def test_path():
config = create_core_test_config()
path_finder = DirectPathFinder(config)
path = path_finder.path(51.5043872, -0.0741802, 51.5060435, -0.073983)
assert len(path) == 1
lat, lng = path[0]
assert lat == 51.5060435
assert lng == -0.073983
def test_path(self): # pylint: disable=no-self-use
bot = create_mock_bot(None)
stepper = bot.stepper
path_finder = DirectPathFinder(stepper)
path = path_finder.path(51.5043872, -0.0741802, 51.5060435, -0.073983)
assert len(path) == 1
lat, lng = path[0]
assert lat == 51.5060435
assert lng == -0.073983
class Stepper(object):
AVERAGE_STRIDE_LENGTH_IN_METRES = 0.60
def __init__(self, bot):
# type: (PokemonGoBot) -> None
self.bot = bot
self.api_wrapper = bot.api_wrapper
self.config = bot.config
self.speed = self.config.walk if self.config.walk > 0 else 4.16
self.path_finder = None
self.pos = 1
self.step_limit = self.config.max_steps
self.step_limit_squared = self.step_limit ** 2
self.origin_lat = self.bot.position[0]
self.origin_lng = self.bot.position[1]
self.origin_alt = self.bot.position[2]
self.current_lat = self.origin_lat
self.current_lng = self.origin_lng
self.current_alt = self.origin_alt
if self.config.path_finder == 'google':
self.path_finder = GooglePathFinder(self) # pylint: disable=redefined-variable-type
elif self.config.path_finder == 'direct':
self.path_finder = DirectPathFinder(self) # pylint: disable=redefined-variable-type
def start(self):
# type: () -> None
position = (self.origin_lat, self.origin_lng, self.origin_alt)
self.api_wrapper.set_position(*position)
def step(self, destination):
# type: (Destination) -> None
self.bot.fire("walking_started", coords=(destination.target_lat, destination.target_lng, destination.target_alt))
dist = distance(self.current_lat, self.current_lng, destination.target_lat, destination.target_lng)
if destination.name:
logger.log("Walking towards {} ({} away, eta {})".format(destination.name,
format_dist(dist, self.config.distance_unit),
format_time(len(destination.steps))),
prefix="Navigation")
for step in destination.steps:
self._step_to(*step)
yield step
if destination.name:
logger.log("Arrived at {} ({} away)".format(destination.name, format_dist(dist, self.config.distance_unit)), prefix="Navigation")
self.bot.fire("walking_finished", coords=(destination.target_lat, destination.target_lng, destination.target_alt))
def get_route_between(self, from_lat, from_lng, to_lat, to_lng, alt):
# type: (float, float, float) -> List[(float, float, float)]
route_steps = list()
# ask the path finder how to get there
path_points = self.path_finder.path(from_lat, from_lng, to_lat, to_lng)
for path_point in path_points:
path_to_lat, path_to_lng = path_point
path_steps = self._get_steps_between(from_lat, from_lng, path_to_lat, path_to_lng, alt)
route_steps += path_steps
# shift the path along
from_lat = path_to_lat
from_lng = path_to_lng
return route_steps
def _get_steps_between(self, from_lat, from_lng, to_lat, to_lng, alt):
# type: (float, float, float) -> List[(float,float,float)]
dist = distance(from_lat, from_lng, to_lat, to_lng)
steps = (dist / (self.AVERAGE_STRIDE_LENGTH_IN_METRES * self.speed))
step_locations = list()
if steps != 0:
d_lat = (to_lat - from_lat) / steps
d_long = (to_lng - from_lng) / steps
total_steps = int(ceil(steps))
for _ in range(total_steps):
from_lat += d_lat
from_lng += d_long
c_lat = from_lat + random_lat_long_delta(10)
c_long = from_lng + random_lat_long_delta(10)
step_locations.append((c_lat, c_long, alt))
return step_locations
def snap_to(self, to_lat, to_lng, to_alt):
# type: (float, float, float) -> None
"""
This method is to correct a position you are near to. If you try and snap a distance over 10 meters,
it will fail.
