def __init__(self):
self.mapfetcher = MapFetcher()
self.pathcalculator = PathCalculator()
self.building = ""
self.level = ""
self.maplist = ""
self.edges = ""
self.path = ""
self.northAt = 0
class GiveDirections:
def __init__(self):
self.mapfetcher = MapFetcher()
self.pathcalculator = PathCalculator()
self.building = ""
self.level = ""
self.maplist = ""
self.edges = ""
self.path = ""
self.northAt = 0
def walking_direction (self, point1, point2):
if point1[0] < point2[0]:
if point1[1] < point2[1]:
return math.degrees(math.atan2((point2[0] - point1[0]),(point2[1] - point2[0])))
elif point1[1] > point2[1]:
return 180 - math.degrees(math.atan2 ((point2[0] - point1[0]), (point1[1] - point2[1])))
else:
return 90
elif point1[0] > point2[0]:
if point1[1] < point2[1]:
return 360 - math.degrees(math.atan2((point1[0] - point2[0]),(point2[1] - point1[1])))
elif point1[1] > point2 [1] :
return 180 + math.degrees(math.atan2((point1[0] - point2[0]),(point1[1] - point2 [1])))
else:
return 270
else:
if point1[1] < point2[1]:
return 360
else:
return 180
def turn_angle(self, heading, newheading):
ang = newheading - heading
if (ang > 180):
ang -= 360
elif (ang < -180):
ang += 360
return ang
def turn_direction(self, angle):
if (angle == 180):
return "Why..."
elif (angle == 0):
return "Go Straight"
elif (angle < 0):
return 'Turn Left %.2f' % -(angle) + ' degrees'
return 'Turn Right %.2f' % angle + ' degrees'
def turn_direction2(self, prv, cur, nxt): #deprecated
cur_angle = self.walking_direction(prv,cur)
nxt_angle = self.walking_direction(cur,nxt)
ang = self.turn_angle(cur_angle, nxt_angle)
if (ang == 180):
return "Why..."
elif (ang == 0):
return "Go Straight"
elif (ang > 0):
return "Turn Right"
return "Turn Left"
def fetch_map(self, building, level):
self.building = building
self.level = level
self.maplist, self.edges = self.mapfetcher.fetch_map(
building, level)
self.northAt = float(self.mapfetcher.get_info()['northAt'])
def calculate_path(self, start, end):
self.path = self.pathcalculator.calculate_path(
self.maplist, self.edges, start, end)
#print self.maplist
#print 'Go Straight' #recalibrate here
for i in range(0,len(self.path)):
if (i != 0 and i!=len(self.path) - 1): #not first and last node
prev = [self.maplist[self.path[i-1]]['x'], self.maplist[self.path[i-1]]['y']]
curr = [self.maplist[self.path[i]]['x'], self.maplist[self.path[i]]['y']]
nxt = [self.maplist[self.path[i+1]]['x'], self.maplist[self.path[i+1]]['y']]
# print self.turn_direction2(prev,curr,nxt)
# print "----"
def distance_from_node(self, x, y, node):
return math.hypot(x-self.maplist[node]['x'], y-self.maplist[node]['y'])
def giving_direction(self, x, y, heading, targetNode):
def direction_to_node(self, curr_x, curr_y, heading, node_index):
def convert_compass_angle(cangle):
ang = cangle + self.northAt
if (ang > 360):
ang -= 360
#print 'ang = ' + str(ang)
return ang
cur = [curr_x,curr_y]
nxt = [self.maplist[node_index]['x'], self.maplist[node_index]['y']]
curheading = convert_compass_angle(heading) #adjust to map angles
return self.turn_angle(curheading, self.walking_direction(cur, nxt))
targetNodeDist = self.distance_from_node(x, y, targetNode)
if (targetNodeDist <= 0):
for _i in range(0,len(self.path)):
i = self.path[_i] #i = node of path at index _i
#print targetNode, self.maplist[i]
if (targetNode == i):
if (_i == len(self.path)-1): #if it is at the end of path array
print 'You are at the destination'
return
print 'You are on node', targetNode
targetNode = self.path[_i+1]
targetNodeDist = self.distance_from_node(x,y,targetNode)
break
print 'I am going to node ' + str(targetNode)
print self.turn_direction(direction_to_node(self,x,y,heading,targetNode))
print 'Walk %.1f' % (targetNodeDist) + ' centimeters'
def main(self):
bldg = raw_input("Please enter the Building name ")
bldg = bldg.upper();
lvl = raw_input("Please enter the level ")
self.fetch_map(bldg,lvl)
start = int(raw_input("Please enter start node "))
end = int(raw_input("Please enter end node "))
self.calculate_path(start,end)
print "The shortest path is"
print self.path
x_coor = int(raw_input("Please enter the x coordinate "))
y_coor = int(raw_input("Please entet the y coordinate "))
heading = int(raw_input("Please enter the heading "))
self.giving_direction(x_coor,y_coor,heading)
#Testing
#
#giveD = GiveDirections()
#giveD.main()
# giveD.fetch_map("COM1", "2")
# giveD.calculate_path(20, 5)
# print giveD.path
# #print giveD.maplist
# # print "\ntest1"
# giveD.giving_direction(8283,1056,0)
# # print "\ntest2"
# # giveD.giving_direction(3353,732,0)
# # print "\ntest3 "
# # giveD.giving_direction(7065,1787,0)
# # print "\ntest4"
# # giveD.giving_direction(7065,1543,0)
# # print "\ntest5 "
# # giveD.giving_direction(9460,2802,0)
#
# # print giveD.turn_direction([200,100],[400,300])
# # print giveD.turn_direction2([200,100],[400,100],[200,100])
# # print giveD.walking_direction([3330,1787],[3330,934])
# # print giveD.walking_direction([11571,691],[11815,406])
