:
(lat1, lon1) = pos
tempSteps = self.route.message_points
for step in tempSteps:
(lat2, lon2) = step.getLL()
step.currentDistance = geo.distance(lat1, lon1, lat2, lon2) * 1000 # km to m
closestStep = sorted(tempSteps, key=lambda x: x.currentDistance)[0]
return closestStep
def _updateLogCB(self):
"""add current position at the end of the log"""
pos = self.get('pos', None)
if pos and not self.loggingPaused:
timestamp = geo.timestampUTC()
lat, lon = pos
elevation = self.get('elevation', None)
self.log1.addPointLLET(lat, lon, elevation, timestamp)
self.log2.addPointLLET(lat, lon, elevation, timestamp)
# update statistics for the current log
if self.loggingEnabled and not self.loggingPaused:
# update the current log speed statistics
currentSpeed = self.get('speed', None)
if currentSpeed:
# max speed
if currentSpeed > self.maxSpeed:
self.maxSpeed = currentSpeed
# avg speed
self.avg1 += currentSpeed
self.avg2 += (time.time() - self.lastUpdateTimestamp)
self.avgSpeed = self.avg1 / self.avg2
self.lastUpdateTimestamp = time.time()
# update traveled distance
if self.lastCoords:
lLat, lLon = self.lastCoords
self.distance += geo.distance(lLat, lLon, lat, lon)
self.lastCoords = lat, lon
# update the on-map trace
if self.lastTracePoint:
lat1, lon1 = self.lastTracePoint
# check if the point is distant enough from the last added point
# (which was either the first point or also passed the test)
addToTrace = True
try:
addToTrace = geo.distanceApprox(
lat, lon, lat1,
lon1) * 1000 >= DONT_ADD_TO_TRACE_THRESHOLD
except Exception:
self.log.exception(
"measuring distance failed (yeah, really! :P), adding point anyway"
)
if addToTrace:
self._addLL2Trace(lat, lon)
else: # this is the first known log point, just add it
self._addLL2Trace(lat, lon)
# done, trigger the tracklog updated signal
self.tracklogUpdated()
def screenRadius(self):
"""Return the centerpoint and radius of a circle encompassing the screen."""
(centreXpixel, centreYpixel) = self.screenPos(0.5, 0.5)
(centreX, centreY) = self.xy2ll(centreXpixel, centreYpixel)
#ASUMPTION: screen is rectangular
(cornerXpixel, cornerYpixel) = self.screenPos(0, 0) # we take the coordinates of one corner of the screen
(cornerX, cornerY) = self.xy2ll(cornerXpixel, cornerYpixel) # we convert them to projection coordinates
(anotherCornerXpixel, anotherCornerYpixel) = self.screenPos(1,
1) # we take the coordinates of another corner of the screen
(anotherCornerX, anotherCornerY) = self.xy2ll(anotherCornerXpixel,
anotherCornerYpixel) # we convert them to projection coordinates
# radius = diagonal/2
radius = geo.distance(anotherCornerX, anotherCornerY, cornerX, cornerY) / 2.0
return centreX, centreY, radius # we return the centre coordinates and the radius
def _updateLogCB(self):
"""add current position at the end of the log"""
pos = self.get("pos", None)
if pos and not self.loggingPaused:
timestamp = geo.timestampUTC()
lat, lon = pos
elevation = self.get("elevation", None)
self.log1.addPointLLET(lat, lon, elevation, timestamp)
self.log2.addPointLLET(lat, lon, elevation, timestamp)
# update statistics for the current log
if self.loggingEnabled and not self.loggingPaused:
# update the current log speed statistics
currentSpeed = self.get("speed", None)
if currentSpeed:
# max speed
if currentSpeed > self.maxSpeed:
self.maxSpeed = currentSpeed
# avg speed
self.avg1 += currentSpeed
self.avg2 += time.time() - self.lastUpdateTimestamp
self.avgSpeed = self.avg1 / self.avg2
self.lastUpdateTimestamp = time.time()
# update traveled distance
if self.lastCoords:
lLat, lLon = self.lastCoords
self.distance += geo.distance(lLat, lLon, lat, lon)
self.lastCoords = lat, lon
# update the on-map trace
if self.lastTracePoint:
lat1, lon1 = self.lastTracePoint
# check if the point is distant enough from the last added point
# (which was either the first point or also passed the test)
addToTrace = True
try:
addToTrace = geo.distanceApprox(lat, lon, lat1, lon1) * 1000 >= DONT_ADD_TO_TRACE_THRESHOLD
except Exception:
import sys
e = sys.exc_info()[1]
print("tracklog: measuring distance failed (yeah, really! :P), adding point anyway")
print(e)
if addToTrace:
self._addLL2Trace(lat, lon)
else: # this is the first known log point, just add it
self._addLL2Trace(lat, lon)
def _get_closest_step(self):
"""Get the geographically closest step."""
proj = self.m.get('projection',
None) # we also need the projection module
pos = self.get('pos', None) # and current position
if pos and proj:
(lat1, lon1) = pos
temp_steps = self._route.message_points
for step in temp_steps:
(lat2, lon2) = step.getLL()
step.current_distance = geo.distance(lat1, lon1, lat2,
lon2) * 1000 # km to m
closest_step = sorted(temp_steps,
key=lambda x: x.current_distance)[0]
return closest_step
def screenRadius(self):
"""Return the centerpoint and radius of a circle encompassing the screen."""
