caperren/osurc_mars_rover_2017_2018
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complying with PEP8 standard

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This commit is contained in:
Chris Pham
2018-02-03 15:28:45 -08:00
parent 31ad2185cb
commit 23f3554af3
2 changed files with 76 additions and 41 deletions
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8
ground_station/resources/core/MapHelper.py
View File

@@ -1,13 +1,14 @@
import PIL.Image
import math
class MapHelper(object):
@staticmethod
def new_image(width, height):
"""
Generates a new image using PIL.Image module
returns PIL.IMAGE OBJECT
"""
return PIL.Image.new('RGBA', (width, height))
@@ -33,9 +34,10 @@ class MapHelper(object):
@staticmethod
def pixels_to_meters(latitude, zoom):
"""
Function generates how many pixels per meter it should be from the projecction
Function generates how many pixels per meter it
should be from the projecction
returns FLOAT
"""
# https://groups.google.com/forum/#!topic/google-maps-js-api-v3/hDRO4oHVSeM
return 2 ** zoom / (156543.03392 * math.cos(math.radians(latitude)))
return 2 ** zoom / (156543.03392 * math.cos(math.radians(latitude)))

109
ground_station/resources/core/mapping.py
View File

@@ -6,15 +6,14 @@ Copyright OSURC, orginal code from GooMPy by Alec Singer and Simon D. Levy
This code is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as
published by the Free Software Foundation, either version 3 of the
published by the Free Software Foundation, either version 3 of the
License, or (at your option) any later version.
This code is distributed in the hope that it will be useful,
This code is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
You should have received a copy of the GNU Lesser General Public License
along with this code. If not, see <http://www.gnu.org/licenses/>.
'''
#####################################
@@ -51,6 +50,7 @@ for i in file_pointer:
_KEYS.append(i.rstrip())
file_pointer.close()
class GMapsStitcher(object):
def __init__(self, width, height,
latitude, longitude, zoom,
@@ -68,11 +68,11 @@ class GMapsStitcher(object):
self.num_tiles = num_tiles
self.display_image = self.helper.new_image(width, height)
self.debug = debug
# Get the big image here
self._fetch()
self.center_display(latitude, longitude)
def __str__(self):
"""
This string returns when used in a print statement
@@ -81,17 +81,26 @@ class GMapsStitcher(object):
returns STRING
"""
string_builder = ""
string_builder += "Center of the displayed map: %4f, %4f\n" % (self.center_x, self.center_y)
string_builder += "Center of the big map: %4fx%4f\n" % (self.start_longitude, self.start_longitude)
string_builder += "Current latitude is: %4f, %4f\n" % (self.longitude, self.latitude)
string_builder += "The top-left of the box: %dx%d\n" % (self.left_x, self.upper_y)
string_builder += "Number of tiles genreated: %dx%d\n" % (self.num_tiles, self.num_tiles)
string_builder += ("Center of the displayed map: %4f, %4f\n" %
(self.center_x, self.center_y))
string_builder += ("Center of the big map: %4fx%4f\n" %
(self.start_longitude, self.start_longitude))
string_builder += ("Current latitude is: %4f, %4f\n" %
(self.longitude, self.latitude))
string_builder += ("The top-left of the box: %dx%d\n" %
(self.left_x, self.upper_y))
string_builder += ("Number of tiles genreated: %dx%d\n" %
(self.num_tiles, self.num_tiles))
string_builder += "Map Type: %s\n" % (self.maptype)
string_builder += "Zoom Level: %s\n" % (self.zoom)
string_builder += "Dimensions of Big Image: %dx%d\n" % (self.big_image.size[0], self.big_image.size[1])
string_builder += "Dimensions of Displayed Image: %dx%d\n" % (self.width, self.height)
string_builder += "LatLong of Northwest Corner: %4f, %4f\n" % (self.northwest)
string_builder += "LatLong of Southeast Corner: %4f, %4f\n" % (self.southeast)
string_builder += ("Dimensions of Big Image: %dx%d\n" %
(self.big_image.size[0], self.big_image.size[1]))
string_builder += ("Dimensions of Displayed Image: %dx%d\n" %
(self.width, self.height))
string_builder += ("LatLong of Northwest Corner: %4f, %4f\n" %
(self.northwest))
string_builder += ("LatLong of Southeast Corner: %4f, %4f\n" %
(self.southeast))
return string_builder
def _grab_tile(self, longitude, latitude, sleeptime=0):
@@ -99,16 +108,20 @@ class GMapsStitcher(object):
This will return the tile at location longitude x latitude.
Includes a sleep time to allow for free use if there is no API key
returns PIL.IMAGE OBJECT
returns PIL.IMAGE OBJECT
"""
# Make the url string for polling
# GET request header gets appended to the string
urlbase = 'https://maps.googleapis.com/maps/api/staticmap?'
urlbase += 'center=%.4f,%.4f&zoom=%d&maptype=%s&size=%dx%d&format=png&key=%s'
urlbase += 'center=%.4f,%.4f&zoom=%d&maptype=%s'
urlbase += '&size=%dx%d&format=png&key=%s'
