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Code.py
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Code.py
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import math, sys, pygame, random,pyproj,utm
from pygame import display,draw,event
from pyproj import Proj, transform
import xlwt
import xlrd
from os import listdir
from os.path import isfile, join
import pandas as pd
import csv
import xlwt
from xlrd import open_workbook
from xlutils.copy import copy
import openpyxl
from PIL.ImageChops import screen
import numpy as np
WHITE = (255, 255, 255)
BLUE = ( 0, 0, 255)
GREEN = ( 0, 255, 0)
RED = (255, 0, 0)
BLACK= ( 0, 0, 0)
box = (1200, 650)
running = True
ar=[]
wp=[]
di={}
n=0
m=0
ch=-1
def CartLatfile():
B=[]
file = open("c:/Users/reach/OneDrive/Desktop/SEDS/SUAS-Ardra--master/tan_input.txt", "r")
m=int(file.readline())
for i in range(0,m):
p=file.readline()
imp=tuple(int(float(x.strip())) for x in p.split(','))
B.append(imp)
n=int(file.readline())
for i in range(0,n):
p=file.readline()
inp=tuple(int(float(x.strip())) for x in p.split(','))
B.append(inp)
C=CartLat(B)
a_file = open("c:/Users/reach/OneDrive/Desktop/SEDS/SUAS-Ardra--master/3D.txt", "w")
for row in C:
a_file.write(str(row)[1:-1]+'\n')
a_file.close()
def LatCartfile():
import numpy as np
B=[]
file =np.loadtxt(open('c:/Users/reach/OneDrive/Desktop/SEDS/SUAS-Ardra--master/3D.txt',"rb"),delimiter=",", skiprows=0)
df=LatCart(file)
n_waypoints=5
n_obstacles=9
a_file = open("c:/Users/reach/OneDrive/Desktop/SEDS/SUAS-Ardra--master/inputfile.txt", "w")
a_file.write(str(n_waypoints)+'\n')
for row in range(0,n_waypoints):
a_file.write(str(df[row])[1:-1]+'\n')
a_file.write(str(n_obstacles)+'\n')
for row in range(n_waypoints,n_obstacles+n_waypoints):
rad=int(input("Enter radius value:"))
l1=list(df[row])
l1.append(rad)
t1=tuple(l1)
a_file.write(str(t1)[1:-1]+'\n')
a_file.close()
def drawCirc(x0,x1,x2,col):
pygame.draw.circle(screen,col,(x0,x1),x2)
def boundary(st,s,cr1,cr2,cr3,cr4):
flag=0
k1=(cr1[1]-st[1])/(s[1]-st[1])
if(k1>0 and k1<1):
flag=1
return flag
k2=(cr2[0]-st[0])/(s[0]-st[0])
if(k2>0 and k2<1):
flag=1
return flag
k3=(cr4[1]-st[1])/(s[1]-st[1])
if(k3>0 and k3<1):
flag=1
return flag
k4=(cr3[0]-st[0])/(s[0]-st[0])
if(k4>0 and k4<1):
flag=1
return flag
return flag
def root(num):
return math.sqrt(num)
def closest_circ(st,ed):
ex=st[0]
ey=st[1]
dx=ed[0]-st[0]
dy=ed[1]-st[1]
a=(dx*dx)+(dy*dy)
for i in range(0,n):
zerone=0
p=ar[i][0]
q=ar[i][1]
r=ar[i][2]
b=2*((ex*dx)+(ey*dy)-(dx*p)-(dy*q))
c = (ex*ex)+(ey*ey)-(2*ex*p)-(2*ey*q)+((p*p)+(q*q)-r*r)
dis=(b*b)-(4*a*c)
if(dis>0):
s1=(-b + root(dis))/(2*a)
s2=(-b - root(dis))/(2*a)
