diff --git a/goompy_testing/.idea/goompy_testing.iml b/goompy_testing/.idea/goompy_testing.iml
new file mode 100644
index 0000000..6711606
--- /dev/null
+++ b/goompy_testing/.idea/goompy_testing.iml
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diff --git a/goompy_testing/.idea/inspectionProfiles/profiles_settings.xml b/goompy_testing/.idea/inspectionProfiles/profiles_settings.xml
new file mode 100644
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--- /dev/null
+++ b/goompy_testing/.idea/inspectionProfiles/profiles_settings.xml
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\ No newline at end of file
diff --git a/goompy_testing/.idea/misc.xml b/goompy_testing/.idea/misc.xml
new file mode 100644
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--- /dev/null
+++ b/goompy_testing/.idea/misc.xml
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\ No newline at end of file
diff --git a/goompy_testing/.idea/modules.xml b/goompy_testing/.idea/modules.xml
new file mode 100644
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--- /dev/null
+++ b/goompy_testing/.idea/modules.xml
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\ No newline at end of file
diff --git a/goompy_testing/.idea/workspace.xml b/goompy_testing/.idea/workspace.xml
new file mode 100644
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--- /dev/null
+++ b/goompy_testing/.idea/workspace.xml
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+ _pix_to_lon
+ fetchTiles
+ self.radius_meters
+ _KEY
+ bigimage
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+ true
+ DEFINITION_ORDER
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diff --git a/goompy_testing/README.md b/goompy_testing/README.md
new file mode 100644
index 0000000..6602a04
--- /dev/null
+++ b/goompy_testing/README.md
@@ -0,0 +1,2 @@
+This is an example project for getting and using google maps data in a QT project.
+I ended up using a modified version of this for the Mars Rover during the 2016-2017 competition year.
\ No newline at end of file
diff --git a/goompy_testing/example.py b/goompy_testing/example.py
new file mode 100644
index 0000000..de45f7d
--- /dev/null
+++ b/goompy_testing/example.py
@@ -0,0 +1,141 @@
+#!/usr/bin/env python
+'''
+Example of using GooMPy with Tkinter
+
+Copyright (C) 2015 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
+License, or (at your option) any later version.
+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
+along with this code. If not, see .
+'''
+
+from tkinter import Tk, Canvas, Label, Frame, IntVar, Radiobutton, Button
+from PIL import ImageTk
+
+from goompy import GooMPy
+
+WIDTH = 640
+HEIGHT = 640
+
+LATITUDE = 38.4064262
+LONGITUDE = -110.794115
+ZOOM = 18
+MAPTYPE = 'satellite'
+
+class UI(Tk):
+
+ def __init__(self):
+
+ Tk.__init__(self)
+
+ self.geometry('%dx%d+500+500' % (WIDTH,HEIGHT))
+ self.title('GooMPy')
+
+ self.canvas = Canvas(self, width=WIDTH, height=HEIGHT)
+
+ self.canvas.pack()
+
+ self.bind("", self.check_quit)
+ self.bind('', self.drag)
+ self.bind('', self.click)
+
+ self.label = Label(self.canvas)
+
+ self.radiogroup = Frame(self.canvas)
+ self.radiovar = IntVar()
+ self.maptypes = ['roadmap', 'terrain', 'satellite', 'hybrid']
+ self.add_radio_button('Road Map', 0)
+ self.add_radio_button('Terrain', 1)