(centreXpixel, centreYpixel) = self.screenPos(0.5, 0.5)
(centreX, centreY) = self.xy2ll(centreXpixel, centreYpixel)
#ASUMPTION: screen is rectangular
(cornerXpixel, cornerYpixel) = self.screenPos(
0, 0) # we take the coordinates of one corner of the screen
(cornerX, cornerY) = self.xy2ll(
cornerXpixel,
cornerYpixel) # we convert them to projection coordinates
(anotherCornerXpixel, anotherCornerYpixel) = self.screenPos(
1, 1) # we take the coordinates of another corner of the screen
(anotherCornerX, anotherCornerY) = self.xy2ll(
anotherCornerXpixel,
anotherCornerYpixel) # we convert them to projection coordinates
# radius = diagonal/2
radius = geo.distance(anotherCornerX, anotherCornerY, cornerX,
cornerY) / 2.0
return centreX, centreY, radius # we return the centre coordinates and the radius
def getTilesForRoute(self, route, radius, z):
"""get tilenames for tiles around the route for given radius and zoom"""
# now we look whats the distance between each two trackpoints,
# if it is larger than the tracklog radius, we add additional interpolated points,
# so we get continuous coverage for the tracklog
first = True
interpolatedPoints = []
for point in route:
if first: # the first point has no previous point
(lastLat, lastLon) = point[0], point[1]
first = False
continue
thisLat, thisLon = point[0], point[1]
distBtwPoints = geo.distance(lastLat, lastLon, thisLat, thisLon)
# if the distance between points was greater than the given radius for tiles,
# there would be no continuous coverage for the route
if distBtwPoints > radius:
# so we call this recursive function to interpolate points between
# points that are too far apart
interpolatedPoints.extend(
self.addPointsToLine(lastLat, lastLon, thisLat, thisLon,
radius))
(lastLat, lastLon) = (thisLat, thisLon)
# because we don't care about what order are the points in this case,
# we just add the interpolated points to the end
route.extend(interpolatedPoints)
start = time.perf_counter()
tilesToDownload = set()
for point in route: #now we iterate over all points of the route
lat, lon = point[0], point[1]
# be advised: the xy in this case are not screen coordinates but tile coordinates
(x, y) = ll2xy(lat, lon, z)
# the spiral gives us tiles around coordinates for a given radius
currentPointTiles = self.spiral(x, y, z, radius)
# now we take the resulting list and process it in such a way,
# that the tiles coordinates can be stored in a set,
# so we will save only unique tiles
outputSet = set(map(lambda x: tuple(x), currentPointTiles))
tilesToDownload.update(outputSet)
self.log.info("Listing tiles took %1.2f ms",
1000 * (time.perf_counter() - start))
self.log.info("unique tiles %d", len(tilesToDownload))
return tilesToDownload
def updateDistance(self):
if self.localSearchResults:
position = self.get("pos", None) # our lat lon coordinates
resultList = []
index = 0
for point in self.localSearchResults: # we iterate over the local search results
if position is not None:
(lat1, lon1) = position
(lat2, lon2) = point.getLL()
distance = geo.distance(lat1, lon1, lat2, lon2)
resultTuple = (distance, point, index)
resultList.append(resultTuple) # we pack each result into a tuple with ist distance from us
else:
resultTuple = (
0, point, index) # in this case, we dont know our position, so we say the distance is 0
resultList.append(resultTuple)
index += 1
self.list = resultList
return resultList
else:
self.log.error("error -> distance update on empty results")
def getTilesForRoute(self, route, radius, z):
"""get tilenames for tiles around the route for given radius and zoom"""
# now we look whats the distance between each two trackpoints,
# if it is larger than the tracklog radius, we add additional interpolated points,
# so we get continuous coverage for the tracklog
first = True
interpolatedPoints = []
for point in route:
if first: # the first point has no previous point
(lastLat, lastLon) = point[0], point[1]
first = False
continue
thisLat, thisLon = point[0], point[1]
distBtwPoints = geo.distance(lastLat, lastLon, thisLat, thisLon)
# if the distance between points was greater than the given radius for tiles,
# there would be no continuous coverage for the route
if distBtwPoints > radius:
# so we call this recursive function to interpolate points between
# points that are too far apart
interpolatedPoints.extend(self.addPointsToLine(lastLat, lastLon, thisLat, thisLon, radius))
(lastLat, lastLon) = (thisLat, thisLon)
# because we don't care about what order are the points in this case,
# we just add the interpolated points to the end
route.extend(interpolatedPoints)
start = clock()
tilesToDownload = set()
for point in route: # now we iterate over all points of the route
lat, lon = point[0], point[1]
# be advised: the xy in this case are not screen coordinates but tile coordinates
(x, y) = ll2xy(lat, lon, z)
# the spiral gives us tiles around coordinates for a given radius
currentPointTiles = self.spiral(x, y, z, radius)
# now we take the resulting list and process it in such a way,
# that the tiles coordinates can be stored in a set,
# so we will save only unique tiles
outputSet = set(map(lambda x: tuple(x), currentPointTiles))
tilesToDownload.update(outputSet)
self.log.info("Listing tiles took %1.2f ms", 1000 * (clock() - start))
self.log.info("unique tiles %d", len(tilesToDownload))
return tilesToDownload
def _updateLogCB(self):
"""add current position at the end of the log"""
pos = self.get('pos', None)
if pos and not self.loggingPaused:
timestamp = geo.timestampUTC()
lat, lon = pos
elevation = self.get('elevation', None)
self.log1.addPointLLET(lat, lon, elevation, timestamp)
self.log2.addPointLLET(lat, lon, elevation, timestamp)
# update statistics for the current log
if self.loggingEnabled and not self.loggingPaused:
# update the current log speed statistics
currentSpeed = self.get('speed', None)
if currentSpeed:
# max speed
if currentSpeed > self.maxSpeed:
self.maxSpeed = currentSpeed
# avg speed
self.avg1 += currentSpeed
self.avg2 += (time.time() - self.lastUpdateTimestamp)
self.avgSpeed = self.avg1 / self.avg2
self.lastUpdateTimestamp = time.time()
# update traveled distance
if self.lastCoords:
lLat, lLon = self.lastCoords
self.distance += geo.distance(lLat, lLon, lat, lon)
self.lastCoords = lat, lon
# update the on-map trace
if self.lastTracePoint:
lat1, lon1 = self.lastTracePoint
# check if the point is distant enough from the last added point
# (which was either the first point or also passed the test)
if geo.distanceApprox(lat, lon, lat1, lon1) * 1000 >= DONT_ADD_TO_TRACE_THRESHOLD:
self._addLL2Trace(lat, lon)
else: # this is the first known log point, just add it
self._addLL2Trace(lat, lon)
def findNearestPoint(self):
"""find the nearest point of the active tracklog(nearest to our position)"""
pos = self.get('pos', None)
if pos is None:
return False
# self.log.debug(profile)
# (sx,sy) = proj.screenPos(0.5, 0.5)
# (sLat,sLon) = proj.xy2ll(sx, sy)
(pLat, pLon) = pos
# list order: distance from pos/screen center, lat, lon, distance from start, elevation
distList = [(geo.distance(pLat, pLon, i[2], i[3]), i[2], i[3], i[0], i[1]) for i in self.routeProfileData]
# distList.sort()
l = [k[0] for k in distList] # make a list with only distances to our position
self.nearestIndex = l.index(min(l)) # get index of the shortest distance
self.nearestPoint = distList[self.nearestIndex] # get the nearest point
self.distanceList = distList
return True
def updateDistance(self):
if self.localSearchResults:
position = self.get("pos", None) # our lat lon coordinates
resultList = []
index = 0
for point in self.localSearchResults: # we iterate over the local search results
if position is not None:
(lat1, lon1) = position
(lat2, lon2) = point.getLL()
distance = geo.distance(lat1, lon1, lat2, lon2)
resultTuple = (distance, point, index)
resultList.append(
resultTuple
) # we pack each result into a tuple with ist distance from us
else:
resultTuple = (
0, point, index
) # in this case, we dont know our position, so we say the distance is 0
resultList.append(resultTuple)
index += 1
self.list = resultList
return resultList
else:
self.log.error("error -> distance update on empty results")
def startTBT(self, fromWhere='first'):
"""start Turn-by-turn navigation"""
# clean up any possible previous navigation data
self.goToInitialState()
# NOTE: turn and step are used interchangeably in the documentation
m = self.m.get('route', None)
if m:
route = m.get_current_directions()
if route: # is the route nonempty ?