if(0<=s1<=1 and 0<=s2<=1):
if(s1<s2):
sol=s1
zerone=1
else:
sol=s2
zerone=1
elif(0<=s1<=1):
sol=s1
zerone=1
elif(0<=s2<=1):
sol=s2
zerone=1
if(zerone==1):
di[i]=sol
else:
di[i]=9999
val=9999
pos=0
count=0
for i in range(n):
if(di[i]<val):
count+=1
for i in range(0,n):
if(di[i]<val):
val=di[i]
pos=i
return pos,count
def draw_tan(st,ed,pos):
xc=st[0]-ar[pos][0]
yc=st[1]-ar[pos][1]
if yc==0:
yc=0.1
co=(ar[pos][0]*ar[pos][0])+(ar[pos][1]*ar[pos][1])-(ar[pos][2]*ar[pos][2])-(ar[pos][0]*st[0])-(ar[pos][1]*st[1])
at=1+((xc/yc)*(xc/yc))
bt=((2*co*xc)/(yc*yc))-(2*ar[pos][0])+(( 2*ar[pos][1]*xc)/yc)
ct=((co*co)/(yc*yc))+((2*ar[pos][1]*co)/yc)+(ar[pos][0]*ar[pos][0])+(ar[pos][1]*ar[pos][1])-(ar[pos][2]*ar[pos][2])
dist=(bt*bt)-(4*at*ct)
if(dist>0):
#points on the circle where the tangent meets it are solx1,y1,x2,y2
solx1=(-bt+root(dist))/(2*at)
solx2=(-bt-root(dist))/(2*at)
soly1=-(co+(xc*solx1))/yc
soly2=-(co+(xc*solx2))/yc
#gap between tangent to circle
#extended points above the circle= sdx1,sdx2,sdy1,sdy2
sdx1=ar[pos][0]+1.2*(solx1-ar[pos][0])
sdx2=ar[pos][0]+1.2*(solx2-ar[pos][0])
sdy1=ar[pos][1]+1.2*(soly1-ar[pos][1])
sdy2=ar[pos][1]+1.2*(soly2-ar[pos][1])
#distance b/w start point and centre of circle d1,d2
d1=root((st[0]-sdx1)*(st[0]-sdx1)+(st[1]-sdy1)*(st[1]-sdy1))
d2=root((st[0]-sdx2)*(st[0]-sdx2)+(st[1]-sdy2)*(st[1]-sdy2))
#extension
#Note:- The ((ar[pos][2]+d1)/d1) is a coefficient for deciding extensions
sx1=st[0]+((ar[pos][2]+d1)/d1)*(sdx1-st[0])
sx2=st[0]+((ar[pos][2]+d2)/d2)*(sdx2-st[0])
sy1=st[1]+((ar[pos][2]+d1)/d1)*(sdy1-st[1])
sy2=st[1]+((ar[pos][2]+d2)/d2)*(sdy2-st[1])
pygame.draw.line(screen,BLACK,st,(sx1,sy1),1)
pygame.draw.line(screen,BLACK,st,(sx2,sy2),1)
pygame.draw.line(screen,BLACK,(sx1,sy1),ed,1)
pygame.draw.line(screen,BLACK,(sx2,sy2),ed,1)
pygame.display.update()
return sx1,sx2,sy1,sy2
def CartLat(A):
B=[]
#inputEPSG= 3857
#outputEPSG=4326
#point=ogr.Geometry(ogr.wkbPoint)
#for x in range(len(A)):
#point.Addpoint(302.22,273.98)
#inSpatialRef=osr.SpatialReference()
#inSpatialRef.ImportFromEPSG(inputEPSG)
#outSpatialRef=osr.SpatialReference()
#outSpatialRef.ImportFromEPSG(outputEPSG)
#coordTransform= osr.CoordinateTransformation(inSpatialRef,outSpatialRef)
#point.Transform(coordTransform)
# print(point.GetX(),point.GetY())
'''inProj=Proj(init='epsg:3857')
outProj=Proj(init='epsg:4326')
for x in range(len(A)):
B.append(transform(inProj,outProj,A[x][0],A[x][1]))
print(B)'''
p=pyproj.Proj("+proj=merc +lon_0=0 +k=1 +x_0=0 +y_0=0 +a=6378137 +b=6378137 +towgs84=0,0,0,0,0,0,0 +units=m +no_defs")
for x in range(0,len(A)):
B.append(p(A[x][0],A[x][1],inverse=True))
return (B)
def LatCart(B):
C=[]