+ self.add_radio_button('Satellite', 2)
+ self.add_radio_button('Hybrid', 3)
+
+ self.zoom_in_button = self.add_zoom_button('+', +1)
+ self.zoom_out_button = self.add_zoom_button('-', -1)
+
+ self.zoomlevel = ZOOM
+
+ maptype_index = 2
+ self.radiovar.set(maptype_index)
+
+ self.goompy = GooMPy(WIDTH, HEIGHT, LATITUDE, LONGITUDE, ZOOM, MAPTYPE, 1000)
+
+ self.restart()
+
+ def add_zoom_button(self, text, sign):
+
+ button = Button(self.canvas, text=text, width=1, command=lambda:self.zoom(sign))
+ return button
+
+ def reload(self):
+
+ self.coords = None
+ self.redraw()
+
+ self['cursor'] = ''
+
+
+ def restart(self):
+
+ # A little trick to get a watch cursor along with loading
+ self['cursor'] = 'watch'
+ self.after(1, self.reload)
+
+ def add_radio_button(self, text, index):
+
+ maptype = self.maptypes[index]
+ Radiobutton(self.radiogroup, text=maptype, variable=self.radiovar, value=index,
+ command=lambda:self.usemap(maptype)).grid(row=0, column=index)
+
+ def click(self, event):
+
+ self.coords = event.x, event.y
+
+ def drag(self, event):
+
+ self.goompy.move(self.coords[0]-event.x, self.coords[1]-event.y)
+ self.image = self.goompy.getImage()
+ self.redraw()
+ self.coords = event.x, event.y
+
+ def redraw(self):
+
+ self.image = self.goompy.getImage()
+ self.image_tk = ImageTk.PhotoImage(self.image)
+ self.label['image'] = self.image_tk
+
+ self.label.place(x=0, y=0, width=WIDTH, height=HEIGHT)
+
+ self.radiogroup.place(x=0,y=0)
+
+ x = int(self.canvas['width']) - 50
+ y = int(self.canvas['height']) - 80
+
+ self.zoom_in_button.place(x= x, y=y)
+ self.zoom_out_button.place(x= x, y=y+30)
+
+ def usemap(self, maptype):
+
+ self.goompy.useMaptype(maptype)
+ self.restart()
+
+ def zoom(self, sign):
+
+ newlevel = self.zoomlevel + sign
+ if newlevel > 0 and newlevel < 22:
+ self.zoomlevel = newlevel
+ self.goompy.useZoom(newlevel)
+ self.restart()
+
+ def check_quit(self, event):
+
+ if ord(event.char) == 27: # ESC
+ exit(0)
+
+UI().mainloop()
diff --git a/goompy_testing/goompy/.gitignore b/goompy_testing/goompy/.gitignore
new file mode 100644
index 0000000..c9b568f
--- /dev/null
+++ b/goompy_testing/goompy/.gitignore
@@ -0,0 +1,2 @@
+*.pyc
+*.swp
diff --git a/goompy_testing/goompy/__init__.py b/goompy_testing/goompy/__init__.py
new file mode 100644
index 0000000..a111626
--- /dev/null
+++ b/goompy_testing/goompy/__init__.py
@@ -0,0 +1,200 @@
+'''
+GooMPy: Google Maps for Python
+
+Copyright (C) 2015 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
+License, or (at your option) any later version.
+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
+along with this code. If not, see .
+'''
+
+import math
+import PIL.Image
+from io import StringIO, BytesIO
+import urllib.request
+import os
+import time
+
+_KEY = '&key=AIzaSyAFjAWMwQauf2Dy5KteOuT8KexfMjOCIS8' # This is Corwin's temp API key
+
+_EARTHPIX = 268435456 # Number of pixels in half the earth's circumference at zoom = 21
+_DEGREE_PRECISION = 4 # Number of decimal places for rounding coordinates
+_TILESIZE = 640 # Larget tile we can grab without paying
+_GRABRATE = 4 # Fastest rate at which we can download tiles without paying
+
+_pixrad = _EARTHPIX / math.pi
+
+
+def _new_image(width, height):
+ return PIL.Image.new('RGB', (width, height))
+
+
+def _roundto(value, digits):