self.route = route
# get route in radians for automatic rerouting
self.radiansRoute = route.get_points_lle_radians(drop_elevation=True)
# start rerouting watch
self._startTBTWorker()
# show the warning message
self.sendMessage('ml:notification:m:use at own risk, watch for cliffs, etc.;3')
# for some reason the combined distance does not account for the last step
self.mRouteLength = route.length
# some statistics
metersPerSecSpeed = self.get('metersPerSecSpeed', None)
dt = m.route_lookup_duration
self.log.info("route lookup took: %f s" % dt)
if dt and metersPerSecSpeed:
dm = dt * metersPerSecSpeed
self.log.info("distance traveled during lookup: %f m" % dm)
# the duration of the road lookup and other variables are currently not used
# in the heuristics but might be added later to make the heuristics more robust
# now we decide if we use the closest turn, or the next one,
# as we might be already past it and on our way to the next turn
cs = self.getClosestStep() # get geographically closest step
pos = self.get('pos', None) # get current position
pReachedDist = int(self.get('pointReachedDistance', 30)) # get the trigger distance
nextTurnId = self.getStepID(cs) + 1
nextStep = self.getStep(nextTurnId)
# check if we have all the data needed for our heuristics
self.log.info("trying to guess correct step to start navigation")
if nextStep and pos and pReachedDist:
(lat, lon) = pos
(csLat, csLon) = cs.getLL()
(nsLat, nsLon) = nextStep.getLL()
pos2nextStep = geo.distance(lat, lon, nsLat, nsLon) * 1000
pos2currentStep = geo.distance(lat, lon, csLat, csLon) * 1000
currentStep2nextStep = geo.distance(csLat, csLon, nsLat, nsLon) * 1000
# self.log.debug("pos",(lat,lon))
# self.log.debug("cs",(csLat,csLon))
# self.log.debug("ns",(nsLat,nsLon))
self.log.debug("position to next turn: %f m" % pos2nextStep)
self.log.debug("position to current turn: %f m" % pos2currentStep)
self.log.debug("current turn to next turn: %f m" % currentStep2nextStep)
self.log.debug("turn reached trigger distance: %f m" % pReachedDist)
if pos2currentStep > pReachedDist:
#this means we are out of the "capture circle" of the closest step
# what is more distant, the closest or the next step ?
if pos2nextStep < currentStep2nextStep:
# we are mostly probably already past the closest step,
# so we switch to the next step at once
self.log.debug("already past closest turn, switching to next turn")
self.setStepAsCurrent(nextStep)
# we play the message for the next step,
# with current distance to this step,
# to assure there is some voice output immediately after
# getting a new route or rerouting"""
plaintextMessage = nextStep.ssmlMessage
self.sayTurn(plaintextMessage, pos2nextStep)
else:
# we have probably not yet reached the closest step,
# so we start navigation from it
self.log.debug("closest turn not yet reached")
self.setStepAsCurrent(cs)
else:
# we are inside the "capture circle" of the closest step,
# this means the navigation will trigger the voice message by itself
# and correctly switch to next step
# -> no need to switch to next step from here
self.log.debug("inside reach distance of closest turn")
self.setStepAsCurrent(cs)
else:
# we dont have some of the data, that is needed to decide
# if we start the navigation from the closest step of from the step that is after it
# -> we just start from the closest step
self.log.debug("not enough data to decide, using closest turn")
self.setStepAsCurrent(cs)
self._doNavigationUpdate() # run a first time navigation update
self.locationWatchID = self.watch('locationUpdated', self.locationUpdateCB)
self.log.info("started and ready")
def startTBT(self, fromWhere='first'):
"""start Turn-by-turn navigation"""
# clean up any possible previous navigation data
self.goToInitialState()
# NOTE: turn and step are used interchangeably in the documentation
m = self.m.get('route', None)
if m:
route = m.getCurrentDirections()
if route: # is the route nonempty ?
self.route = route
# get route in radians for automatic rerouting
self.radiansRoute = route.getPointsLLERadians(dropElevation=True)
# start rerouting watch
self._startTBTWorker()
# show the warning message
self.sendMessage('ml:notification:m:use at own risk, watch for cliffs, etc.;3')
# for some reason the combined distance does not account for the last step
self.mRouteLength = route.getLength()
# some statistics
metersPerSecSpeed = self.get('metersPerSecSpeed', None)
dt = m.routeLookupDuration
self.log.info("route lookup took: %f s" % dt)
if dt and metersPerSecSpeed:
dm = dt * metersPerSecSpeed
self.log.info("distance traveled during lookup: %f m" % dm)
# the duration of the road lookup and other variables are currently not used
# in the heuristics but might be added later to make the heuristics more robust
# now we decide if we use the closest turn, or the next one,
# as we might be already past it and on our way to the next turn
cs = self.getClosestStep() # get geographically closest step
pos = self.get('pos', None) # get current position
pReachedDist = int(self.get('pointReachedDistance', 30)) # get the trigger distance
nextTurnId = self.getStepID(cs) + 1
nextStep = self.getStep(nextTurnId)
# check if we have all the data needed for our heuristics
self.log.info("trying to guess correct step to start navigation")
if nextStep and pos and pReachedDist:
(lat, lon) = pos
(csLat, csLon) = cs.getLL()
(nsLat, nsLon) = nextStep.getLL()
pos2nextStep = geo.distance(lat, lon, nsLat, nsLon) * 1000
pos2currentStep = geo.distance(lat, lon, csLat, csLon) * 1000
currentStep2nextStep = geo.distance(csLat, csLon, nsLat, nsLon) * 1000
# self.log.debug("pos",(lat,lon))
# self.log.debug("cs",(csLat,csLon))
# self.log.debug("ns",(nsLat,nsLon))
self.log.debug("position to next turn: %f m" % pos2nextStep)
self.log.debug("position to current turn: %f m" % pos2currentStep)
self.log.debug("current turn to next turn: %f m" % currentStep2nextStep)
self.log.debug("turn reached trigger distance: %f m" % pReachedDist)
if pos2currentStep > pReachedDist:
#this means we are out of the "capture circle" of the closest step
# what is more distant, the closest or the next step ?
if pos2nextStep < currentStep2nextStep:
# we are mostly probably already past the closest step,
# so we switch to the next step at once
self.log.debug("already past closest turn, switching to next turn")
self.setStepAsCurrent(nextStep)
# we play the message for the next step,
# with current distance to this step,
# to assure there is some voice output immediately after
# getting a new route or rerouting"""
plaintextMessage = nextStep.getSSMLMessage()
self.sayTurn(plaintextMessage, pos2nextStep)
else:
# we have probably not yet reached the closest step,
# so we start navigation from it
self.log.debug("closest turn not yet reached")
self.setStepAsCurrent(cs)
else:
# we are inside the "capture circle" of the closest step,
# this means the navigation will trigger the voice message by itself
# and correctly switch to next step
# -> no need to switch to next step from here
self.log.debug("inside reach distance of closest turn")
self.setStepAsCurrent(cs)
else:
# we dont have some of the data, that is needed to decide
# if we start the navigation from the closest step of from the step that is after it
# -> we just start from the closest step
self.log.debug("not enough data to decide, using closest turn")
self.setStepAsCurrent(cs)
self._doNavigationUpdate() # run a first time navigation update
self.locationWatchID = self.watch('locationUpdated', self.locationUpdateCB)
self.log.info("started and ready")
def drawMapOverlay(self, cr):
if self.expectPoint:
self.makeMapClickable()
if self.drawActivePOI:
proj = self.m.get('projection', None)
if proj and self.visiblePOI:
for POI in self.visiblePOI:
poiID = POI.getId()
lat = POI.getLat()
lon = POI.getLon()
name = POI.getName()
hidePOICaptionZl = int(self.get("hideMarkerCaptionsBelowZl", 13))
if int(self.get('z', 15)) > hidePOICaptionZl:
distanceString = ""
pos = self.get('pos', None)
units = self.m.get('units', None)
if pos and units:
(lat1, lon1) = pos # current position coordinates
kiloMetricDistance = geo.distance(lat, lon, lat1, lon1)
unitString = units.km2CurrentUnitString(kiloMetricDistance, 0, True)
distanceString = " (%s)" % unitString
text = "" + name + distanceString
(x, y) = proj.ll2xy(lat, lon) # draw the highlighting circle
cr.set_line_width(8)
cr.set_source_rgba(0.1, 0.6, 0.1, 0.55) # highlight circle color
cr.arc(x, y, 15, 0, 2.0 * math.pi)
cr.stroke()
cr.fill()
# draw the point
cr.set_source_rgb(0.0, 0.0, 0.0)
cr.set_line_width(10)
cr.arc(x, y, 3, 0, 2.0 * math.pi)
cr.stroke()
cr.set_source_rgb(0.0, 0.0, 1.0)
cr.set_line_width(8)
cr.arc(x, y, 2, 0, 2.0 * math.pi)
cr.stroke()
# draw a caption with transparent background
if int(self.get('z', 15)) > hidePOICaptionZl:
cr.set_font_size(25)
extents = cr.text_extents(text) # get the text extents
(w, h) = (extents[2], extents[3])
border = 2
cr.set_line_width(2)
cr.set_source_rgba(0.1, 0.6, 0.1, 0.45) # transparent blue
(rx, ry, rw, rh) = (x - border + 12, y + border + h * 0.2 + 6, w + 4 * border, -(h * 1.4))
cr.rectangle(rx, ry, rw, rh) # create the transparent background rectangle
cr.fill()
# register clickable area
click = self.m.get('clickHandler', None)
if click:
# make the POI caption clickable
if poiID is not None: # new POI have id == None
click.registerXYWH(rx, ry - (-rh), rw, -rh,
"ms:showPOI:setActivePOI:%d|set:menu:showPOI#POIDetail" % poiID)
else: # the last added POI is still set, no need to set the id
click.registerXYWH(rx, ry - (-rh), rw, -rh, "set:menu:showPOI#POIDetail")
cr.fill()
# draw the actual text
# cr.set_source_rgba(1, 1, 0, 0.95) # slightly transparent white
cr.set_source_rgba(1, 1, 1, 0.95) # slightly transparent white
cr.move_to(x + 15, y + 7)
cr.show_text(text) # show the transparent result caption
cr.stroke()
def drawMapOverlay(self, cr):
if self.expectPoint:
self.makeMapClickable()
if self.drawActivePOI:
proj = self.m.get('projection', None)
menus = self.m.get('menu', None)
if proj and self.visiblePOI:
for POI in self.visiblePOI:
poiID = POI.db_index
lat = POI.lat
lon = POI.lon
name = POI.name
hidePOICaptionZl = int(
self.get("hideMarkerCaptionsBelowZl", 13))
if int(self.get('z', 15)) > hidePOICaptionZl:
distanceString = ""
pos = self.get('pos', None)
units = self.m.get('units', None)
if pos and units:
(lat1, lon1) = pos # current position coordinates
kiloMetricDistance = geo.distance(
lat, lon, lat1, lon1)
unitString = units.km2CurrentUnitString(
kiloMetricDistance, 0, True)
distanceString = " (%s)" % unitString
text = "" + name + distanceString
(x, y) = proj.ll2xy(lat,
lon) # draw the highlighting circle
cr.set_line_width(8)
cr.set_source_rgba(0.1, 0.6, 0.1,
0.55) # highlight circle color
cr.arc(x, y, 15, 0, 2.0 * math.pi)
cr.stroke()
cr.fill()
# draw the point
cr.set_source_rgb(0.0, 0.0, 0.0)
cr.set_line_width(10)
cr.arc(x, y, 3, 0, 2.0 * math.pi)
cr.stroke()
cr.set_source_rgb(0.0, 0.0, 1.0)
cr.set_line_width(8)
cr.arc(x, y, 2, 0, 2.0 * math.pi)
cr.stroke()
# draw a caption with transparent background
if int(self.get('z', 15)) > hidePOICaptionZl:
cr.set_font_size(25)
extents = cr.text_extents(text) # get the text extents
(w, h) = (extents[2], extents[3])
border = 2
cr.set_line_width(2)
cr.set_source_rgba(0.1, 0.6, 0.1,
0.45) # transparent blue
(rx, ry, rw,
rh) = (x - border + 12, y + border + h * 0.2 + 6,
w + 4 * border, -(h * 1.4))
cr.rectangle(
rx, ry, rw,
rh) # create the transparent background rectangle
cr.fill()
# register clickable area
click = self.m.get('clickHandler', None)
if click:
# make the POI caption clickable
if poiID is not None: # new POI have id == None
click.registerXYWH(
rx, ry - (-rh), rw, -rh,
"ms:showPOI:setActivePOI:%d|set:menu:showPOI#POIDetail"
% poiID)
else: # the last added POI is still set, no need to set the id
click.registerXYWH(
rx, ry - (-rh), rw, -rh,
"set:menu:showPOI#POIDetail")
cr.fill()
# draw the actual text
# cr.set_source_rgba(1, 1, 0, 0.95) # slightly transparent white
cr.set_source_rgba(1, 1, 1,
0.95) # slightly transparent white
menus.drawText(cr, text, rx, ry - (-rh), rw, -rh, 0.05)
cr.stroke()
def _drawPoint(self,
crPosUnitsProj,
point,
colors,
distance=True,
action="",
highlight=False):
(cr, pos, units, proj) = crPosUnitsProj
(lat, lon) = point.getLL() #TODO use getLLE for 3D distance
(lat1, lon1) = pos # current position coordinates
kiloMetricDistance = geo.distance(lat, lon, lat1, lon1)
unitString = units.km2CurrentUnitString(kiloMetricDistance, 0, True)
if distance and pos and units:
distanceString = " (%s)" % unitString
else:
distanceString = ""
text = "%s%s" % (point.name, distanceString)
(x, y) = proj.ll2xy(lat, lon)
# get colors
(bgColor, textColor) = colors
if highlight:
# draw the highlighting circle
cr.set_line_width(8)
cr.set_source_rgba(
*bgColor.getCairoColor()) # highlight circle color
cr.arc(x, y, 15, 0, 2.0 * math.pi)
cr.stroke()
cr.fill()
# draw the point
cr.set_source_rgb(0.0, 0.0, 0.0)
cr.set_line_width(10)
cr.arc(x, y, 3, 0, 2.0 * math.pi)
cr.stroke()
cr.set_source_rgb(0.0, 0.0, 1.0)
cr.set_line_width(8)
cr.arc(x, y, 2, 0, 2.0 * math.pi)
cr.stroke()
# draw a caption with transparent background
cr.set_font_size(25)
extents = cr.text_extents(text) # get the text extents
(w, h) = (extents[2], extents[3])
border = 2
cr.set_line_width(2)
cr.set_source_rgba(*bgColor.getCairoColor()) # trasparent blue
(rx, ry, rw, rh) = (x - border + 12, y + border + h * 0.2 + 6,
w + 4 * border, -(h * 1.4))
cr.rectangle(rx, ry, rw,
rh) # create the transparent background rectangle
cr.fill()
# register clickable area
click = self.m.get('clickHandler', None)
if click:
# make the POI caption clickable
click.registerXYWH(rx, ry - (-rh), rw, -rh, action)
cr.fill()
# draw the actual text
cr.set_source_rgba(
*textColor.getCairoColor()) # slightly transparent white
cr.move_to(x + 15, y + 7)
cr.show_text(text) # show the transparent result caption
cr.stroke()
def drawMenu(self, cr, menuName, args=None):
