def __calc_route__(self):
node_dict = {}
map_dict = {}
for item in self.ms.all_doors():
node = Node(item)
node_dict[item] = node
if not item.map_name in map_dict:
map_dict[item.map_name] = []
map_dict[item.map_name].append(node)
from_node = Node(wx.GetApp().GetNavFrom())
map_dict[wx.GetApp().GetNavFrom().map_name].append(from_node)
to_node = Node(wx.GetApp().GetNavTo())
map_dict[wx.GetApp().GetNavTo().map_name].append(to_node)
#beam
beam_node = Node(self.ms.beam_location())
log.debug("beam_node: %s" % beam_node)
from_node.edges.append((1, beam_node))
map_dict[beam_node.payload.map_name].append(beam_node)
for map_name, map_nodes in map_dict.items():
for index, item_a in enumerate(map_nodes):
for item_b in map_nodes[index + 1:]:
cost = self.ds.in_map_distance(item_a.payload, item_b.payload)
add_edge(cost, item_a, item_b)
for item, node in node_dict.items():
other_item = self.ms.other_side(item)
cost = self.ds.cost(item, other_item)
cost = 1
node.edges.append((cost, node_dict[other_item]))
node_dict[wx.GetApp().GetNavFrom()] = from_node
node_dict[wx.GetApp().GetNavTo()] = to_node
node_dict[self.ms.beam_location()] = beam_node
nodes = node_dict.values()
for item in nodes:
log.debug(item)
for item_b in item.edges:
log.debug(" %s" % str(item_b))
from_node.cost = 0
solve(nodes)
for item in nodes:
log.debug(item)
log.debug("ROUTE:")
self.__route__ = get_route(nodes, node_dict[wx.GetApp().GetNavTo()])
dist_xml = dist_doc.xpath('//distance[@from="%s"][@to="%s"]'\
% (to_loc, from_loc))
if dist_xml:
#~ print "dist_xml: %s" % etree.tostring(dist_xml[0])
cost = int(dist_xml[0].get('seconds'))
else:
from_loc = current.payload.loc_touple()
to_loc = item.payload.loc_touple()
#~ cost = math.sqrt( (from_loc[0] - to_loc[0])**2 +\
#~ (from_loc[1] - to_loc[1])**2)
cost = distance(from_loc, to_loc)
cost = int(cost * STD_UNIT_COST)
#~ cost = 1
add_edge(cost, current, item)
all_nodes.extend(nodes)
#connect doors
unconnted = copy(all_nodes)
while len(unconnted) > 0:
current = unconnted.pop()
for item in unconnted:
if current.payload.target() == item.payload.target():
unconnted.remove(item)
add_edge(CHANGE_MAP_COST, current, item)
#add beam point
beam_location = Node(LocatableObject(doc.xpath('//beam')[0]))