+ return int(value * 10 ** digits) / 10. ** digits
+
+
+def _pixels_to_degrees(pixels, zoom):
+ return pixels * 2 ** (21 - zoom)
+
+
+def _grab_tile(lat, lon, zoom, maptype, _TILESIZE, sleeptime):
+ urlbase = 'https://maps.googleapis.com/maps/api/staticmap?center=%f,%f&zoom=%d&maptype=%s&size=%dx%d&format=jpg'
+ urlbase += _KEY
+
+ specs = lat, lon, zoom, maptype, _TILESIZE, _TILESIZE
+
+ filename = 'mapscache/' + ('%f_%f_%d_%s_%d_%d' % specs) + '.jpg'
+
+ tile = None
+
+ if os.path.isfile(filename):
+ tile = PIL.Image.open(filename)
+
+ else:
+ url = urlbase % specs
+
+ result = urllib.request.urlopen(url).read()
+ tile = PIL.Image.open(BytesIO(result))
+ if not os.path.exists('mapscache'):
+ os.mkdir('mapscache')
+ tile.save(filename)
+ time.sleep(sleeptime) # Choke back speed to avoid maxing out limit
+
+ return tile
+
+
+def _pix_to_lon(j, lonpix, ntiles, _TILESIZE, zoom):
+ return math.degrees((lonpix + _pixels_to_degrees(((j) - ntiles / 2) * _TILESIZE, zoom) - _EARTHPIX) / _pixrad)
+
+
+def _pix_to_lat(k, latpix, ntiles, _TILESIZE, zoom):
+ return math.degrees(math.pi / 2 - 2 * math.atan(
+ math.exp(((latpix + _pixels_to_degrees((k - ntiles / 2) * _TILESIZE, zoom)) - _EARTHPIX) / _pixrad)))
+
+
+def fetchTiles(latitude, longitude, zoom, maptype, radius_meters=None, default_ntiles=4):
+ '''
+ Fetches tiles from GoogleMaps at the specified coordinates, zoom level (0-22), and map type ('roadmap',
+ 'terrain', 'satellite', or 'hybrid'). The value of radius_meters deteremines the number of tiles that will be
+ fetched; if it is unspecified, the number defaults to default_ntiles. Tiles are stored as JPEG images
+ in the mapscache folder.
+ '''
+
+ latitude = _roundto(latitude, _DEGREE_PRECISION)
+ longitude = _roundto(longitude, _DEGREE_PRECISION)
+
+ # https://groups.google.com/forum/#!topic/google-maps-js-api-v3/hDRO4oHVSeM
+ pixels_per_meter = 2 ** zoom / (156543.03392 * math.cos(math.radians(latitude)))
+
+ # number of tiles required to go from center latitude to desired radius in meters
+ ntiles = default_ntiles if radius_meters is None else int(
+ round(2 * pixels_per_meter / (_TILESIZE / 2. / radius_meters)))
+
+ lonpix = _EARTHPIX + longitude * math.radians(_pixrad)
+
+ sinlat = math.sin(math.radians(latitude))
+ latpix = _EARTHPIX - _pixrad * math.log((1 + sinlat) / (1 - sinlat)) / 2
+
+ bigsize = ntiles * _TILESIZE
+ bigimage = _new_image(bigsize, bigsize)
+
+ for j in range(ntiles):
+ lon = _pix_to_lon(j, lonpix, ntiles, _TILESIZE, zoom)
+ for k in range(ntiles):
+ lat = _pix_to_lat(k, latpix, ntiles, _TILESIZE, zoom)
+ tile = _grab_tile(lat, lon, zoom, maptype, _TILESIZE, 1. / _GRABRATE)
+ bigimage.paste(tile, (j * _TILESIZE, k * _TILESIZE))
+
+ west = _pix_to_lon(0, lonpix, ntiles, _TILESIZE, zoom)
+ east = _pix_to_lon(ntiles - 1, lonpix, ntiles, _TILESIZE, zoom)
+
+ north = _pix_to_lat(0, latpix, ntiles, _TILESIZE, zoom)
+ south = _pix_to_lat(ntiles - 1, latpix, ntiles, _TILESIZE, zoom)
+
+ return bigimage, (north, west), (south, east)
+
+
+class GooMPy(object):
+ def __init__(self, width, height, latitude, longitude, zoom, maptype, radius_meters=None, default_ntiles=4):
+ '''
+ Creates a GooMPy object for specified display widthan and height at the specified coordinates,
+ zoom level (0-22), and map type ('roadmap', 'terrain', 'satellite', or 'hybrid').