# is this menu the correct menu ?
if menuName != 'routeProfile':
return # we aren't the active menu so we don't do anything
(x1, y1, w, h) = self.get('viewport', None)
# if w > h:
# cols = 4
# rows = 3
# elif w < h:
# cols = 3
# rows = 4
# elif w == h:
# cols = 4
# rows = 4
#
# dx = w / cols
# dy = h / rows
dx = min(w, h) / 5.0
dy = dx
# draw a solid color background
cr.rectangle(x1, y1, w, h)
cr.set_source_rgb(*pycha.color.hex2rgb("#eeeeff"))
cr.fill()
menus = self.m.get("menu", None)
loadTl = self.m.get('loadTracklogs', None) # get the tracklog module
tracklog = loadTl.getActiveTracklog()
if tracklog.elevation == True:
self.lineChart(cr, tracklog, 0, 0, w, h)
# * draw "escape" button
menus.drawButton(cr, x1, y1, dx, dy, "", "center:back;0.2;0.3>generic:;0.5;;0.5;;",
"set:menu:tracklogManager#tracklogInfo")
if tracklog.trackpointsList == []:
# there are no points to graph, so we quit
return
# * draw current elevation/position indicator
pos = self.get('pos', None)
if pos is not None:
(pLat, pLon) = pos
l = [geo.distance(pLat, pLon, i[2], i[3]) for i in tracklog.perElevList]
totalLength = len(tracklog.perElevList)
nearestIndex = l.index(min(l)) # get index of the shortest distance
step = (w - 60 - 35) / totalLength # width minus padding divided by number of points
currentPositionX = 60 + nearestIndex * step
# cr.set_source_rgba(1,1,1,1)
# cr.set_line_width(5)
cr.move_to(currentPositionX, 0 + 30)
cr.line_to(currentPositionX, h - 40)
# cr.stroke_preserve()
cr.set_source_rgba(1.0, 0.5, 0, 1)
cr.set_line_width(3)
cr.stroke()
cr.fill()
# nearestPoint = tracklog.perElevList[nearestIndex] # get the nearest point
# proj = self.m.get('projection', None)
# (nLat,nLon) = (nearestPoint[2],nearestPoint[3])
return
def drawMenu(self, cr, menuName, args=None):
# is this menu the correct menu ?
if menuName != 'routeProfile':
return # we aren't the active menu so we don't do anything
(x1, y1, w, h) = self.get('viewport', None)
# if w > h:
# cols = 4
# rows = 3
# elif w < h:
# cols = 3
# rows = 4
# elif w == h:
# cols = 4
# rows = 4
#
# dx = w / cols
# dy = h / rows
dx = min(w, h) / 5.0
dy = dx
# draw a solid color background
cr.rectangle(x1, y1, w, h)
cr.set_source_rgb(*pycha.color.hex2rgb("#eeeeff"))
cr.fill()
menus = self.m.get("menu", None)
loadTl = self.m.get('loadTracklogs', None) # get the tracklog module
tracklog = loadTl.get_active_tracklog()
if tracklog.elevation == True:
self.lineChart(cr, tracklog, 0, 0, w, h)
# * draw "escape" button
menus.drawButton(cr, x1, y1, dx, dy, "",
"center:back;0.2;0.3>generic:;0.5;;0.5;;",
"set:menu:tracklogManager#tracklogInfo")
if tracklog.trackpointsList == []:
# there are no points to graph, so we quit
return
# * draw current elevation/position indicator
pos = self.get('pos', None)
if pos is not None:
(pLat, pLon) = pos
l = [
geo.distance(pLat, pLon, i[2], i[3])
for i in tracklog.perElevList
]
totalLength = len(tracklog.perElevList)
nearestIndex = l.index(
min(l)) # get index of the shortest distance
step = (
w - 60 - 35
) / totalLength # width minus padding divided by number of points
currentPositionX = 60 + nearestIndex * step
# cr.set_source_rgba(1,1,1,1)
# cr.set_line_width(5)
cr.move_to(currentPositionX, 0 + 30)
cr.line_to(currentPositionX, h - 40)
# cr.stroke_preserve()
cr.set_source_rgba(1.0, 0.5, 0, 1)
cr.set_line_width(3)
cr.stroke()
cr.fill()
# nearestPoint = tracklog.perElevList[nearestIndex] # get the nearest point
# proj = self.m.get('projection', None)
# (nLat,nLon) = (nearestPoint[2],nearestPoint[3])
return
def drawSimpleTrack(self, cr, GPXTracklog, colorName='navy'):
# pointsDrawn = 0
# start = clock()
proj = self.m.get('projection', None)
#are the projection and screen usable ?
if proj is None or GPXTracklog is None:
# we don't have WHAT to draw or HOW or BOTH :D
self.log.info("skipping drawing of one track (tracklog or projection == None)")
return
(screenCentreX, screenCentreY, screenRadius) = proj.screenRadius()
# cr.set_source_rgb(0,0, 0.5)
cr.set_source_color(gtk.gdk.color_parse(colorName))
cr.set_line_width(self.lineWidth)
numberOfClusters = len(GPXTracklog.clusters) # how many clusters do we have in this tracklog ?
for cluster in GPXTracklog.clusters: # we draw all clusters in tracklog
# do we see this cluster ?
clusterCentreX = cluster.centreX
clusterCentreY = cluster.centreY
clusterRadius = cluster.radius
screenToClusterDistance = geo.distance(screenCentreX, screenCentreY, clusterCentreX, clusterCentreY)
if (screenToClusterDistance - (screenRadius + clusterRadius)) >= 0:
continue # we don't see this cluster se we skip it
clusterNr = GPXTracklog.clusters.index(cluster)
#self.log.debug("Cluster nr %d" % clusterNr)
# now we need to draw lines to connect neighboring clusters
prevClusterNr = clusterNr - 1
nextClusterNr = clusterNr + 1
if prevClusterNr >= 0: # the 0th cluster has no previous cluster
prevCluster = GPXTracklog.clusters[prevClusterNr]
thisClusterLen = len(cluster.pointsList)
prevClusterFirstPoint = prevCluster.pointsList[0]
thisClusterLastPoint = cluster.pointsList[thisClusterLen - 1]
(x1, y1) = proj.ll2xy(thisClusterLastPoint['latitude'], thisClusterLastPoint['longitude'])
(x2, y2) = proj.ll2xy(prevClusterFirstPoint['latitude'], prevClusterFirstPoint['longitude'])
self.drawLineSegment(cr, x1, y1, x2, y2) # now we connect the two clusters
#self.point(cr, x1, y1)
#self.point(cr, x2, y2)
if nextClusterNr <= (numberOfClusters - 1): # the last cluster has no next cluster
nextCluster = GPXTracklog.clusters[nextClusterNr]
nextClusterLen = len(nextCluster.pointsList)
nextClusterLastPoint = nextCluster.pointsList[nextClusterLen - 1]
thisClusterFirstPoint = cluster.pointsList[0]
(x1, y1) = proj.ll2xy(thisClusterFirstPoint['latitude'], thisClusterFirstPoint['longitude'])
(x2, y2) = proj.ll2xy(nextClusterLastPoint['latitude'], nextClusterLastPoint['longitude'])
self.drawLineSegment(cr, x1, y1, x2, y2) # now we connect the two clusters
#self.point(cr, x1, y1)
#self.point(cr, x2, y2)
# get a list of onscreen coordinates
# points = map(lambda x: proj.ll2xy(x['latitude'], x['longitude']), cluster.pointsList)
points = [proj.ll2xy(x['latitude'], x['longitude']) for x in cluster.pointsList]
# draw these coordinates
(x, y) = points[0]
cr.move_to(x, y) # go the the first point
[cr.line_to(x[0], x[1]) for x in points[1:]] # extend the line over the other points in the cluster
cr.stroke()
cr.fill()
def _doNavigationUpdate(self):
"""do a navigation update"""
# make sure there really are some steps
if not self.route:
self.log.error("no route")
return
pos = self.get('pos', None)
if pos is None:
self.log.error("skipping update, invalid position")
return
# get/compute/update necessary the values
(lat1, lon1) = pos
currentStep = self.getCurrentStep()
lat2, lon2 = currentStep.getLL()
currentDistance = geo.distance(lat1, lon1, lat2, lon2) * 1000 # km to m
self.currentDistance = currentDistance # update current distance
# use some sane minimum distance
distance = int(self.get('minAnnounceDistance', 100))
