From 5e2efa9ddf3bb9896db37ccaa2e1a50deabc8a97 Mon Sep 17 00:00:00 2001 From: Neal Probert Date: Thu, 11 Nov 2021 07:04:15 -0500 Subject: [PATCH] Tracking changes from TOSCo --- classes/gpsmath.py | 57 +++++++++++++++++++++- gps_vcones/alert.wav | Bin 61830 -> 50580 bytes gps_vcones/vcones_gui.py | 103 ++++++++++++++++++++++++++------------- 3 files changed, 124 insertions(+), 36 deletions(-) diff --git a/classes/gpsmath.py b/classes/gpsmath.py index 6c6516f..117d1e8 100644 --- a/classes/gpsmath.py +++ b/classes/gpsmath.py @@ -1,8 +1,63 @@ -from math import sin, cos, asin, sqrt, radians +from math import sin, cos, asin, sqrt, radians, atan2 earth_flatening = 1.0/298.257223563 earth_radius = 6378137.0 +############################################################################# +# GPS stuff +############################################################################# + +PI = 4 * atan2(1, 1) +MPERDEG = (111.13285 * 1000.0) +RADIUS = earth_radius # meters + +def deg2rad(deg): + global PI + return ((deg)*PI/180.0) + +def rad2deg(rad): + global PI + return ((rad)*180.0/PI) + +def gps_bearing(lat1, lon1, lat2, lon2): + lat1 = deg2rad(lat1) + lon1 = deg2rad(lon1) + lat2 = deg2rad(lat2) + lon2 = deg2rad(lon2) + y = sin(lon2-lon1) * cos(lat2) + x = cos(lat1)*sin(lat2) - sin(lat1)*cos(lat2)*cos(lon2-lon1) + bearing = rad2deg( atan2(y, x) ) + return (bearing + 360.0) % 360.0 + +def gps_distance(lat1, lon1, lat2, lon2): + global RADIUS + lat1 = deg2rad(lat1) + lon1 = deg2rad(lon1) + lat2 = deg2rad(lat2) + lon2 = deg2rad(lon2) + a = sin((lat2-lat1)/2)**2 + cos(lat1) * cos(lat2) * sin((lon2-lon1)/2)**2 + c = 2 * atan2(sqrt(a), sqrt(1 - a)) + return RADIUS * c + +def gps_xy(lat1, lon1, lat2, lon2): + global MPERDEG + mperdeg = MPERDEG * cos(deg2rad(lat2+lat1)/2) + x = (lon2 - lon1) * mperdeg + y = (lat2 - lat1) * MPERDEG + return (x, y) + +def gps_xydistance(lat1, lon1, lat2, lon2): + global MPERDEG + mperdeg = MPERDEG * cos(deg2rad(lat2+lat1)/2) + x = (lon2 - lon1) * mperdeg + y = (lat2 - lat1) * MPERDEG + dist = sqrt(x*x + y*y) + return (x, y, dist) + +# +# +# + def haversine(lat1, lon1, lat2, lon2): """ Calculate the great circle distance between two points diff --git a/gps_vcones/alert.wav b/gps_vcones/alert.wav index 268ffc039c83e01a521ad20086b0d9e8c643de7a..92c757e12f21df69a59c4c3fbe014d9216be76e4 100644 GIT binary patch literal 50580 zcmW)nbyQSs+r@`2X_QWp6i`4?Km`P8q`Q&soSB0UXJ+W`ZX`syTcklGR0Kf;X_W4o z?|ko?1%EIsILzGa>)QLb&+At&U&ai;U`Edkl^xyvIH+JS7!LGMs)E5HjB#MNFe;e6 zjh_t%^gRdIJ?s_s6iW!hgV8__HW&x&5ljg70;T}dg6YCcV3sgvm^~~2`Wy`Ngdt!a zFh7{v|Gs7pJ+BUvhdqHkfHA=cVb|Do>`!bTwi}y{&Byvd4>PPf_9<2v%ZjDP5@2E2 z^V_}Ko!iaZKeyY^$0_ug7<+Zg0zEH*eF1&9H#Qvm4%?1h!k%Lpperzep*ISxMVJ>2`ae7Hi;gAbPjmmc>P=NM-Srwbo@v zSRQQ7E#58sX64%adge;+>f5Em<>5ufg~Y|*^LOXo=PKts=M3kJ=e+07&pn{89Gxp& zR9!G%=3PFx>b)|)zH`%j<8v#GJ;08`!f?!SIq-Jys_VwpS;DeZh4+pykFAh5npB?QS6&?qi z*q)l4d7npJ^j>1Gp55f%{=*vLG~?3ZhY(B>3KDyhd>~yWySjr%aZT}+vXDxV`a87( 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z1n0O;kNDTS*|EcrqY+W{nCdKQ8eQR~G6D~Jw438iCaMQB&VO;FD(imEI|4LD1^7mR zdgI+mU4v&(%9Q$n@#^{ZQTu^&i5UE9Uqx`HcIB#KTpTwuSUXl*?FX(ZepLdVeJ9QP zIiBG8Z>m)<_!XnESmi`c)b<=udCn6!PiEF4-ashV?tZGw46;rIX3B<-=(tYweB@xP z#Sz=6OT9R|vhJ_-SGGo_zV?VXN93*mP32CtaCdgtAx9qdrZ_v~h=W%i^5G*szAVQp i&-u)0XSXv>-E)U+7&&N9wzJkYKkC4hN91?Il>Y(mBxgtf diff --git a/gps_vcones/vcones_gui.py b/gps_vcones/vcones_gui.py index