def main():
"""
Run the server
"""
time1 = time.time()
print("Initializing..")
# Grab program arguments
args = parse_args()
# Load data file
try:
global V_coord
(V, E, V_coord, E_name) = readgraph.readgraph(args.graphname)
except FileNotFoundError:
print("Data file {} not found!".format(args.graphname), file=sys.stderr)
exit()
# Initialize serial port
try:
if args.serialport:
print("Opening serial port: {}".format(args.serialport))
serial_out = serial_in = serial.Serial(args.serialport, 9600)
else:
print("No serial port. Supply one with the -s port option.")
exit()
except serial.SerialException:
print("Could not open serial port: {}".format(args.serialport),
file=sys.stderr)
exit()
# Set debug mode
if args.verbose:
debug = True
else:
debug = False
debug = True
# Generate a graph from the map and grab the needed values
G = digraph.Digraph(E)
# Add all orphan vertices. Not really useful, and in fact detrimental
# in all cases, but do it for the sake of completeness
for v in V:
G.add_vertex(v)
# Print some debug output
if debug:
print("Graph loaded with {} vertices and {} edges.".format(G.num_vertices(), G.num_edges()))
# initialize storage value
prev_end = 0
time2 = time.time()
delta_t = repr(time2 - time1)
print("Done initializing, took " + delta_t + " seconds")
# Parse input
while True:
msg = receive(serial_in)
debug and print("GOT:{}:".format(msg), file=sys.stderr)
fields = msg.split(" ")
# Ignore malformed messages
if len(fields) != 4:
debug and print("Ignoring message: {}".format(msg))
continue
time1 = time.time()
print("Processing..")
# Get start and end vertices
start_v = (int(fields[0])/10**5, int(fields[1])/10**5)
end_v = (int(fields[2])/10**5, int(fields[3])/10**5)
start = nearest_vertex( start_v )
end = nearest_vertex( end_v )
debug and print("Routing path from vertex {} to {}".format(start, end))
if end is prev_end:
# to speed things up, if the user wants to go to the same destination
# as last time, find which point in the previous path
# the user is close to, and return the shortest distance to
# the next point in the previous path
min_dist = float('infinity')
for i in range(len(path)):
print("i is: " + str(i) + " and path[i] is: " + str(path[i]))
dist = distance(V_coord[start], V_coord[path[i]])
if dist < min_dist:
closest_v = path[i]
min_dist = dist
next_dest = path[i + 1]
if closest_v == prev_end:
# we're there!
prev_end = 0
continue
secondary_path = least_cost_path(G, start, next_dest, cost_distance)
send(serial_out, str(len(secondary_path)))
print("The secondary path is:")
for v in secondary_path:
print(str(v))
print("lat: " + str(int(V_coord[v][0] * 10**5)) + " lon: " + str(int(V_coord[v][1] * 10**5)))
send(serial_out, "{} {}".format(int(V_coord[v][0] * 10**5),
int(V_coord[v][1] * 10**5)))
print("Send path of length {}".format(len(secondary_path)))
time2 = time.time()
delta_t = repr(time2 - time1)
print("Done processing, took " + delta_t + "seconds")
continue
path = least_cost_path(G, start, end, cost_distance)
if path is None:
send(serial_out, "0")
debug and print("No path found!", file=sys.stderr)
else:
send(serial_out, str(len(path)))
print("The path is:")
for v in path:
print(str(v))
print("lat: " + str(int(V_coord[v][0] * 10**5)) + " lon: " + str(int(V_coord[v][1] * 10**5)))
send(serial_out, "{} {}".format(int(V_coord[v][0] * 10**5),
int(V_coord[v][1] * 10**5)))
print("Send path of length {}".format(len(path)))
# store for optimization
prev_start = start
prev_end = end
time2 = time.time()
delta_t = repr(time2 - time1)
print("Done processing, took " + delta_t + "seconds")
import os
import readgraph
from graphviz import Digraph
dot = Digraph()
nodes, edges = readgraph.readgraph(10)
for i in range(1, len(nodes) + 1):
dot.node(str(i))
for edge in edges:
dot.edge(str(edge[0]), str(edge[1]))
dot.render(os.path.join(os.getcwd(), 'graph'), format='png')
def main():
"""
Run the server
"""
time1 = time.time()
print("Initializing..")
