From 322157e7e1b4caf3b7d009537648da1592dc80cc Mon Sep 17 00:00:00 2001
From: jlKronos01 <joelleungyancheuk@gmail.com>
Date: Thu, 7 Nov 2024 00:09:51 +0000
Subject: [PATCH] Create BeaconPositioningTest.py
---
BeaconPositioningTest.py | 460 +++++++++++++++++++++++++++++++++++++++
1 file changed, 460 insertions(+)
create mode 100644 BeaconPositioningTest.py
diff --git a/BeaconPositioningTest.py b/BeaconPositioningTest.py
new file mode 100644
index 00000000..e0df28c3
--- /dev/null
+++ b/BeaconPositioningTest.py
@@ -0,0 +1,460 @@
+import tkinter as tk, random
+from tkinter import ttk
+
+class Blip:
+ def __init__(self, app, pos, id, color, outlineColorSelected, outlineColorDeselected):
+ self.app = app
+ canvas = app.canvas
+ self.pos = x, y = list(pos)
+ self.id = id
+ self.color = color
+ self.radius = 10
+ self.outlineColorSelected = outlineColorSelected
+ self.outlineColorDeselected = outlineColorDeselected
+ self.circle = canvas.create_oval(x - self.radius, y - self.radius, x + self.radius, y + self.radius, fill = color, outline = "")
+ self.text = canvas.create_text(x, y - self.radius, text = ",".join(map(str, self.app.worldCoords(pos))), anchor = "s")
+ self.selected = False
+
+ def isInside(self, pos):
+ return bool(self.app.distance(pos, self.pos) <= self.radius)
+
+ def select(self):
+ self.app.canvas.itemconfig(self.circle, outline = self.outlineColorSelected, width = 2)
+
+ def deselect(self):
+ self.app.canvas.itemconfig(self.circle, outline = self.outlineColorDeselected)
+
+ def __del__(self):
+ self.app.canvas.delete(self.circle)
+ self.app.canvas.delete(self.text)
+
+class SetupBlip(Blip):
+ def __init__(self, app, pos, mode, id = 0, movable = True):
+ super().__init__(app, pos, id, "purple" if mode == "beacon" else "green", "red", "")
+ self.mode = mode
+ self.movable = movable
+ self.isShowingCircle = True
+ canvas = app.canvas
+ x, y = pos
+ if mode == "beacon":
+ self.isShowingCircle = True
+ self.idText = canvas.create_text(x, y, text = str(id), fill = "white")
+ distance = app.distance(self.pos, app.tag.pos)
+ self.distanceCircle = canvas.create_oval(self.pos[0] - distance, self.pos[1] - distance, self.pos[0] + distance, self.pos[1] + distance, outline = "grey", dash = 3)
+ self.distanceLine = canvas.create_line(*self.pos, *app.tag.pos, fill = "grey", dash = 3)
+ canvas.tag_lower(self.distanceCircle)
+ canvas.tag_lower(self.distanceLine)
+
+ def disableDragging(self):
+ self.movable = False
+ self.outlineColorDeselected = "grey"
+ self.app.canvas.itemconfigure(self.circle, fill = "", outline = self.outlineColorDeselected if self == self.app.selectedBlip else self.outlineColorDeselected, width = 2)
+ if self.mode == "beacon":
+ self.app.canvas.itemconfigure(self.idText, fill = "black")
+
+ def enableDragging(self):
+ self.movable = True
+ self.outlineColorDeselected = ""
+ self.app.canvas.itemconfigure(self.circle, fill = self.color, outline = self.outlineColorDeselected if self == self.app.selectedBlip else self.outlineColorDeselected, width = 2)
+ if self.mode == "beacon":
+ self.app.canvas.itemconfigure(self.idText, fill = "white")
+
+ def showCircle(self):
+ self.isShowingCircle = True
+ self.app.canvas.itemconfigure(self.distanceLine, state = "normal")
+ self.app.canvas.itemconfigure(self.distanceCircle, state = "normal")
+
+ def hideCircle(self):
+ self.isShowingCircle = False
+ self.app.canvas.itemconfigure(self.distanceLine, state = "hidden")
+ self.app.canvas.itemconfigure(self.distanceCircle, state = "hidden")
+
+ def move(self, delta):
+ self.pos = [self.pos[0] + delta[0], self.pos[1] + delta[1]]
+ self.update()
+ if self.mode == "tag":
+ self.app.updateBeacons()
+