"""
# type: (float, float, float) -> None
dist = distance(self.current_lat, self.current_lng, to_lat, to_lng)
# Never snap big distances
if dist > 15:
return
self._step_to(to_lat, to_lng, to_alt)
def _step_to(self, lat, lng, alt):
# type: (float, float, float) -> None
self.api_wrapper.set_position(lat, lng, alt)
new_lat, new_lng, new_alt = self.api_wrapper.get_position()
self.current_lat = new_lat
self.current_lng = new_lng
self.current_alt = new_alt
self.bot.fire("position_updated", coordinates=(new_lat, new_lng, new_alt))
self.bot.heartbeat()
sleep(1) # sleep one second plus a random delta
class Stepper(object):
AVERAGE_STRIDE_LENGTH_IN_METRES = 0.60
def __init__(self, bot):
# type: (PokemonGoBot) -> None
self.bot = bot
self.api_wrapper = bot.api_wrapper
self.config = bot.config
self.speed = self.config.walk if self.config.walk > 0 else 4.16
self.path_finder = None
self.pos = 1
self.step_limit = self.config.max_steps
self.step_limit_squared = self.step_limit**2
self.origin_lat = self.bot.position[0]
self.origin_lng = self.bot.position[1]
self.origin_alt = self.bot.position[2]
self.current_lat = self.origin_lat
self.current_lng = self.origin_lng
self.current_alt = self.origin_alt
if self.config.path_finder == 'google':
self.path_finder = GooglePathFinder(self) # pylint: disable=redefined-variable-type
elif self.config.path_finder == 'direct':
self.path_finder = DirectPathFinder(self) # pylint: disable=redefined-variable-type
def start(self):
# type: () -> None
position = (self.origin_lat, self.origin_lng, self.origin_alt)
self.api_wrapper.set_position(*position)
def step(self, destination):
# type: (Destination) -> None
self.bot.fire("walking_started",
coords=(destination.target_lat, destination.target_lng,
destination.target_alt))
dist = distance(self.current_lat, self.current_lng,
destination.target_lat, destination.target_lng)
if destination.name:
logger.log("Walking towards {} ({} away, eta {})".format(
destination.name, format_dist(dist, self.config.distance_unit),
format_time(len(destination.steps))),
prefix="Navigation")
for step in destination.steps:
self._step_to(*step)
yield step
if destination.name:
logger.log("Arrived at {} ({} away)".format(
destination.name, format_dist(dist,
self.config.distance_unit)),
prefix="Navigation")
self.bot.fire("walking_finished",
coords=(destination.target_lat, destination.target_lng,
destination.target_alt))
def get_route_between(self, from_lat, from_lng, to_lat, to_lng, alt):
# type: (float, float, float) -> List[(float, float, float)]
route_steps = list()
# ask the path finder how to get there
path_points = self.path_finder.path(from_lat, from_lng, to_lat, to_lng)
for path_point in path_points:
path_to_lat, path_to_lng = path_point
path_steps = self._get_steps_between(from_lat, from_lng,
path_to_lat, path_to_lng, alt)
route_steps += path_steps
# shift the path along
from_lat = path_to_lat
from_lng = path_to_lng
return route_steps
def _get_steps_between(self, from_lat, from_lng, to_lat, to_lng, alt):
# type: (float, float, float) -> List[(float,float,float)]
dist = distance(from_lat, from_lng, to_lat, to_lng)
steps = (dist / (self.AVERAGE_STRIDE_LENGTH_IN_METRES * self.speed))
step_locations = list()
if steps != 0:
d_lat = (to_lat - from_lat) / steps
d_long = (to_lng - from_lng) / steps
total_steps = int(ceil(steps))
for _ in range(total_steps):
from_lat += d_lat
from_lng += d_long
c_lat = from_lat + random_lat_long_delta(10)
c_long = from_lng + random_lat_long_delta(10)
step_locations.append((c_lat, c_long, alt))
return step_locations
def snap_to(self, to_lat, to_lng, to_alt):
# type: (float, float, float) -> None
"""
This method is to correct a position you are near to. If you try and snap a distance over 10 meters,
it will fail.
