caperren/osurc_mars_rover_2017_2018
1
0
Fork 0
mirror of https://github.com/OSURoboticsClub/Rover_2017_2018.git synced 2025-11-09 02:31:14 +00:00
Code Issues Packages Projects Releases Wiki Activity

complying with PEP8 standard

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

4
ground_station/resources/core/MapHelper.py
View File

@@ -1,6 +1,7 @@
import PIL.Image import PIL.Image
import math import math
class MapHelper(object): class MapHelper(object):
@staticmethod @staticmethod
@@ -33,7 +34,8 @@ class MapHelper(object):
@staticmethod @staticmethod
def pixels_to_meters(latitude, zoom): 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 returns FLOAT
""" """

89
ground_station/resources/core/mapping.py
View File

@@ -14,7 +14,6 @@ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details. 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/>. 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()) _KEYS.append(i.rstrip())
file_pointer.close() file_pointer.close()
class GMapsStitcher(object): class GMapsStitcher(object):
def __init__(self, width, height, def __init__(self, width, height,
latitude, longitude, zoom, latitude, longitude, zoom,
@@ -81,17 +81,26 @@ class GMapsStitcher(object):
returns STRING returns STRING
""" """
string_builder = "" string_builder = ""
string_builder += "Center of the displayed map: %4f, %4f\n" % (self.center_x, self.center_y) string_builder += ("Center of the displayed map: %4f, %4f\n" %
string_builder += "Center of the big map: %4fx%4f\n" % (self.start_longitude, self.start_longitude) (self.center_x, self.center_y))
string_builder += "Current latitude is: %4f, %4f\n" % (self.longitude, self.latitude) string_builder += ("Center of the big map: %4fx%4f\n" %
string_builder += "The top-left of the box: %dx%d\n" % (self.left_x, self.upper_y) (self.start_longitude, self.start_longitude))
string_builder += "Number of tiles genreated: %dx%d\n" % (self.num_tiles, self.num_tiles) 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 += "Map Type: %s\n" % (self.maptype)
string_builder += "Zoom Level: %s\n" % (self.zoom) 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 Big Image: %dx%d\n" %
string_builder += "Dimensions of Displayed Image: %dx%d\n" % (self.width, self.height) (self.big_image.size[0], self.big_image.size[1]))
string_builder += "LatLong of Northwest Corner: %4f, %4f\n" % (self.northwest) string_builder += ("Dimensions of Displayed Image: %dx%d\n" %
string_builder += "LatLong of Southeast Corner: %4f, %4f\n" % (self.southeast) (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 return string_builder
def _grab_tile(self, longitude, latitude, sleeptime=0): def _grab_tile(self, longitude, latitude, sleeptime=0):
@@ -104,11 +113,15 @@ class GMapsStitcher(object):
# Make the url string for polling # Make the url string for polling
# GET request header gets appended to the string # GET request header gets appended to the string
urlbase = 'https://maps.googleapis.com/maps/api/staticmap?' 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 # 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] specs = (self.helper.fast_round(latitude, _DEGREE_PRECISION),
filename = 'Resources/Maps/' + ('%.4f_%.4f_%d_%s_%d_%d_%s' % specs) + '.png' 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 Image object
tile_object = None tile_object = None
@@ -133,23 +146,29 @@ class GMapsStitcher(object):
def _pixels_to_lon(self, iterator, lon_pixels): 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) returns FLOAT(degrees)
""" """
# Magic Lines, no idea # 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) return math.degrees((lon_pixels + degrees - _EARTHPIX) / _PIXRAD)
def _pixels_to_lat(self, iterator, lat_pixels): 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) returns FLOAT(degrees)
""" """
# Magic Lines # Magic Lines
return math.degrees(math.pi / 2 - 2 * math.atan( return math.degrees(math.pi / 2 - 2 * math.atan(math.exp(((lat_pixels +
math.exp(((lat_pixels + self.helper.pixels_to_degrees((iterator - self.num_tiles / 2) * _TILESIZE, self.zoom)) - _EARTHPIX) / _PIXRAD))) self.helper.pixels_to_degrees(
(iterator - self.num_tiles / 2)
* _TILESIZE, self.zoom))
- _EARTHPIX) / _PIXRAD)))
def fetch_tiles(self): def fetch_tiles(self):
""" """
@@ -160,12 +179,18 @@ class GMapsStitcher(object):
North/East/South/West are in FLOAT(degrees) North/East/South/West are in FLOAT(degrees)
""" """
# cap floats to precision amount # cap floats to precision amount
self.latitude = self.helper.fast_round(self.latitude, _DEGREE_PRECISION) self.latitude = self.helper.fast_round(self.latitude,
self.longitude = self.helper.fast_round(self.longitude, _DEGREE_PRECISION) _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: 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) lon_pixels = _EARTHPIX + self.longitude * math.radians(_PIXRAD)
@@ -190,7 +215,8 @@ class GMapsStitcher(object):
def move_pix(self, dx, dy): 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 NO RETURN
""" """
@@ -203,14 +229,24 @@ class GMapsStitcher(object):
Helper for move_pix Helper for move_pix
""" """
new_value = self.left_x - diff 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): def _constrain_y(self, diff):
""" """
Helper for move_pix Helper for move_pix
""" """
new_value = self.upper_y - diff 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): def update(self):
""" """
@@ -261,8 +297,6 @@ class GMapsStitcher(object):
new_lon_gps_range_percentage = (lon - viewport_lon_nw) new_lon_gps_range_percentage = (lon - viewport_lon_nw)
# print lon, viewport_lon_se # 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 x = new_lon_gps_range_percentage * pixel_per_lon
y = new_lat_gps_range_percentage * pixel_per_lat y = new_lat_gps_range_percentage * pixel_per_lat
@@ -280,7 +314,6 @@ class GMapsStitcher(object):
draw.rectangle([x-size, y-size, x+size, y+size], fill) draw.rectangle([x-size, y-size, x+size, y+size], fill)
self.update() self.update()
def center_display(self, lat, lon): def center_display(self, lat, lon):
""" """
Function centers the display image Function centers the display image