+ def update(self):
+ x, y = self.pos
+ self.app.canvas.coords(self.circle, x - self.radius, y - self.radius, x + self.radius, y + self.radius)
+ self.app.canvas.coords(self.text, x, y - self.radius)
+ self.app.canvas.itemconfig(self.text, text = ",".join(map(str, self.app.worldCoords(self.pos))))
+ if self.mode == "beacon":
+ self.app.canvas.coords(self.idText, x, y)
+ distance = self.app.distance(self.pos, app.tag.pos)
+ self.app.canvas.coords(self.distanceCircle, self.pos[0] - distance, self.pos[1] - distance, self.pos[0] + distance, self.pos[1] + distance)
+ self.app.canvas.coords(self.distanceLine, *self.pos, *self.app.tag.pos)
+
+class RecordedBlip(Blip):
+ def __init__(self, app, pos, id, distances):
+ super().__init__(app, pos, id, "grey", "red", "")
+ app.canvas.tag_lower(self.circle)
+ app.canvas.tag_lower(self.text)
+ self.distances = distances
+ x, y = pos
+
+ self.distanceCircles = [app.canvas.create_oval(x - dist, y - dist, x + dist, y + dist, fill = "", outline = "grey", dash = 2, state = "hidden") for dist in distances]
+ self.distanceLines = [app.canvas.create_line(x, y, *app.beacons[i].pos, fill = "grey", dash = 2, state = "hidden") for i in range(len(distances))]
+ for circle, line in zip(self.distanceCircles, self.distanceLines):
+ app.canvas.tag_lower(circle)
+ app.canvas.tag_lower(line)
+
+ def showDistanceMarkers(self, distID = "all"):
+ if distID == "all":
+ for circle, line in zip(self.distanceCircles, self.distanceLines):
+ self.app.canvas.itemconfig(circle, state = "normal")
+ self.app.canvas.itemconfig(line, state = "normal")
+ else:
+ self.app.canvas.itemconfig(self.distanceCircles[distID], state = "normal")
+ self.app.canvas.itemconfig(self.distanceLines[distID], state = "normal")
+
+ def hideDistanceMarkers(self, distID = "all"):
+ if distID == "all":
+ for circle, line in zip(self.distanceCircles, self.distanceLines):
+ self.app.canvas.itemconfig(circle, state = "hidden")
+ self.app.canvas.itemconfig(line, state = "hidden")
+ else:
+ self.app.canvas.itemconfig(self.distanceCircles[distID], state = "hidden")
+ self.app.canvas.itemconfig(self.distanceLines[distID], state = "hidden")
+
+ def __del__(self):
+ self.app.canvas.delete(self.circle)
+ self.app.canvas.delete(self.text)
+ for circle, line in zip(self.distanceCircles, self.distanceLines):
+ self.app.canvas.delete(circle)
+ self.app.canvas.delete(line)
+
+class App(tk.Tk):
+ def __init__(self, *args, **kwargs):
+ self.width, self.height = width, height = kwargs.pop("width", 800), kwargs.pop("height", 600)
+ self.scale = kwargs.pop("scale", 30)
+ super().__init__(*args, **kwargs)
+ self.title("Beacon positioning")
+ self.geometry("{}x{}+{}+{}".format(width, height, (self.winfo_screenwidth() - width) // 2, (self.winfo_screenheight() - height) // 2))
+ self.resizable(False, False)
+
+ self.options = options = ["Beacon 0", "Beacon 1", "Beacon 2", "Beacon 3", "Tag"]
+ self.selectStringvar = tk.StringVar(self, value = options)
+
+ self.grid_columnconfigure((0, 1), weight = 1)
+ self.grid_rowconfigure((3), weight = 1)
+
+ #Canvas
+ self.canvas = tk.Canvas(self, highlightthickness = 1, width = height, height = height, highlightbackground = "black")
+ self.canvas.grid(row = 0, column = 0, sticky = "nsw", rowspan = 6)
+ self.canvas.create_line(0, height / 2, height, height / 2, fill = "grey")
+ self.canvas.create_line(height / 2, 0, height / 2, height, fill = "grey")
+ self.canvas.bind("<ButtonPress-1>", self.click)
+ self.canvas.bind("<B1-Motion>", self.drag)
+ self.canvas.bind("<B1-ButtonRelease>", self.release)
+
+ # ttk.Label(self, text = """Instructions:
+ # Set up beacon positions by selecting and dragging them around.