+ The value of radius_meters deteremines the number of tiles that will be used to create
+ the map image; if it is unspecified, the number defaults to default_ntiles.
+ '''
+
+ self.lat = latitude
+ self.lon = longitude
+
+ self.width = width
+ self.height = height
+
+ self.zoom = zoom
+ self.maptype = maptype
+ self.radius_meters = radius_meters
+
+ self.winimage = _new_image(self.width, self.height)
+
+ self._fetch()
+
+ halfsize = self.bigimage.size[0] // 2
+ self.leftx = halfsize
+ self.uppery = halfsize
+
+ self._update()
+
+ def getImage(self):
+ '''
+ Returns the current image as a PIL.Image object.
+ '''
+
+ return self.winimage
+
+ def move(self, dx, dy):
+ '''
+ Moves the view by the specified pixels dx, dy.
+ '''
+
+ self.leftx = self._constrain(self.leftx, dx, self.width)
+ self.uppery = self._constrain(self.uppery, dy, self.height)
+ self._update()
+
+ def useMaptype(self, maptype):
+ '''
+ Uses the specified map type 'roadmap', 'terrain', 'satellite', or 'hybrid'.
+ Map tiles are fetched as needed.
+ '''
+
+ self.maptype = maptype
+ self._fetch_and_update()
+
+ def useZoom(self, zoom):
+ '''
+ Uses the specified zoom level 0 through 22.
+ Map tiles are fetched as needed.
+ '''
+
+ self.zoom = zoom
+ self._fetch_and_update()
+
+ def _fetch_and_update(self):
+ self._fetch()
+ self._update()
+
+ def _fetch(self):
+ self.bigimage, self.northwest, self.southeast = fetchTiles(self.lat, self.lon, self.zoom, self.maptype,
+ self.radius_meters)
+
+ def _update(self):
+ self.winimage.paste(self.bigimage, (-self.leftx, -self.uppery))
+
+ def _constrain(self, oldval, diff, dimsize):
+ newval = oldval + diff
+ return newval if newval > 0 and newval < self.bigimage.size[0] - dimsize else oldval
diff --git a/goompy_testing/goompy/key.py b/goompy_testing/goompy/key.py
new file mode 100644
index 0000000..9a5f569
--- /dev/null
+++ b/goompy_testing/goompy/key.py
@@ -0,0 +1,20 @@
+
+'''
+GooMPy: Google Maps for Python
+Copyright (C) 2015 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
+License, or (at your option) any later version.
+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
+along with this code. If not, see .
+'''
+
+# Get a key from https://developers.google.com/maps/documentation/staticmaps/#api_key and put it between the
+# quotation marks below:
+_KEY = 'AIzaSyAFjAWMwQauf2Dy5KteOuT8KexfMjOCIS8'
+
diff --git a/goompy_testing/mapscache/37.769592_-79.416434_15_roadmap_640_640.jpg b/goompy_testing/mapscache/37.769592_-79.416434_15_roadmap_640_640.jpg
new file mode 100644
index 0000000..3973a5f
Binary files /dev/null and b/goompy_testing/mapscache/37.769592_-79.416434_15_roadmap_640_640.jpg differ
diff --git a/goompy_testing/mapscache/37.769592_-79.416434_15_terrain_640_640.jpg b/goompy_testing/mapscache/37.769592_-79.416434_15_terrain_640_640.jpg
new file mode 100644
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diff --git a/goompy_testing/qt_example.py b/goompy_testing/qt_example.py
new file mode 100644
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--- /dev/null
+++ b/goompy_testing/qt_example.py
@@ -0,0 +1,255 @@
+#!/usr/bin python3.5
+
+"""
+ Main file used to launch the Rover Base Station
+ No other files should be used for launching this application.