crs_wgs = pyproj.Proj(init='epsg:4326')
crs_bng = pyproj.Proj(init='epsg:3857')
for x in range(0,len(B)):
C.append(pyproj.transform(crs_wgs,crs_bng,B[x][0],B[x][1]))
return (C)
def sub(st,ed,ar,cor1,cor2,cor3,cor4):
A=[]
while(1):
pygame.draw.line(screen,BLACK,st,ed,1)
pygame.display.update()
pos,count=closest_circ(st,ed)
if count==0:
pygame.draw.line(screen,RED,st,ed,2)
A.append(ed)
pygame.display.update()
break
sx1,sx2,sy1,sy2=draw_tan(st,ed,pos)
s1=(sx1,sy1)
s2=(sx2,sy2)
flag1=boundary(st,s1,cor1,cor2,cor3,cor4)
flag2=boundary(st,s2,cor1,cor2,cor3,cor4)
if(flag1==1):
pygame.draw.line(screen,RED,st,s2,2)
st=s2
A.append(s2)
continue
elif(flag2==1):
pygame.draw.line(screen,RED,st,s1,2)
st=s1
A.append(s1)
continue
pos1,count1=closest_circ(st,s1)
pos2,count2=closest_circ(st,s2)
tsel=0
if(count1!=0 and count2!=0):
if(count1>count2):
sub(st,s2,ar)
break
elif(count2>count1):
sub(st,s1,ar)
break
else:
pos3,count3=closest_circ(s1,ed)
pos4,count4=closest_circ(s2,ed)
if(count3>count4):
sub(st,s2,ar)
break
elif(count4>count3):
sub(st,s1,ar)
break
else:
d1=((s1[0]-ed[0])*(s1[0]-ed[0]))+((s1[1]-ed[1])*(s1[1]-ed[1]))
d2=((s2[0]-ed[0])*(s2[0]-ed[0]))+((s2[1]-ed[1])*(s2[1]-ed[1]))
if(d1>d2):
sub(st,s2,ar)
break
else:
sub(st,s1,ar)
break
elif(count1>count2):
pygame.draw.line(screen,RED,st,s2,2)
A.append(s2)
tsel=1
pygame.display.update()
elif(count2>count1):
pygame.draw.line(screen,RED,st,s1,2)
A.append(s1)
pygame.display.update()
else:
pos3,count3=closest_circ(s1,ed)
pos4,count4=closest_circ(s2,ed)
if(count3>count4):
pygame.draw.line(screen,RED,st,s2,2)
A.append(s2)
tsel=1
pygame.display.update()
elif(count4>count3):
pygame.draw.line(screen,RED,st,s1,2)
A.append(s1)
pygame.display.update()
else:
d1=((s1[0]-ed[0])*(s1[0]-ed[0]))+((s1[1]-ed[1])*(s1[1]-ed[1]))
d2=((s2[0]-ed[0])*(s2[0]-ed[0]))+((s2[1]-ed[1])*(s2[1]-ed[1]))
if(d1>d2):
pygame.draw.line(screen,RED,st,s2,2)
A.append(s2)
tsel=1
pygame.display.update()
else:
pygame.draw.line(screen,RED,st,s1,2)
A.append(s1)
pygame.display.update()
if(tsel==0):
pos,count3=closest_circ(s1,ed)
if(count3==0):
pygame.draw.line(screen,RED,s1,ed,2)
A.append(ed)
pygame.display.update()
break
else:
tsel=2
else:
pos,count3=closest_circ(s2,ed)
if(count3==0):
pygame.draw.line(screen,RED,s2,ed,2)
A.append(ed)
pygame.display.update()
break
else:
tsel=3
if(tsel==2):
st=s1
if(tsel==3):
st=s2
def main():
flag=0
global running, screen
global n,m
A=[]
B=[]
C=[]
pygame.init()
screen = pygame.display.set_mode(box)
pygame.display.set_caption("TANGENT_TEST_MOD")
screen.fill(WHITE)
cor1=(20,20)
cor2=(1180,20)
cor3=(20,630)
cor4=(1180,630)
pygame.draw.line(screen,GREEN,cor1,cor2,2)
pygame.draw.line(screen,GREEN,cor1,cor3,2)