d002d93..f352be6 100755 --- a/gps_vcones/vcones_gui.py +++ b/gps_vcones/vcones_gui.py @@ -25,8 +25,10 @@ config_file = "vcones.yaml" # audio stuff ############################################################################## +vc_path = os.path.realpath(__file__) + def play_sound(file): - wave_obj = sa.WaveObject.from_wave_file(file) + wave_obj = sa.WaveObject.from_wave_file(vc_path + "/" + file) play_obj = wave_obj.play() play_obj.wait_done() @@ -124,46 +126,77 @@ class VirtualCones(): if self.num_cones == 0: return (0, 999.0, 0) - # end of list? - if self.current_cone >= self.num_cones: - self.current_cone = 0 - - # check first node for reset - if self.current_cone: - # node from csv (each line is lat, long, distance) - row = self.cones[0] + # find node in list + for i in range(self.num_cones): + # node from csv (each line is lat, long, distance, next code#) + row = self.cones[i] cone_lat = row[0] cone_lon = row[1] cone_dist = row[2] - dist = roydistance(lat, lon, cone_lat, cone_lon) - if dist < rng: - self.current_cone = 0 - - # node from csv (each line is lat, long, distance, next code#) - row = self.cones[self.current_cone] - cone_lat = row[0] - cone_lon = row[1] - cone_dist = row[2] - - # next cone - cone_next = self.current_cone + 1 - try: - cone_next = int(row[3]) - except: - pass - + # distance between vehicle and cone - self.distance = roydistance(lat, lon, cone_lat, cone_lon) - - # check distance trigger - if self.distance < rng: -# out = "Waypoint %s:%d reached: %f, %f, %f, %d" % (self.filename, self.current_cone, lat, lon, heading, speed) -# print(out) - play_sound("alert.wav") - self.current_cone = cone_next - trig = 1 + self.distance = roydistance(lat, lon, cone_lat, cone_lon) + + # check distance trigger + if self.distance < rng: +# out = "Waypoint %s:%d reached: %f, %f, %f, %d" % (self.filename, self.current_cone, lat, lon, heading, speed) +# print(out) + self.current_cone = i + trig = 1 + if self.buzz_no < self.max_buzz: + play_sound("alert.wav") + self.buzz_no = self.buzz_no + 1 + break + else: + self.buzz_no = 0 return (self.current_cone, self.distance, trig) + +# def check_list(self, lat, lon, heading, speed, rng): +# trig = 0 +# if self.num_cones == 0: +# return (0, 999.0, 0) + +# # end of list? +# if self.current_cone >= self.num_cones: +# self.current_cone = 0 + + # check first node for reset +# if self.current_cone: + # node from csv (each line is lat, long, distance) +# row = self.cones[0] +# cone_lat = row[0] +# cone_lon = row[1] +# cone_dist = row[2] +# dist = roydistance(lat, lon, cone_lat, cone_lon) +# if dist < rng: +# self.current_cone = 0 + + # node from csv (each line is lat, long, distance, next code#) +# row = self.cones[self.current_cone] +# cone_lat = row[0] +# cone_lon = row[1] +# cone_dist = row[2] + + # next cone +# cone_next = self.current_cone + 1 +# try: +# cone_next = int(row[3]) +# except: +# pass + + # distance between vehicle and cone +# self.distance = roydistance(lat, lon, cone_lat, cone_lon) + + # check distance trigger +# if self.distance < rng: +# out = "Waypoint %s:%d reached: %f, %f, %f, %d" % (self.filename, self.current_cone, lat, lon, heading, speed) +# print(out) +# play_sound("alert.wav") +# self.current_cone = cone_next +# trig = 1 + +# return (self.current_cone, self.distance, trig) ############################################################################## # thread