# GHK: make distance speed-sensitive
#
# I came up with this formula after a lot of experimentation with
# gnuplot. The idea is to give the user some simple parameters to
# adjust yet let him have a lot of control. There are five
# parameters in the equation:
#
# lowSpeed Speed below which the pre-announcement time is constant.
# lowTime Announcement time at and below lowSpeed.
# highSpeed Speed above which the announcement time is constant.
# highTime Announcement time at and above highSpeed.
# power Exponential power used in the formula; good values are 0.5-5
#
# The speeds are in m/s. Obviously highXXX must be greater than lowXXX.
# If power is 1.0, announcement times increase linearly above lowSpeed.
# If power < 1.0, times rise rapidly just above lowSpeed and more
# gradually approaching highSpeed. If power > 1.0, times rise
# gradually at first and rapidly near highSpeed. I like power > 1.0.
#
# The reasoning is that at high speeds you are probably on a
# motorway/freeway and will need extra time to get into the proper
# lane to take your exit. That reasoning is pretty harmless on a
# high-speed two-lane road, but it breaks down if you are stuck in
# heavy traffic on a four-lane freeway (like in Los Angeles
# where I live) because you might need quite a while to work your
# way across the traffic even though you're creeping along. But I
# don't know a good way to detect whether you're on a multi-lane road,
# I chose speed as an acceptable proxy.
#
# Regardless of speed, we always warn a certain distance ahead (see
# "distance" above). That distance comes from the value in the current
# step of the directions.
#
# BTW, if you want to use gnuplot to play with the curves, try:
# max(a,b) = a > b ? a : b
# min(a,b) = a < b ? a : b
# warn(x,t1,s1,t2,s2,p) = min(t2,(max(s1,x)-s1)**p*(t2-t1)/(s2-s1)**p+t1)
# plot [0:160][0:] warn(x,10,50,60,100,2.0)
#
metersPerSecSpeed = self.get('metersPerSecSpeed', None)
pointReachedDistance = int(self.get('pointReachedDistance', 30))
if metersPerSecSpeed:
# check if we can miss the point by going too fast -> mps speed > point reached distance
# also enlarge the rerouting threshold as it looks like it needs to be larger
# when moving at high speed to prevent unnecessary rerouting
if metersPerSecSpeed > pointReachedDistance * 0.75:
pointReachedDistance = metersPerSecSpeed * 2
# self.log.debug("tbt: enlarging point reached distance to: %1.2f m due to large speed (%1.2f m/s)". (pointReachedDistance, metersPerSecSpeed)
if metersPerSecSpeed > INCREASE_REROUTING_THRESHOLD_SPEED:
self.reroutingThresholdMultiplier = REROUTING_THRESHOLD_MULTIPLIER
else:
self.reroutingThresholdMultiplier = 1.0
# speed & time based triggering
lowSpeed = float(self.get('minAnnounceSpeed', 13.89))
highSpeed = float(self.get('maxAnnounceSpeed', 27.78))
highSpeed = max(highSpeed, lowSpeed + 0.1)
lowTime = int(self.get('minAnnounceTime', 10))
highTime = int(self.get('maxAnnounceTime', 60))
highTime = max(highTime, lowTime)
power = float(self.get('announcePower', 2.0))
warnTime = (max(lowSpeed, metersPerSecSpeed) - lowSpeed) ** power \
* (highTime - lowTime) / (highSpeed - lowSpeed) ** power \
+ lowTime
warnTime = min(highTime, warnTime)
distance = max(distance, warnTime * metersPerSecSpeed)
if self.get('debugTbT', False):
self.log.debug("#####")
self.log.debug("min/max announce time: %d/%d s", lowTime, highTime)
self.log.debug("trigger distance: %1.2f m (%1.2f s warning)", distance, distance / float(metersPerSecSpeed))
self.log.debug("current distance: %1.2f m", currentDistance)
self.log.debug("current speed: %1.2f m/s (%1.2f km/h)", metersPerSecSpeed, metersPerSecSpeed * 3.6)
self.log.debug("point reached distance: %f m", pointReachedDistance)
self.log.debug("1. triggered=%r, 1.5. triggered=%r, 2. triggered=%r",
self.espeakFirstTrigger, self.espeakFirstAndHalfTrigger, self.espeakSecondTrigger)
if warnTime > 30:
self.log.debug("optional (20 s) trigger distance: %1.2f", 20.0 * metersPerSecSpeed)
if currentDistance <= pointReachedDistance:
# this means we reached the point"""
if self.espeakSecondTrigger == False:
self.log.debug("triggering espeak nr. 2")
# say the message without distance
plaintextMessage = currentStep.ssmlMessage
# consider turn said even if it was skipped (ignore errors)
self.sayTurn(plaintextMessage, 0)
self.markCurrentStepAsVisited() # mark this point as visited
self.espeakFirstTrigger = True # everything has been said, again :D
self.espeakSecondTrigger = True # everything has been said, again :D
self.switchToNextStep() # switch to next step
else:
if currentDistance <= distance:
# this means we reached an optimal distance for saying the message"""
if self.espeakFirstTrigger == False:
self.log.debug("triggering espeak nr. 1")
plaintextMessage = currentStep.ssmlMessage
if self.sayTurn(plaintextMessage, currentDistance):
self.espeakFirstTrigger = True # first message done
if self.espeakFirstAndHalfTrigger == False and warnTime > 30:
if currentDistance <= (20.0 * metersPerSecSpeed):
# in case that the warning time gets too big, add an intermediate warning at 20 seconds
# NOTE: this means it is said after the first trigger
plaintextMessage = currentStep.ssmlMessage
if self.sayTurn(plaintextMessage, currentDistance):
self.espeakFirstAndHalfTrigger = True # intermediate message done
## automatic rerouting ##
# is automatic rerouting enabled from options
# enabled == threshold that is not not None
if self._automaticReroutingEnabled():
# rerouting is enabled only once the route is reached for the first time
if self.onRoute and not self.routeReached:
self.routeReached = True
self.automaticRerouteCounter = 0
self.log.info('route reached, rerouting enabled')
# did the TBT worker detect that the rerouting threshold was reached ?
if self._reroutingConditionsMet():
# test if enough consecutive divergence point were recorded
if self.reroutingThresholdCrossedCounter >= REROUTING_TRIGGER_COUNT:
# reset the routeReached override
self.overrideRouteReached = False
# trigger rerouting
self._rerouteAuto()
else:
# reset the counter
self.reroutingThresholdCrossedCounter = 0
def start_tbt(self, from_where='first'):
"""Start Turn-by-turn navigation."""