# Grab program arguments
args = parse_args()
# Load data file
try:
global V_coord
(V, E, V_coord, E_name) = readgraph.readgraph(args.graphname)
except FileNotFoundError:
print("Data file {} not found!".format(args.graphname),
file=sys.stderr)
exit()
# Initialize serial port
try:
if args.serialport:
print("Opening serial port: {}".format(args.serialport))
serial_out = serial_in = serial.Serial(args.serialport, 9600)
else:
print("No serial port. Supply one with the -s port option.")
exit()
except serial.SerialException:
print("Could not open serial port: {}".format(args.serialport),
file=sys.stderr)
exit()
# Set debug mode
if args.verbose:
debug = True
else:
debug = False
# Generate a graph from the map and grab the needed values
G = digraph.Digraph(E)
# Add all orphan vertices. Not really useful, and in fact detrimental
# in all cases, but do it for the sake of completeness
for v in V:
G.add_vertex(v)
# Print some debug output
if debug:
print("Graph loaded with {} vertices and {} edges.".format(
G.num_vertices(), G.num_edges()))
time2 = time.time()
delta_t = repr(time2 - time1)
print("Done initializing, took " + delta_t + " seconds")
# Parse input
while True:
msg = receive(serial_in)
debug and print("GOT:{}:".format(msg), file=sys.stderr)
fields = msg.split(" ")
# Ignore malformed messages
if len(fields) != 4:
debug and print("Ignoring message: {}".format(msg))
continue
time1 = time.time()
print("Processing..")
# Get start and end vertices
start_v = (int(fields[0]) / 10**5, int(fields[1]) / 10**5)
end_v = (int(fields[2]) / 10**5, int(fields[3]) / 10**5)
start = nearest_vertex(start_v)
end = nearest_vertex(end_v)
debug and print("Routing path from vertex {} to {}".format(start, end))
path = least_cost_path(G, start, end, cost_distance)
if path is None:
send(serial_out, "0")
debug and print("No path found!", file=sys.stderr)
else:
send(serial_out, str(len(path)))
for v in path:
send(
serial_out, "{} {}".format(int(V_coord[v][0] * 10**5),
int(V_coord[v][1] * 10**5)))
print("Send path of length {}".format(len(path)))
time2 = time.time()
delta_t = repr(time2 - time1)
print("Done processing, took " + delta_t + "seconds")
def main():
"""
Run the server
"""
time1 = time.time()
print("Initializing..")
# Grab program arguments
args = parse_args()
# Load data file
try:
global V_coord
(V, E, V_coord, E_name) = readgraph.readgraph(args.graphname)
except FileNotFoundError:
print("Data file {} not found!".format(args.graphname),
file=sys.stderr)
exit()
# Initialize serial port
try:
if args.serialport:
print("Opening serial port: {}".format(args.serialport))
serial_out = serial_in = serial.Serial(args.serialport, 9600)
else:
print("No serial port. Supply one with the -s port option.")
exit()
except serial.SerialException:
print("Could not open serial port: {}".format(args.serialport),
file=sys.stderr)
exit()
# Set debug mode
if args.verbose:
debug = True
else:
debug = False
debug = True
# Generate a graph from the map and grab the needed values
G = digraph.Digraph(E)
# Add all orphan vertices. Not really useful, and in fact detrimental
# in all cases, but do it for the sake of completeness
for v in V:
G.add_vertex(v)
# Print some debug output
if debug:
print("Graph loaded with {} vertices and {} edges.".format(
G.num_vertices(), G.num_edges()))
# initialize storage value
prev_end = 0
time2 = time.time()
delta_t = repr(time2 - time1)
print("Done initializing, took " + delta_t + " seconds")
# Parse input
while True:
msg = receive(serial_in)
debug and print("GOT:{}:".format(msg), file=sys.stderr)
fields = msg.split(" ")
# Ignore malformed messages
if len(fields) != 4:
debug and print("Ignoring message: {}".format(msg))
continue
time1 = time.time()
print("Processing..")