pygame.draw.line(screen,GREEN,cor3,cor4,2)
pygame.draw.line(screen,GREEN,cor4,cor2,2)
pygame.display.update()
CartLatfile()
LatCartfile()
file =open('c:/Users/reach/OneDrive/Desktop/SEDS/SUAS-Ardra--master/inputfile.txt',"r")
m=int(file.readline())
for i in range(0,m):
p=file.readline()
imp=tuple(int(float(x.strip())) for x in p.split(','))
wp.append(imp)
drawCirc(wp[i][0],wp[i][1],8,BLUE)
n=int(file.readline())
for i in range(0,n):
p=file.readline()
inp=tuple(int(float(x.strip())) for x in p.split(','))
ar.append(inp)
drawCirc(ar[i][0],ar[i][1],ar[i][2],BLACK)
pygame.display.update()
count=0
st_count=0
ed_count=1
while running:
while ed_count<m:
st=(wp[st_count][0],wp[st_count][1])
ed=(wp[ed_count][0],wp[ed_count][1])
while(1):
pygame.draw.line(screen,BLACK,st,ed,1)
pygame.display.update()
pos,count=closest_circ(st,ed)
if count==0:
pygame.draw.line(screen,GREEN,st,ed,1)
A.append(st)
pygame.display.update()
break
sx1,sx2,sy1,sy2=draw_tan(st,ed,pos)
s1=(sx1,sy1)
s2=(sx2,sy2)
flag1=boundary(st,s1,cor1,cor2,cor3,cor4)
flag2=boundary(st,s2,cor1,cor2,cor3,cor4)
if(flag1==1):
pygame.draw.line(screen,RED,st,s2,2)
A.append(s2)
st=s2
continue
elif(flag2==1):
pygame.draw.line(screen,RED,st,s1,2)
A.append(s1)
st=s1
continue
pos1,count1=closest_circ(st,s1)
pos2,count2=closest_circ(st,s2)
tsel=0
if(count1!=0 and count2!=0):
if(count1>count2):
sub(st,s2,ar,cor1,cor2,cor3,cor4)
st=s2
A.append(s2)
continue
elif(count2>count1):
sub(st,s1,ar,cor1,cor2,cor3,cor4)
st=s1
A.append(s1)
continue
else:
pos3,count3=closest_circ(s1,ed)
pos4,count4=closest_circ(s2,ed)
if(count3>count4):
sub(st,s2,ar,cor1,cor2,cor3,cor4)
st=s2
A.append(s2)
continue
elif(count4>count3):
sub(st,s1,ar,cor1,cor2,cor3,cor4)
st=s1
A.append(s1)
continue
else:
d1=((s1[0]-ed[0])*(s1[0]-ed[0]))+((s1[1]-ed[1])*(s1[1]-ed[1]))
d2=((s2[0]-ed[0])*(s2[0]-ed[0]))+((s2[1]-ed[1])*(s2[1]-ed[1]))
if(d1>d2):
sub(st,s2,ar,cor1,cor2,cor3,cor4)
st=s2
A.append(s2)
continue
else:
sub(st,s1,ar,cor1,cor2,cor3,cor4)
st=s1
A.append(s1)
continue
#starts now bend point
elif(count1>count2):
pygame.draw.line(screen,RED,st,s2,2)
A.append(s2)
tsel=1
pygame.display.update()
elif(count2>count1):
pygame.draw.line(screen,RED,st,s1,2)
A.append(s1)
pygame.display.update()
else:
pos3,count3=closest_circ(s1,ed)
pos4,count4=closest_circ(s2,ed)
if(count3>count4):
pygame.draw.line(screen,RED,st,s2,2)
A.append(s2)
tsel=1
pygame.display.update()
elif(count4>count3):
pygame.draw.line(screen,RED,st,s1,2)
A.append(s1)
pygame.display.update()
else:
d1=((s1[0]-ed[0])*(s1[0]-ed[0]))+((s1[1]-ed[1])*(s1[1]-ed[1]))
d2=((s2[0]-ed[0])*(s2[0]-ed[0]))+((s2[1]-ed[1])*(s2[1]-ed[1]))
if(d1>d2):