# clean up any possible previous navigation data
self._go_to_initial_state()
# NOTE: turn and step are used interchangeably in the documentation
m = self.m.get('route', None)
if m:
route = m.get_current_directions()
if route: # is the route nonempty ?
self._route = route
# get route in radians for automatic rerouting
self.radiansRoute = route.get_points_lle_radians(
drop_elevation=True)
# start rerouting watch
self._start_tbt_worker()
# for some reason the combined distance does not account for the last step
self._m_route_length = route.length
# some statistics
meters_per_sec_speed = self.get('metersPerSecSpeed', None)
dt = m.route_lookup_duration
self.log.info("route lookup took: %f s" % dt)
if dt and meters_per_sec_speed:
dm = dt * meters_per_sec_speed
self.log.info("distance traveled during lookup: %f m" % dm)
# the duration of the road lookup and other variables are currently not used
# in the heuristics but might be added later to make the heuristics more robust
# now we decide if we use the closest turn, or the next one,
# as we might be already past it and on our way to the next turn
cs = self._get_closest_step(
) # get geographically closest step
pos = self.get('pos', None) # get current position
p_reached_dist = int(self.get('pointReachedDistance',
30)) # get the trigger distance
next_turn_id = self._get_step_index(cs) + 1
next_step = self._get_step(next_turn_id)
# check if we have all the data needed for our heuristics
self.log.info(
"trying to guess correct step to start navigation")
if next_step and pos and p_reached_dist:
(lat, lon) = pos
(csLat, csLon) = cs.getLL()
(nsLat, nsLon) = next_step.getLL()
pos2next_step = geo.distance(lat, lon, nsLat, nsLon) * 1000
pos2current_step = geo.distance(lat, lon, csLat,
csLon) * 1000
current_step2next_step = geo.distance(
csLat, csLon, nsLat, nsLon) * 1000
# self.log.debug("pos",(lat,lon))
# self.log.debug("cs",(csLat,csLon))
# self.log.debug("ns",(nsLat,nsLon))
self.log.debug("position to next turn: %f m" %
pos2next_step)
self.log.debug("position to current turn: %f m" %
pos2current_step)
self.log.debug("current turn to next turn: %f m" %
current_step2next_step)
self.log.debug("turn reached trigger distance: %f m" %
p_reached_dist)
if pos2current_step > p_reached_dist:
# this means we are out of the "capture circle" of the closest step
# what is more distant, the closest or the next step ?
if pos2next_step < current_step2next_step:
# we are mostly probably already past the closest step,
# so we switch to the next step at once
self.log.debug(
"already past closest turn, switching to next turn"
)
self.current_step = next_step
# we play the message for the next step,
# with current distance to this step,
# to assure there is some voice output immediately after
# getting a new route or rerouting"""
plaintextMessage = next_step.ssml_message
self._say_turn(plaintextMessage, pos2next_step)
else:
# we have probably not yet reached the closest step,
# so we start navigation from it
self.log.debug("closest turn not yet reached")
self.current_step = cs
else:
# we are inside the "capture circle" of the closest step,
# this means the navigation will trigger the voice message by itself
# and correctly switch to next step
# -> no need to switch to next step from here
self.log.debug("inside reach distance of closest turn")
self.current_step = cs
else:
# we dont have some of the data, that is needed to decide
# if we start the navigation from the closest step of from the step that is after it
# -> we just start from the closest step
self.log.debug(
"not enough data to decide, using closest turn")
self.current_step = cs
self._do_navigation_update() # run a first time navigation update
self._location_watch_id = self.watch('locationUpdated',
self.location_update_cb)
self.log.info("started and ready")
# trigger the navigation-started signal
self.navigation_started()
def drawSimpleTrack(self, cr, GPXTracklog, colorName='navy'):
# pointsDrawn = 0
# start = clock()
proj = self.m.get('projection', None)
#are the projection and screen usable ?
if proj is None or GPXTracklog is None:
# we don't have WHAT to draw or HOW or BOTH :D
self.log.info(
"skipping drawing of one track (tracklog or projection == None)"
)
return
(screenCentreX, screenCentreY, screenRadius) = proj.screenRadius()
# cr.set_source_rgb(0,0, 0.5)
cr.set_source_color(gtk.gdk.color_parse(colorName))
cr.set_line_width(self.lineWidth)
numberOfClusters = len(
GPXTracklog.clusters
) # how many clusters do we have in this tracklog ?
for cluster in GPXTracklog.clusters: # we draw all clusters in tracklog
# do we see this cluster ?
clusterCentreX = cluster.centreX
clusterCentreY = cluster.centreY
clusterRadius = cluster.radius
screenToClusterDistance = geo.distance(screenCentreX,
screenCentreY,
clusterCentreX,
clusterCentreY)
if (screenToClusterDistance - (screenRadius + clusterRadius)) >= 0:
continue # we don't see this cluster se we skip it
clusterNr = GPXTracklog.clusters.index(cluster)
#self.log.debug("Cluster nr %d" % clusterNr)
# now we need to draw lines to connect neighboring clusters
prevClusterNr = clusterNr - 1
nextClusterNr = clusterNr + 1
if prevClusterNr >= 0: # the 0th cluster has no previous cluster
prevCluster = GPXTracklog.clusters[prevClusterNr]
thisClusterLen = len(cluster.pointsList)
prevClusterFirstPoint = prevCluster.pointsList[0]
thisClusterLastPoint = cluster.pointsList[thisClusterLen - 1]
(x1, y1) = proj.ll2xy(thisClusterLastPoint['latitude'],
thisClusterLastPoint['longitude'])
(x2, y2) = proj.ll2xy(prevClusterFirstPoint['latitude'],
prevClusterFirstPoint['longitude'])
self.drawLineSegment(cr, x1, y1, x2,
y2) # now we connect the two clusters
#self.point(cr, x1, y1)
#self.point(cr, x2, y2)
if nextClusterNr <= (numberOfClusters -
1): # the last cluster has no next cluster
nextCluster = GPXTracklog.clusters[nextClusterNr]
nextClusterLen = len(nextCluster.pointsList)
nextClusterLastPoint = nextCluster.pointsList[nextClusterLen -
1]
thisClusterFirstPoint = cluster.pointsList[0]
(x1, y1) = proj.ll2xy(thisClusterFirstPoint['latitude'],
thisClusterFirstPoint['longitude'])
(x2, y2) = proj.ll2xy(nextClusterLastPoint['latitude'],
nextClusterLastPoint['longitude'])
self.drawLineSegment(cr, x1, y1, x2,
y2) # now we connect the two clusters
#self.point(cr, x1, y1)
#self.point(cr, x2, y2)
# get a list of onscreen coordinates
# points = map(lambda x: proj.ll2xy(x['latitude'], x['longitude']), cluster.pointsList)
points = [
proj.ll2xy(x['latitude'], x['longitude'])
for x in cluster.pointsList
]
# draw these coordinates
(x, y) = points[0]
cr.move_to(x, y) # go the the first point
[cr.line_to(x[0], x[1]) for x in points[1:]
] # extend the line over the other points in the cluster
cr.stroke()
cr.fill()
def _do_navigation_update(self):
"""Do a navigation update."""