+ # Move tag to desired position, and record a position. Repeat until 3 points have been recorded.
+ # Once the recording process begins, beacons can no longer be moved to reflect reality.""").grid(row = 4, column = 0, sticky = "nsew", rowspan = 2)
+
+ #Radio button selectors
+ self.radioButtonFrame = ttk.Labelframe(self, text = "Select blip")
+ self.radioButtonFrame.grid(row = 0, column = 1, sticky = "nsew", padx = 5, pady = 5)
+ self.radioButtons = {name: ttk.Radiobutton(self.radioButtonFrame, text = name, variable = self.selectStringvar, value = name, command = self.radioSelect) for i, name in enumerate(options)}
+ for i, radioButton in enumerate(self.radioButtons.values()):
+ radioButton.grid(row = i, column = 0, sticky = "new")
+
+ #Properties frame
+ self.propertiesFrame = ttk.Labelframe(self, text = "Properties")
+ self.propertiesFrame.grid(row = 1, column = 1, sticky = "nsew", padx = 5, pady = 5)
+ self.propertiesFrame.grid_columnconfigure(1, weight = 1, uniform = "column")
+
+ #Property frame labels
+ ttk.Label(self.propertiesFrame, text = "\tx: ", justify = "right").grid(row = 0, column = 0, sticky = "nse")
+ ttk.Label(self.propertiesFrame, text = "\ty: ", justify = "right").grid(row = 1, column = 0, sticky = "nse")
+ # ttk.Label(self.propertiesFrame, text = "Show circle: ", justify = "right").grid(row = 2, column = 0, sticky = "nse")
+
+ #Entry box X
+ self.xStringVar = tk.StringVar(self)
+ self.xStringVar.trace_add("write", self.writeX)
+ self.xEntry = ttk.Entry(self.propertiesFrame, textvariable = self.xStringVar)
+ self.xEntry.grid(row = 0, column = 1, sticky = "nsew", padx = 5)
+
+ #Entry box Y
+ self.yStringVar = tk.StringVar(self)
+ self.yStringVar.trace_add("write", self.writeY)
+ self.yEntry = ttk.Entry(self.propertiesFrame, textvariable = self.yStringVar)
+ self.yEntry.grid(row = 1, column = 1, sticky = "nsew", padx = 5)
+
+ #Checkbox
+ self.showCircleVar = tk.BooleanVar(self)
+ self.showCirclesCheckbox = ttk.Checkbutton(self.propertiesFrame, text = "Show distance radius", state = "disabled", variable = self.showCircleVar, command = self.checkboxCallback)
+ self.showCirclesCheckbox.grid(row = 2, column = 0, columnspan = 2, sticky = "nsw")
+
+ #Live distances frame
+ self.distancesFrame = ttk.Labelframe(self, text = "Distance to beacons")
+ self.distancesFrame.grid(row = 2, column = 1, sticky = "nsew", padx = 5, pady = 5)
+ self.distancesFrame.grid_columnconfigure(0, weight = 1)
+ #Distance labels
+ self.distanceLabels = {"Beacon {}".format(i): ttk.Label(self.distancesFrame, text = "Dist{}: -".format(i)) for i in range(4)}
+ for i, label in enumerate(self.distanceLabels.values()):
+ label.grid(row = i, column = 0, sticky = "nsew")
+ #Record button
+ self.recordButton = ttk.Button(self.distancesFrame, text = "Record", command = self.recordButtonCallback, state = "disabled")
+ self.recordButton.grid(row = len(self.distanceLabels), column = 0, sticky = "nsew")
+
+ #Recorded blip's properties frame
+ self.recordedBlipFrame = ttk.Labelframe(self, text = "Recorded positions properties")
+ self.recordedBlipFrame.grid(row = 3, column = 1, sticky = "nsew", padx = 5, pady = 5)
+ self.recordedBlipFrame.grid_columnconfigure((0, 1), weight = 1)