pygame.draw.line(screen,RED,st,s2,2)
A.append(s2)
tsel=1
pygame.display.update()
else:
pygame.draw.line(screen,RED,st,s1,2)
A.append(s1)
pygame.display.update()
if(tsel==0):
pos,count3=closest_circ(s1,ed)
if(count3==0):
pygame.draw.line(screen,RED,s1,ed,2)
A.append(s1)
pygame.display.update()
break
else:
tsel=2
else:
pos,count3=closest_circ(s2,ed)
if(count3==0):
pygame.draw.line(screen,RED,s2,ed,2)
A.append(s2)
pygame.display.update()
break
else:
tsel=3
if(tsel==2):
st=s1
if(tsel==3):
st=s2
st_count=st_count+1
ed_count=ed_count+1
ev = pygame.event.get()
for event in ev:
if event.type == pygame.QUIT:
pygame.quit()
running = False
B=[]
# A= List of all the turn-points.
B.extend(CartLat(list(set(A))))
# print(B)
C.extend(LatCart(B))
df = pd.read_table('C:/Users/reach/OneDrive/Desktop/SEDS/SUAS-Ardra--master/opp.txt', error_bad_lines=False, delim_whitespace=True)
df.to_excel('C:/Users/reach/OneDrive/Desktop/output.xlsx', 'Sheet2')
#print("The original excel sheet ka dataframe \n")
#print(df)
#print("Ye rahi original excel")
#senpai=pd.read_excel('C:/SEDS/output.xlsx')
#print(senpai)
myworkbook = openpyxl.load_workbook("C:/Users/reach/OneDrive/Desktop/output.xlsx")
worksheet= myworkbook['Sheet2']
x=2
for i in range(0, len(B)):
worksheet['I'+str(x)]=B[i][0]
worksheet['J'+str(x)]=B[i][1]
x=x+1
worksheet['A1']=" "
worksheet['B1']=" "
worksheet['C1']=" "
worksheet['D1']=" "
worksheet['E1']=" "
worksheet['F1']=" "
worksheet['G1']=" "
worksheet['H1']=" "
worksheet['I1']=" "
worksheet['K1']=" "
worksheet['L1']=" "
print('length of B=',len(B))
for y in range(7,len(B)+2):
if((worksheet['I'+str(y)])!=''):
worksheet['A'+str(y)]=y-1
worksheet['B'+str(y)]="0"
worksheet['C'+str(y)]="3"
worksheet['D'+str(y)]="21"
worksheet['E'+str(y)]="0"
worksheet['F'+str(y)]="0"
worksheet['G'+str(y)]="0"
worksheet['H'+str(y)]="0"
worksheet['K'+str(y)]="0"
worksheet['L'+str(y)]="1"
myworkbook.save("C:/Users/reach/OneDrive/Desktop/output.xlsx")
#Now change the excel file to a text file .
print(pd.__version__)
excel = pd.read_excel('C:/Users/reach/OneDrive/Desktop/output.xlsx', dtype=object, index_col=0)
print("This is the excel: \n",excel)
excel1=pd.DataFrame(excel)
print("Printing that dataframe")
print(excel1,"\n")
excel1.columns=['','','','','','','','','','','']
excel1=excel1.to_string(na_rep="")
print(excel1)
outfile = open('C:/Users/reach/OneDrive/Desktop/SEDS/SUAS-Ardra--master/output.txt', 'w')
outfile.write('QGC WPL 110')
outfile.write(excel1)
outfile.close()
from pathlib import Path
p = Path('C:/Users/reach/OneDrive/Desktop/SEDS/SUAS-Ardra--master/output.txt')
p.rename(p.with_suffix('.waypoints'))
if __name__ == '__main__':
main()