# Get start and end vertices
start_v = (int(fields[0]) / 10**5, int(fields[1]) / 10**5)
end_v = (int(fields[2]) / 10**5, int(fields[3]) / 10**5)
start = nearest_vertex(start_v)
end = nearest_vertex(end_v)
debug and print("Routing path from vertex {} to {}".format(start, end))
if end is prev_end:
# to speed things up, if the user wants to go to the same destination
# as last time, find which point in the previous path
# the user is close to, and return the shortest distance to
# the next point in the previous path
min_dist = float('infinity')
for i in range(len(path)):
print("i is: " + str(i) + " and path[i] is: " + str(path[i]))
dist = distance(V_coord[start], V_coord[path[i]])
if dist < min_dist:
closest_v = path[i]
min_dist = dist
next_dest = path[i + 1]
if closest_v == prev_end:
# we're there!
prev_end = 0
continue
secondary_path = least_cost_path(G, start, next_dest,
cost_distance)
send(serial_out, str(len(secondary_path)))
print("The secondary path is:")
for v in secondary_path:
print(str(v))
print("lat: " + str(int(V_coord[v][0] * 10**5)) + " lon: " +
str(int(V_coord[v][1] * 10**5)))
send(
serial_out, "{} {}".format(int(V_coord[v][0] * 10**5),
int(V_coord[v][1] * 10**5)))
print("Send path of length {}".format(len(secondary_path)))
time2 = time.time()
delta_t = repr(time2 - time1)
print("Done processing, took " + delta_t + "seconds")
continue
path = least_cost_path(G, start, end, cost_distance)
if path is None:
send(serial_out, "0")
debug and print("No path found!", file=sys.stderr)
else:
send(serial_out, str(len(path)))
print("The path is:")
for v in path:
print(str(v))
print("lat: " + str(int(V_coord[v][0] * 10**5)) + " lon: " +
str(int(V_coord[v][1] * 10**5)))
send(
serial_out, "{} {}".format(int(V_coord[v][0] * 10**5),
int(V_coord[v][1] * 10**5)))
print("Send path of length {}".format(len(path)))
# store for optimization
prev_start = start
prev_end = end
time2 = time.time()
delta_t = repr(time2 - time1)
print("Done processing, took " + delta_t + "seconds")
def main():
"""
Run the server
"""
time1 = time.time()
print("Initializing..")
# Grab program arguments
args = parse_args()
# Load data file
try:
global V_coord
(V, E, V_coord, E_name) = readgraph.readgraph(args.graphname)
except FileNotFoundError:
print("Data file {} not found!".format(args.graphname), file=sys.stderr)
exit()
# Initialize serial port
try:
if args.serialport:
print("Opening serial port: {}".format(args.serialport))
serial_out = serial_in = serial.Serial(args.serialport, 9600)
else:
print("No serial port. Supply one with the -s port option.")
exit()
except serial.SerialException:
print("Could not open serial port: {}".format(args.serialport),
file=sys.stderr)
exit()
# Set debug mode
if args.verbose:
debug = True
else:
debug = False
# Generate a graph from the map and grab the needed values
G = digraph.Digraph(E)
# Add all orphan vertices. Not really useful, and in fact detrimental
# in all cases, but do it for the sake of completeness
for v in V:
G.add_vertex(v)
# Print some debug output
if debug:
print("Graph loaded with {} vertices and {} edges.".format(G.num_vertices(), G.num_edges()))
time2 = time.time()
delta_t = repr(time2 - time1)
print("Done initializing, took " + delta_t + " seconds")
# Parse input
while True:
msg = receive(serial_in)
debug and print("GOT:{}:".format(msg), file=sys.stderr)
fields = msg.split(" ")
# Ignore malformed messages
if len(fields) != 4:
debug and print("Ignoring message: {}".format(msg))
continue
time1 = time.time()
print("Processing..")
# Get start and end vertices
start_v = (int(fields[0])/10**5, int(fields[1])/10**5)
end_v = (int(fields[2])/10**5, int(fields[3])/10**5)
start = nearest_vertex( start_v )
end = nearest_vertex( end_v )
debug and print("Routing path from vertex {} to {}".format(start, end))
path = least_cost_path(G, start, end, cost_distance)
if path is None:
send(serial_out, "0")
debug and print("No path found!", file=sys.stderr)
else:
send(serial_out, str(len(path)))
for v in path:
send(serial_out, "{} {}".format(int(V_coord[v][0] * 10**5),
int(V_coord[v][1] * 10**5)))
print("Send path of length {}".format(len(path)))
time2 = time.time()
delta_t = repr(time2 - time1)
print("Done processing, took " + delta_t + "seconds")