+ #Recorded blip's properties checkboxes
+ self.recordedBlipCheckboxVars = [tk.BooleanVar(self) for i in range(4)]
+ self.recordedBlipsCheckboxes = [ttk.Checkbutton(self.recordedBlipFrame, text = "Beacon {}".format(i), variable = self.recordedBlipCheckboxVars[i], state = "disabled", command = self.recordedBlipCheckboxCallback) for i in range(4)]
+ for i, checkbox in enumerate(self.recordedBlipsCheckboxes):
+ self.recordedBlipCheckboxVars[i].set(False)
+ checkbox.selection_clear()
+ checkbox.grid(row = i, column = 0, sticky = "nsew", columnspan = 2)
+
+ #Show all and hide all buttons
+ self.showAllButton = ttk.Button(self.recordedBlipFrame, text = "Show all", state = "disabled", command = self.showAllCallback)
+ self.showAllButton.grid(row = len(self.recordedBlipsCheckboxes), column = 0, sticky = "nsew")
+ self.hideAllButton = ttk.Button(self.recordedBlipFrame, text = "Hide all", state = "disabled", command = self.hideAllCallback)
+ self.hideAllButton.grid(row = len(self.recordedBlipsCheckboxes), column = 1, sticky = "nsew")
+
+ #Toggle all circles button
+ self.toggleAllCirclesButton = ttk.Button(self, text = "Hide all beacon circles", command = self.toggleAllCircles)
+ self.toggleAllCirclesButton.grid(row = 4, column = 1, sticky = "nsew")
+
+ #Reset button
+ ttk.Button(self, text = "Reset", command = self.reset).grid(row = 5, column = 1, sticky = "nsew")
+
+ self.selectedBlip = None
+ self.lastClickPos = None
+ self.dragging = False
+
+ self.tag = SetupBlip(self, [height // 2, height // 2], "tag")
+ self.beacons = [SetupBlip(self, pos, "beacon", i) for i, pos in enumerate([(height // 4, height // 4), (height - height // 4, height // 4), (height // 4, height - height // 4), (height - height // 4, height - height // 4)])]
+ self.recordedBlips = []
+
+ def distance(self, pos1, pos2):
+ x1, y1 = pos1
+ x2, y2 = pos2
+ return ((x1 - x2) ** 2 + (y1 - y2) ** 2) ** 0.5
+
+ def worldCoords(self, pixelCoords):
+ px, py = pixelCoords
+ x = ((px / self.height) - 0.5) * self.scale
+ y = -((py / self.height) - 0.5) * self.scale
+ return round(x, 3), round(y, 3)
+
+ def pixelCoords(self, worldCoords, mode):
+ if mode == "x":
+ return int(((worldCoords / self.scale) + 0.5) * self.height)
+ elif mode == "y":
+ return int(((-worldCoords / self.scale) + 0.5) * self.height)
+
+ def updateBeacons(self):
+ for beacon in self.beacons:
+ beacon.update()
+
+ def selectBlip(self, blip):
+ if self.selectedBlip:
+ self.selectedBlip.deselect()
+ self.selectedBlip = blip
+ blip.select()
+ self.selectStringvar.set(self.getSelectionName(self.selectedBlip))
+ worldCoords = self.worldCoords(self.selectedBlip.pos)
+ self.xStringVar.set(str(worldCoords[0]))
+ self.yStringVar.set(str(worldCoords[1]))
+
+ if self.selectedBlip in self.beacons:
+ self.showCirclesCheckbox.config(state = "normal")
+ self.recordButton.config(state = "disabled")
+ if self.selectedBlip.isShowingCircle:
+ self.showCircleVar.set(True)
+ else:
+ self.showCircleVar.set(False)
+ else:
+ self.showCircleVar.set(False)
+ self.showCirclesCheckbox.config(state = "disabled")
+ if len(self.recordedBlips) < 3:
+ self.recordButton.config(state = "normal")