# make sure there really are some steps
if not self._route:
self.log.error("no route")
return
pos = self.get('pos', None)
if pos is None:
self.log.error("skipping update, invalid position")
return
# get/compute/update necessary the values
lat1, lon1 = pos
lat2, lon2 = self.current_step.getLL()
current_distance = geo.distance(lat1, lon1, lat2,
lon2) * 1000 # km to m
self._current_distance = current_distance # update current distance
# use some sane minimum distance
distance = int(self.get('minAnnounceDistance', 100))
# GHK: make distance speed-sensitive
#
# I came up with this formula after a lot of experimentation with
# gnuplot. The idea is to give the user some simple parameters to
# adjust yet let him have a lot of control. There are five
# parameters in the equation:
#
# low_speed Speed below which the pre-announcement time is constant.
# low_time Announcement time at and below lowSpeed.
# high_speed Speed above which the announcement time is constant.
# high_time Announcement time at and above highSpeed.
# power Exponential power used in the formula; good values are 0.5-5
#
# The speeds are in m/s. Obviously highXXX must be greater than lowXXX.
# If power is 1.0, announcement times increase linearly above lowSpeed.
# If power < 1.0, times rise rapidly just above lowSpeed and more
# gradually approaching highSpeed. If power > 1.0, times rise
# gradually at first and rapidly near highSpeed. I like power > 1.0.
#
# The reasoning is that at high speeds you are probably on a
# motorway/freeway and will need extra time to get into the proper
# lane to take your exit. That reasoning is pretty harmless on a
# high-speed two-lane road, but it breaks down if you are stuck in
# heavy traffic on a four-lane freeway (like in Los Angeles
# where I live) because you might need quite a while to work your
# way across the traffic even though you're creeping along. But I
# don't know a good way to detect whether you're on a multi-lane road,
# I chose speed as an acceptable proxy.
#
# Regardless of speed, we always warn a certain distance ahead (see
# "distance" above). That distance comes from the value in the current
# step of the directions.
#
# BTW, if you want to use gnuplot to play with the curves, try:
# max(a,b) = a > b ? a : b
# min(a,b) = a < b ? a : b
# warn(x,t1,s1,t2,s2,p) = min(t2,(max(s1,x)-s1)**p*(t2-t1)/(s2-s1)**p+t1)
# plot [0:160][0:] warn(x,10,50,60,100,2.0)
#
meters_per_sec_speed = self.get('metersPerSecSpeed', None)
point_reached_distance = int(self.get('pointReachedDistance', 30))
if meters_per_sec_speed:
# check if we can miss the point by going too fast -> mps speed > point reached distance
# also enlarge the rerouting threshold as it looks like it needs to be larger
# when moving at high speed to prevent unnecessary rerouting
if meters_per_sec_speed > point_reached_distance * 0.75:
point_reached_distance = meters_per_sec_speed * 2
# self.log.debug("tbt: enlarging point reached distance to: %1.2f m due to large speed (%1.2f m/s)". (pointReachedDistance, metersPerSecSpeed)
if meters_per_sec_speed > INCREASE_REROUTING_THRESHOLD_SPEED:
self._rerouting_threshold_multiplier = REROUTING_THRESHOLD_MULTIPLIER
else:
self._rerouting_threshold_multiplier = 1.0
# speed & time based triggering
low_speed = float(self.get('minAnnounceSpeed', 13.89))
high_speed = float(self.get('maxAnnounceSpeed', 27.78))
high_speed = max(high_speed, low_speed + 0.1)
low_time = int(self.get('minAnnounceTime', 10))
high_time = int(self.get('maxAnnounceTime', 60))
high_time = max(high_time, low_time)
power = float(self.get('announcePower', 2.0))
warn_time = (max(low_speed, meters_per_sec_speed) - low_speed) ** power \
* (high_time - low_time) / (high_speed - low_speed) ** power \
+ low_time
warn_time = min(high_time, warn_time)
distance = max(distance, warn_time * meters_per_sec_speed)
if self.get('debugTbT', False):
self.log.debug("#####")
self.log.debug("min/max announce time: %d/%d s", low_time,
high_time)
self.log.debug("trigger distance: %1.2f m (%1.2f s warning)",
distance,
distance / float(meters_per_sec_speed))
self.log.debug("current distance: %1.2f m", current_distance)
self.log.debug("current speed: %1.2f m/s (%1.2f km/h)",
meters_per_sec_speed,
meters_per_sec_speed * 3.6)
self.log.debug("point reached distance: %f m",
point_reached_distance)
self.log.debug(
"1. triggered=%r, 1.5. triggered=%r, 2. triggered=%r",
self._espeak_first_trigger,
self._espeak_first_and_half_trigger,
self._espeak_second_trigger)
if warn_time > 30:
self.log.debug("optional (20 s) trigger distance: %1.2f",
20.0 * meters_per_sec_speed)
if current_distance <= point_reached_distance:
# this means we reached the point"""
if self._espeak_second_trigger is False:
self.log.debug("triggering espeak nr. 2")
# say the message without distance
plaintextMessage = self.current_step.ssml_message
# consider turn said even if it was skipped (ignore errors)
self._say_turn(plaintextMessage, 0)
self.current_step.visited = True # mark this point as visited
self._espeak_first_trigger = True # everything has been said, again :D
self._espeak_second_trigger = True # everything has been said, again :D
self.switch_to_next_step() # switch to next step
else:
if current_distance <= distance:
# this means we reached an optimal distance for saying the message"""
if self._espeak_first_trigger is False:
self.log.debug("triggering espeak nr. 1")
plaintextMessage = self.current_step.ssml_message
if self._say_turn(plaintextMessage, current_distance):
self._espeak_first_trigger = True # first message done
if self._espeak_first_and_half_trigger is False and warn_time > 30:
if current_distance <= (20.0 * meters_per_sec_speed):
# in case that the warning time gets too big, add an intermediate warning at 20 seconds
# NOTE: this means it is said after the first trigger
plaintextMessage = self.current_step.ssml_message
if self._say_turn(plaintextMessage, current_distance):
self._espeak_first_and_half_trigger = True # intermediate message done
## automatic rerouting ##
# is automatic rerouting enabled from options
# enabled == threshold that is not not None
if self.automatic_rerouting_enabled:
# rerouting is enabled only once the route is reached for the first time
if self._on_route and not self._route_reached:
self._route_reached = True
self._automatic_reroute_counter = 0
self.log.info('route reached, rerouting enabled')
# did the TBT worker detect that the rerouting threshold was reached ?
if self._rerouting_conditions_met():
# test if enough consecutive divergence point were recorded
if self._rerouting_threshold_crossed_counter >= REROUTING_TRIGGER_COUNT:
# reset the routeReached override
self._override_route_reached = False
# trigger rerouting
self._reroute_auto()
else:
# reset the counter
self._rerouting_threshold_crossed_counter = 0