+"""
+
+__author__ = "Corwin Perren"
+__credits__ = [""]
+__license__ = "GPL (GNU General Public License) 3.0"
+__version__ = "0.1"
+__maintainer__ = "Corwin Perren"
+__email__ = "caperren@caperren.com"
+__status__ = "Development"
+
+#####################################
+# Imports
+#####################################
+# Python native imports
+import sys
+from PyQt5 import QtWidgets, QtCore, QtGui, uic, QtWebEngine, QtQuick, QtQml
+import signal
+import logging
+import time
+from goompy import GooMPy
+from PIL.ImageQt import ImageQt
+import PIL
+
+#####################################
+# Global Variables
+#####################################
+UI_FILE_PATH = "ui.ui"
+
+
+LATITUDE = 38.4064262
+LONGITUDE = -110.794115
+ZOOM = 18 # 15,16, and 18 18 seems best
+MAPTYPE = 'satellite'
+
+WIDTH = 640
+HEIGHT = 640
+
+
+#####################################
+# Application Class Definition
+#####################################
+class ApplicationWindow(QtWidgets.QMainWindow):
+ connect_all_signals_to_slots_signal = QtCore.pyqtSignal()
+ start_all_threads = QtCore.pyqtSignal()
+ kill_threads_signal = QtCore.pyqtSignal()
+
+ image_shown_signal = QtCore.pyqtSignal()
+
+ def __init__(self, parent=None):
+ # noinspection PyArgumentList
+ super(ApplicationWindow, self).__init__(parent)
+ uic.loadUi(UI_FILE_PATH, self)
+
+ # ########## Class Variables ##########
+ self.num_threads_running = 0
+ self.threads = [] # type: [QtCore.QThread]
+
+ # ########## Instantiation of program classes ##########
+ # Settings class and version number set
+
+ # Uncomment these lines to completely reset settings and quit, then re-comment and rerun program
+ # self.settings.clear()
+ # self.close()
+
+ self.label = self.label # type: QtWidgets.QLabel
+
+ self.read_updater = ReadUpdater(self)
+
+ # ########## Add threads to list for easy access on program close ##########
+ self.threads.append(self.read_updater)
+
+ # ########## Setup signal/slot connections ##########
+ for thread in self.threads:
+ self.connect_all_signals_to_slots_signal.connect(thread.connect_signals_to_slots__slot)
+
+ self.connect_all_signals_to_slots_signal.emit()
+
+ # ########## Start all child threads ##########
+ for thread in self.threads:
+ self.start_all_threads.connect(thread.start)
+
+ self.start_all_threads.emit()
+
+ time.sleep(1)
+
+ # ########## Ensure all threads started properly ##########
+ for thread in self.threads:
+ if not thread.isRunning():
+ self.logger.error("Thread" + thread.__class__.__name__ + " failed to start! Exiting...")
+ for thread in self.threads:
+ thread.terminate()
+ self.close()
+
+ # self.logger.info("All threads started successfully!")
+
+ def show_graphics_view__slot(self):
+ self.graphicsView.show()
+ self.label.setPixmap(self.read_updater.pix)
+
+
+ def closeEvent(self, event):
+ # Tell all threads to die
+ self.kill_threads_signal.emit()
+
+ # Wait for all the threads to end properly
+ for thread in self.threads:
+ thread.wait()
+
+ # Print final log noting shutdown and shutdown the logger to flush to disk
+ self.logger.debug("########## Application Stopping ##########")
+ logging.shutdown()
+
+ # Accept the close event to properly close the program
+ event.accept()
+
+
+class ReadUpdater(QtCore.QThread):
+
+ request_viewport_update = QtCore.pyqtSignal()
+
+ def __init__(self, main_window):
+ super(ReadUpdater, self).__init__()
+
+ # ########## Reference to top level window ##########
+ self.main_window = main_window # type: QtWidgets.QMainWindow
+
+ # ########## Get the settings instance ##########
+ self.settings = QtCore.QSettings()
+
+ # ########## Get the Pick And Plate instance of the logger ##########
+ self.logger = logging.getLogger("RoverBaseStation")
+
+ self.goompy = GooMPy(2*WIDTH, HEIGHT, LATITUDE, LONGITUDE, ZOOM, MAPTYPE, 1500)
+
+ self.tab_widget = self.main_window.tabWidget # type: QtWidgets.QTabWidget
+
+ # ########## Some Flags ##########
+ self.run_thread_flag = True
+
+ # ########## Class variables ##########
+ self.data_last_seen = time.time()
+
+ def run(self):
+ #self.logger.debug("Read Updater Thread Starting...")