+ self.updateDistanceLabels()
+
+ def deselectBlip(self):
+ if self.selectBlip:
+ self.selectedBlip.deselect()
+ self.selectedBlip = None
+ self.selectStringvar.set("")
+ self.xStringVar.set("")
+ self.yStringVar.set("")
+ self.showCircleVar.set(False)
+ self.showCirclesCheckbox.config(state = "disabled")
+ self.recordButton.config(state = "disabled")
+ self.updateDistanceLabels()
+
+ def click(self, event):
+ x, y = event.x, event.y
+ selectedBlips = list(filter(lambda blip: blip.isInside((x, y)), self.beacons + [self.tag] + self.recordedBlips))
+
+ if len(selectedBlips):
+ self.selectBlip(selectedBlips[0])
+ if self.selectedBlip not in self.recordedBlips:
+ if self.selectedBlip.movable:
+ self.lastClickPos = x, y
+ self.dragging = self.selectedBlip.movable
+
+ elif self.selectedBlip:
+ self.deselectBlip()
+
+ def drag(self, event):
+ if self.selectedBlip and self.selectedBlip not in self.recordedBlips:
+ if self.selectedBlip.movable:
+ pos = [event.x, event.y]
+ delta = pos[0] - self.lastClickPos[0], pos[1] - self.lastClickPos[1]
+
+ self.selectedBlip.move(delta)
+ worldCoords = self.worldCoords(self.selectedBlip.pos)
+ self.xStringVar.set(str(worldCoords[0]))
+ self.yStringVar.set(str(worldCoords[1]))
+ if self.selectedBlip == self.tag:
+ self.updateDistanceLabels()
+ self.lastClickPos = pos
+
+ def release(self, event):
+ self.dragging = False
+
+ def updateDistanceLabels(self):
+ if self.selectedBlip == self.tag:
+ for beacon in self.beacons:
+ dist = round(self.distance(self.worldCoords(beacon.pos), self.worldCoords(self.tag.pos)), 3)
+ self.distanceLabels[self.getSelectionName(beacon)].config(text = "Dist{}: {}".format(self.getSelectionName(beacon)[-1], dist))
+ elif self.selectedBlip in self.recordedBlips:
+ for i, dist in enumerate(self.selectedBlip.distances):
+ self.distanceLabels["Beacon {}".format(i)].config(text = "Dist{}: {}".format(i, dist))
+ else:
+ for name, label in self.distanceLabels.items():
+ label.config(text = "Dist{}: -".format(name[-1]))
+
+ def radioSelect(self): #on radio button selection callback
+ self.selectBlip(self.beacons[int(self.selectStringvar.get()[-1])] if self.selectStringvar.get() != "Tag" else self.tag)
+
+ def checkboxCallback(self):
+ if self.selectedBlip:
+ if self.showCircleVar.get():
+ self.selectedBlip.showCircle()
+ else:
+ self.selectedBlip.hideCircle()
+
+ def recordButtonCallback(self):
+ for beacon in self.beacons:
+ beacon.disableDragging()
+
+ self.xEntry.config(state = "disabled")
+ self.yEntry.config(state = "disabled")
+
+ if len(self.recordedBlips) < 3:
+ if len(self.recordedBlips) == 0:
+ self.showAllButton.config(state = "normal")
+ self.hideAllButton.config(state = "normal")
+ for checkbox in self.recordedBlipsCheckboxes:
+ checkbox.config(state = "normal")
+ self.recordedBlips.append(RecordedBlip(self, self.tag.pos, len(self.recordedBlips), [round(self.distance(self.tag.pos, beacon.pos), 3) for beacon in self.beacons]))
+
+ if len(self.recordedBlips) == 3:
+ self.recordButton.config(state = "disabled")
+
+ def recordedBlipCheckboxCallback(self):
+ values = [var.get() for var in self.recordedBlipCheckboxVars]
+
+ for i, value in enumerate(values):
+ for blip in self.recordedBlips:
+ if value:
+ blip.showDistanceMarkers(i)
+ else:
+ blip.hideDistanceMarkers(i)
+
+ def showAllCallback(self):
+ for var in self.recordedBlipCheckboxVars:
+ var.set(True)
+ for blip in self.recordedBlips:
+ blip.showDistanceMarkers()
+
+ def hideAllCallback(self):
+ for var in self.recordedBlipCheckboxVars:
+ var.set(False)
+ for blip in self.recordedBlips:
+ blip.hideDistanceMarkers()
+
+ def toggleAllCircles(self):
+ text = self.toggleAllCirclesButton.cget("text")
+ if text == "Hide all beacon circles":
+ self.toggleAllCirclesButton.config(text = "Show all beacon circles")
+ if self.selectedBlip != self.tag and self.selectedBlip != None:
+ self.showCircleVar.set(False)
+ for beacon in self.beacons:
+ beacon.hideCircle()
+ elif text == "Show all beacon circles":
+ self.toggleAllCirclesButton.config(text = "Hide all beacon circles")
+ if self.selectedBlip != self.tag and self.selectedBlip != None:
+ self.showCircleVar.set(True)
+ for beacon in self.beacons:
+ beacon.showCircle()
+
+ def writeX(self, var, index, mode):
+ strVal = self.xStringVar.get()
+ if self.selectedBlip and not self.dragging and self.selectedBlip not in self.recordedBlips:
+ if self.selectedBlip.movable:
+ try:
+ self.selectedBlip.pos[0] = self.pixelCoords(float(strVal), "x")
+ except ValueError:
+ pass
+ self.selectedBlip.update()
+
+ def writeY(self, var, index, mode):
+ strVal = self.yStringVar.get()
+ if self.selectedBlip and not self.dragging and self.selectedBlip not in self.recordedBlips:
+ if self.selectedBlip.movable:
+ try:
+ self.selectedBlip.pos[1] = self.pixelCoords(float(strVal), "y")
+ except ValueError:
+ pass
+ self.selectedBlip.update()
+
+ def getSelectionName(self, blip):
+ # return self.beacons.index(blip) if blip in self.beacons else len(self.beacons)
+ if blip not in self.recordedBlips:
+ return "Beacon {}".format(blip.id) if blip.mode == "beacon" else "Tag"
+ else:
+ return
+
+ def reset(self): #TBD: add reset of recorded blips
+ positions = [(self.height // 4, self.height // 4), (self.height - self.height // 4, self.height // 4), (self.height // 4, self.height - self.height // 4), (self.height - self.height // 4, self.height - self.height // 4)]
+ for beacon, pos in zip(self.beacons, positions):
+ beacon.pos = list(pos)
+ beacon.enableDragging()
+ beacon.showCircle()
+
+ self.tag.pos = [self.height // 2, self.height // 2]
+ self.tag.update()
+ self.updateBeacons()
+
+ self.recordButton.config(state = "normal")
+ self.xEntry.config(state = "normal")
+ self.yEntry.config(state = "normal")
+ self.showCircleVar.set(True)
+
+ if self.selectedBlip:
+ worldCoords = self.worldCoords(self.selectedBlip.pos)
+ self.xStringVar.set(str(worldCoords[0]))
+ self.yStringVar.set(str(worldCoords[1]))
+
+ for i in range(len(self.recordedBlips))[::-1]:
+ del self.recordedBlips[i]
+
+ self.showAllButton.config(state = "disabled")
+ self.hideAllButton.config(state = "disabled")
+ for var in self.recordedBlipCheckboxVars:
+ var.set(False)
+ for checkbox in self.recordedBlipsCheckboxes:
+ checkbox.config(state = "disabled")
+
+app = App()
+app.mainloop()
\ No newline at end of file
--
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