# Fill the formatting
specs = self.helper.fast_round(latitude, _DEGREE_PRECISION), self.helper.fast_round(longitude, _DEGREE_PRECISION), self.zoom, self.maptype, _TILESIZE, _TILESIZE, _KEYS[0]
filename = 'Resources/Maps/' + ('%.4f_%.4f_%d_%s_%d_%d_%s' % specs) + '.png'
specs = (self.helper.fast_round(latitude, _DEGREE_PRECISION),
self.helper.fast_round(longitude, _DEGREE_PRECISION),
self.zoom, self.maptype, _TILESIZE, _TILESIZE, _KEYS[0])
filename = 'Resources/Maps/' + ('%.4f_%.4f_%d_%s_%d_%d_%s' % specs)
filename += '.png'
# Tile Image object
tile_object = None
@@ -126,46 +139,58 @@ class GMapsStitcher(object):
if not os.path.exists('Resources/Maps'):
os.mkdir('Resources/Maps')
tile_object.save(filename)
#Added to prevent timeouts on Google Servers
# Added to prevent timeouts on Google Servers
time.sleep(sleeptime)
return tile_object
def _pixels_to_lon(self, iterator, lon_pixels):
"""
This converts pixels to degrees to be used in fetching squares and generate correct squares
This converts pixels to degrees to be used in
fetching squares and generate correct squares
returns FLOAT(degrees)
"""
# Magic Lines, no idea
degrees = self.helper.pixels_to_degrees(((iterator) - self.num_tiles / 2) * _TILESIZE, self.zoom)
degrees = self.helper.pixels_to_degrees((iterator - self.num_tiles / 2)
* _TILESIZE, self.zoom)
return math.degrees((lon_pixels + degrees - _EARTHPIX) / _PIXRAD)
def _pixels_to_lat(self, iterator, lat_pixels):
"""
This converts pixels to latitude using meridian projection to get the latitude to generate squares
This converts pixels to latitude using meridian projection
to get the latitude to generate squares
returns FLOAT(degrees)
"""
# Magic Lines
return math.degrees(math.pi / 2 - 2 * math.atan(
math.exp(((lat_pixels + self.helper.pixels_to_degrees((iterator - self.num_tiles / 2) * _TILESIZE, self.zoom)) - _EARTHPIX) / _PIXRAD)))
return math.degrees(math.pi / 2 - 2 * math.atan(math.exp(((lat_pixels +
self.helper.pixels_to_degrees(
(iterator - self.num_tiles / 2)
* _TILESIZE, self.zoom))
- _EARTHPIX) / _PIXRAD)))
def fetch_tiles(self):
"""
Function that handles fetching of files from init'd variables
returns PIL.IMAGE OBJECT, (WEST, NORTH), (EAST, SOUTH)
North/East/South/West are in FLOAT(degrees)
"""
# cap floats to precision amount
self.latitude = self.helper.fast_round(self.latitude, _DEGREE_PRECISION)
self.longitude = self.helper.fast_round(self.longitude, _DEGREE_PRECISION)
self.latitude = self.helper.fast_round(self.latitude,
_DEGREE_PRECISION)
self.longitude = self.helper.fast_round(self.longitude,
_DEGREE_PRECISION)
# number of tiles required to go from center latitude to desired radius in meters
# number of tiles required to go from center
# latitude to desired radius in meters
if self.radius_meters is not None:
self.num_tiles = int(round(2*self.helper.pixels_to_meters(self.latitude, self.zoom) / (_TILESIZE / 2. / self.radius_meters)))
self.num_tiles = (int(
round(2 * self.helper.pixels_to_meters(
self.latitude, self.zoom) /
(_TILESIZE / 2. / self.radius_meters))))
lon_pixels = _EARTHPIX + self.longitude * math.radians(_PIXRAD)
@@ -190,7 +215,8 @@ class GMapsStitcher(object):
def move_pix(self, dx, dy):
"""
Function gets change in x and y (dx, dy) and then displaces the displayed map that amount
Function gets change in x and y (dx, dy)
then displaces the displayed map that amount
NO RETURN
"""
@@ -203,14 +229,24 @@ class GMapsStitcher(object):
Helper for move_pix
"""
new_value = self.left_x - diff
return new_value if (new_value > 0 and (new_value < self.big_image.size[0] - self.width)) else self.left_x
if !(new_value > 0 and
(new_value < self.big_image.size[0] - self.width)):
return self.left_x
else:
return new_value
def _constrain_y(self, diff):
"""
Helper for move_pix
"""
new_value = self.upper_y - diff
return new_value if new_value > 0 and new_value < self.big_image.size[0] - self.height else self.upper_y
if !(new_value > 0 and
new_value < self.big_image.size[0] - self.height):
return self.upper_y
else:
return new_value
def update(self):
"""
@@ -261,8 +297,6 @@ class GMapsStitcher(object):
new_lon_gps_range_percentage = (lon - viewport_lon_nw)
# print lon, viewport_lon_se
# print "Percentages: ", new_lat_gps_range_percentage, new_lon_gps_range_percentage
x = new_lon_gps_range_percentage * pixel_per_lon
y = new_lat_gps_range_percentage * pixel_per_lat
@@ -270,7 +304,7 @@ class GMapsStitcher(object):
def add_gps_location(self, lat, lon, shape, size, fill):
"""
Function adds a shape at lat x lon
Function adds a shape at lat x lon
"""
x, y = self._get_cartesian(lat, lon)
draw = PIL.ImageDraw.Draw(self.big_image)
@@ -280,7 +314,6 @@ class GMapsStitcher(object):
draw.rectangle([x-size, y-size, x+size, y+size], fill)
self.update()
def center_display(self, lat, lon):
"""
Function centers the display image