+
+ self.request_viewport_update.connect(self.main_window.show_graphics_view__slot)
+ #self.goompy.move(650, 400)
+
+ dx = 1
+ dy = 1
+
+ x_num = 0
+ y_num = 0
+
+ dir_x = 0
+ dir_y = 0
+
+ count_max = 500
+
+ while self.run_thread_flag:
+
+ #self.scene.clear()
+
+ #self.scene = QtWidgets.QGraphicsScene(self)
+ #self.graphics_view.setScene(self.scene)
+ if dir_x:
+ self.goompy.move(-dx, 0)
+ x_num -= 1
+ else:
+ self.goompy.move(dx, 0)
+ x_num += 1
+
+ if dir_y:
+ self.goompy.move(0, -dy)
+ y_num -= 1
+ else:
+ self.goompy.move(0, dy)
+ y_num += 1
+
+
+
+
+ if x_num >= count_max:
+ dir_y = 1
+ dir_x = 1
+ elif x_num <= 0:
+ dir_y = 0
+ dir_x = 0
+
+ self.image = self.goompy.getImage().convert("RGBA") # type: PIL.Image.Image
+ print(self.goompy.northwest)
+ print(self.goompy.southeast)
+ print(self.goompy.uppery)
+ print(self.goompy.leftx)
+ print(self.goompy.bigimage.size)
+ #self.goompy.
+
+ #self.image = self.image.crop((500, 500, 750, 750))
+
+ print(self.image)
+
+
+ # print(self.image.height)
+ # print(self.image.width)
+
+ qim = ImageQt(self.image)
+ #self.pix.
+ # type: QtGui.QPixmap
+
+ # print(test)
+ # test.setPixmap(pixmap)
+
+ # print(self.pix.width())
+ # print(self.pix.height())
+ # print(self.pix.colorCount())
+
+ # self.pix
+ self.pix = QtGui.QPixmap.fromImage(qim)
+ self.request_viewport_update.emit()
+
+ # while self.wait_til_shown:
+ # self.msleep(1)
+
+
+ self.msleep(20)
+
+ #self.logger.debug("Read Updater Thread Stopping...")
+
+
+
+ def connect_signals_to_slots__slot(self):
+
+ self.main_window.kill_threads_signal.connect(self.on_kill_threads__slot)
+
+ def on_image_shown__slot(self):
+ self.wait_til_shown = False
+
+ def on_kill_threads__slot(self):
+ self.run_thread_flag = False
+
+#####################################
+# Main Definition
+#####################################
+if __name__ == "__main__":
+ signal.signal(signal.SIGINT, signal.SIG_DFL) # This allows the keyboard interrupt kill to work properly
+ application = QtWidgets.QApplication(sys.argv) # Create the base qt gui application
+ app_window = ApplicationWindow() # Make a window in this application
+ app_window.setWindowTitle("Rover Base Station") # Sets the window title
+ app_window.show() # Show the window in the application
+ application.exec_() # Execute launching of the application
diff --git a/goompy_testing/ui.ui b/goompy_testing/ui.ui
new file mode 100644
index 0000000..b877831
--- /dev/null
+++ b/goompy_testing/ui.ui
@@ -0,0 +1,48 @@
+
+
+ MainWindow
+
+
+
+ 0
+ 0
+ 314
+ 231
+
+
+
+ MainWindow
+
+
+
+ -
+
+
+
+
+
+
+ -
+
+
+
+ Tab 1
+
+
+
+
+ Tab 2
+
+
+
+
+ -
+
+
+
+
+
+
+
+
+