Merge branch 'UWB' of https://git.soton.ac.uk/plw1g21/robobin into UWB

Wireless_Communication/UWB/Beacons_tag_position/realtime_location_POF_gui.py

@@ -8,42 +8,56 @@ class AnchorTagGUI:
     def __init__(self, root):
         self.root = root
         self.root.title("Anchor and Tag Visualization")
-        self.root.geometry("600x900")  # Fixed size: 600px width, 800px height
-        self.root.resizable(False, False)  # Disable resizing
+        self.root.resizable(False, False)  
      
-        # Canvas for visualization
-        self.canvas = tk.Canvas(root, width=600, height=600, bg="white")
-        self.canvas.pack()
+        self.root.configure(bg='navy blue')
+        self.left_frame = tk.Frame(root)
+        self.left_frame.pack(side=tk.LEFT, fill=tk.Y, padx=10, pady=10)
 
-        # Button to generate anchor coordinates
-        self.generate_anchors_button = ttk.Button(root, text="Generate Anchor Coordinates", command=self.determine_anchor_coords)
-        self.generate_anchors_button.pack()
+        self.right_frame = tk.Frame(root)
+        self.right_frame.pack(side=tk.RIGHT, fill=tk.Y, padx=10, pady=10)
+
+        self.canvas = tk.Canvas(root, width=600, height=600, bg="lightgray")
+        self.canvas.pack(side=tk.LEFT, padx=10, pady=10)
 
-        # Distance inputs for tag-to-anchors
-        ttk.Label(root, text="Enter distances from tag to anchors:").pack()
+   
+        ttk.Label(self.right_frame, text="Enter distances from tag to anchors:").pack()
         self.tag_distances = {}  # Distances from the tag to specific anchors
         for anchor in ["A1", "A2", "A3", "A4"]:
-            ttk.Label(root, text=f"Distance to {anchor}:").pack()
+            ttk.Label(self.right_frame, text=f"Distance to {anchor}:").pack()
             self.tag_distances[anchor] = tk.StringVar()
-            ttk.Entry(root, textvariable=self.tag_distances[anchor]).pack()
+            ttk.Entry(self.right_frame, textvariable=self.tag_distances[anchor]).pack()
+
         
-        # Button to calculate tag position
-        self.calc_button = ttk.Button(root, text="Calculate Tag Position", command=self.calculate_tag_position)
+        self.calc_button = ttk.Button(self.right_frame, text="Calculate Tag Position", command=self.calculate_tag_position)
         self.calc_button.pack()
 
-        # Output label
-        self.output_label = ttk.Label(root, text="")
+
+        self.output_label = ttk.Label(self.right_frame, text="")
         self.output_label.pack()
 
-        # Anchor positions (to be generated dynamically)
         self.anchors = {}
+        self.measured_distances = [tk.DoubleVar(value=200.22), tk.DoubleVar(value=200.47), tk.DoubleVar(value=170.00), tk.DoubleVar(value=170.71), tk.DoubleVar(value=150.00), tk.DoubleVar(value=160.08)]  # A, E, D, B, F, C
+        for i, anchor in enumerate(["a", "e", "d", "b", "f", "c"]):
+            ttk.Label(self.right_frame, text=f"Distance {anchor}:").pack()
+            ttk.Entry(self.right_frame, textvariable=self.measured_distances[i]).pack()
+
 
       
+        self.generate_anchors_button = ttk.Button(
+            self.right_frame, text="Generate Anchor Coordinates", command=self.determine_anchor_coords
+        )
+        self.generate_anchors_button.pack()
+           
     def determine_anchor_coords(self):
         try:
+            measured_distances = self.measured_distances
+       
             # Measured distances arrive in order: A, E, D, B, F, C
-            measured_distances = [200.22, 200.47, 170.00, 170.71, 150.00, 160.08]
            
+            measured_distances = [var.get() for var in measured_distances]
+  
+            measured_distances = np.array(measured_distances)
             # Introduce ±10 cm of noise
             noise_level = 10.0
             measured_distances_noisy = measured_distances + np.random.uniform(-noise_level, noise_level, size=len(measured_distances))
@@ -108,9 +122,10 @@ class AnchorTagGUI:
             # Display anchors on canvas
             self.draw_canvas()
 
-            self.output_label.config(
-                text=f"Anchors Generated Successfully! Coordinates: {self.anchors}"
-            )
+            # self.output_label.config(
+            #     text=f"Anchors Generated Successfully! Coordinates: { {k: (round(v[0], 2), round(v[1], 2)) for k, v in self.anchors.items()} }"
+            # )
+             
         except Exception as e:
             self.output_label.config(text=f"Error: {str(e)}")
 
@@ -144,6 +159,7 @@ class AnchorTagGUI:
 
             # Display result
             self.output_label.config(text=f"Tag Position: ({x_tag:.2f}, {y_tag:.2f})")
+            #print(f"Tag Position: ({x_tag:.2f}, {y_tag:.2f})")
         except Exception as e:
             self.output_label.config(text=f"Error: {str(e)}")
 
@@ -189,8 +205,9 @@ class AnchorTagGUI:
             self.canvas.create_oval(
                 x_tag_scaled - 5, y_tag_scaled - 5, x_tag_scaled + 5, y_tag_scaled + 5, fill="red"
             )
+            label = f"Tag ({round(x_tag, 2)}, {round(y_tag, 2)})"
             self.canvas.create_text(
-                x_tag_scaled + 15, y_tag_scaled, text="Tag", fill="black"
+                x_tag_scaled + 15, y_tag_scaled+15, text=label, fill="black"
             )