"""
# type: (float, float, float) -> None
dist = distance(self.current_lat, self.current_lng, to_lat, to_lng)
# Never snap big distances
if dist > 15:
return
self._step_to(to_lat, to_lng, to_alt)
def _step_to(self, lat, lng, alt):
# type: (float, float, float) -> None
self.api_wrapper.set_position(lat, lng, alt)
new_lat, new_lng, new_alt = self.api_wrapper.get_position()
self.current_lat = new_lat
self.current_lng = new_lng
self.current_alt = new_alt
self.bot.fire("position_updated", coords=(new_lat, new_lng, new_alt))
self.bot.heartbeat()
sleep(1) # sleep one second plus a random delta
class Stepper(object):
AVERAGE_STRIDE_LENGTH_IN_METRES = 0.60
def __init__(self, bot):
# type: (PokemonGoBot) -> None
self.bot = bot
self.api_wrapper = bot.api_wrapper
self.config = bot.config
self.speed = self.config.walk if self.config.walk > 0 else 4.16
self.path_finder = None
self.pos = 1
self.step_limit = self.config.max_steps
self.step_limit_squared = self.step_limit ** 2
self.origin_lat = self.bot.position[0]
self.origin_lng = self.bot.position[1]
self.origin_alt = self.bot.position[2]
self.current_lat = self.origin_lat
self.current_lng = self.origin_lng
self.current_alt = self.origin_alt
if self.config.path_finder == 'google':
self.path_finder = GooglePathFinder(self) # pylint: disable=redefined-variable-type
elif self.config.path_finder == 'direct':
self.path_finder = DirectPathFinder(self) # pylint: disable=redefined-variable-type
def start(self):
# type: () -> None
position = (self.origin_lat, self.origin_lng, self.origin_alt)
self.api_wrapper.set_position(*position)
def walk_to(self, lat, lng, alt):
# type: (float, float, float) -> None
position_lat, position_lng, position_alt = self.api_wrapper.get_position()
self.current_lat = position_lat
self.current_lng = position_lng
self.current_alt = position_alt
self.bot.fire("walking_started", coords=(lat, lng, alt))
# ask the path finder how to get there
steps = self.path_finder.path(position_lat, position_lng, lat, lng)
for step in steps:
to_lat, to_lng = step
self._walk_to(to_lat, to_lng, alt)
self.bot.fire("walking_finished", coords=(lat, lng, alt))
logger.log("[#] Walking Finished")
def _walk_to(self, to_lat, to_lng, to_alt):
# type: (float, float, float) -> None
dist = distance(self.current_lat, self.current_lng, to_lat, to_lng)
steps = (dist / (self.AVERAGE_STRIDE_LENGTH_IN_METRES * self.speed))
if self.config.debug:
logger.log("[#] Walking from " + str((self.current_lat, self.current_lng)) + " to " + str(
str((to_lat, to_lng))) + " for approx. " + str(format_time(ceil(steps))))
if steps != 0:
d_lat = (to_lat - self.current_lat) / steps
d_long = (to_lng - self.current_lng) / steps
for _ in range(int(ceil(steps))):
c_lat = self.current_lat + d_lat + random_lat_long_delta(10)
c_long = self.current_lng + d_long + random_lat_long_delta(10)
self._jump_to(c_lat, c_long, to_alt)
self.bot.heartbeat()
def snap_to(self, to_lat, to_lng, to_alt):
# type: (float, float, float) -> None
"""
This method is to correct a position you are near to. If you try and snap a distance over 10 meters,
it will fail.
"""
# type: (float, float, float) -> None
dist = distance(self.current_lat, self.current_lng, to_lat, to_lng)
# Never snap big distances
if dist > 10:
return
self._jump_to(to_lat, to_lng, to_alt)
def _jump_to(self, lat, lng, alt):
# type: (float, float, float) -> None
self.api_wrapper.set_position(lat, lng, alt)
new_lat, new_lng, new_alt = self.api_wrapper.get_position()
self.current_lat = new_lat
self.current_lng = new_lng
self.current_alt = new_alt
self.bot.fire("position_updated", coords=(new_lat, new_lng, new_alt))
self.bot.heartbeat()
sleep(1) # sleep one second plus a random delta
map_cells = self.bot.mapper.get_cells(self.current_lat, self.current_lng)
self.bot.work_on_cells(map_cells)
