def topic_traffic_nearby_req_callback(mqttc, obj, msg):
payload = str(msg.payload.decode("utf-8"))
items = payload.split(',')
veh_id = items[0]
latitude = float(items[1])
longitude = float(items[2])
radius = float(items[3])
global features
user_geolocation = VSA.Geolocation(latitude, longitude)
features_res = []
features_tmp = features
last_radius = 0
last_lat = 0
last_lng = 0
for feature in features_tmp:
include = False
for geometry in feature.Geometries:
for coordinate in geometry.Coordinates:
if (VSA.distance(user_geolocation, coordinate) <= radius):
include = True
break
if (include):
break
if (include):
features_res.append(feature)
print(str(len(features_res)) + " events found.")
client.publish(VSA.TOPIC_TRAFFIC_NEARBY_RETURN + "/" + veh_id,
json.dumps(features_res, default=VSA.serialize))
def topic_traffic_callback(mqttc, obj, msg):
payload = str(msg.payload.decode("utf-8"))
json_features = json.loads(payload)
global features
features = []
for data in json_features:
feature = VSA.Feature(data)
features.append(feature)
print("Features updated.")
def topic_vehprop_callback(mqttc, obj, msg):
payload = str(msg.payload.decode("utf-8"))
items = payload.split(',')
uid = items[0]
name = items[1]
type = items[2]
left = float(items[3])
top = float(items[4])
right = float(items[5])
bottom = float(items[6])
dimensions = (left, top, right, bottom)
global vehicles
if uid in vehicles:
del vehicles[uid]
vehicle = VSA.Vehicle(uid, name, type, dimensions)
vehicles[uid] = vehicle
client.connect(Broker.ADDRESS, Broker.PORT)
print("Connected to broker.")
#initialise vehicles
for index in range(0, NODES_LENGTH):
uid = str(index + 1)
name = "vehicle-" + str(index)
type = "cycle"
dimensions = (1, 1, 1, 1)
latitude = STARTING_LAT + (index * COORD_VARIATION)
longitude = STARTING_LON + (random.random() * COORD_VARIATION)
velocity = 0
position_error = random.random() * 100
rotation_angle = random.random() * 100
vehicle = VSA.Vehicle(uid, name, type, dimensions)
vehicle.update_status(latitude, longitude, velocity, position_error,
rotation_angle)
vehicles.append(vehicle)
topic = VSA.TOPIC_LEVEL_A_VEHPROP
message = ','.join(
[uid, name, type, ','.join(list(map(str, list(dimensions))))])
client.publish(topic, message)
#update status
try:
while True:
for index in range(0, NODES_LENGTH):
vehicle = vehicles[index]
latitude = vehicle.coordinate.latitude - COORD_VARIATION