diff --git a/App/RobobinApp/Networking/WifiManager.cs b/App/RobobinApp/Networking/WifiManager.cs
index b034c3496698af9c8bce55c84ae0feccec2db2eb..ac5bd3c69e975b6ef4b56eb928f4b4ad67b73172 100644
--- a/App/RobobinApp/Networking/WifiManager.cs
+++ b/App/RobobinApp/Networking/WifiManager.cs
@@ -209,7 +209,7 @@ namespace RobobinApp.Networking
public async Task SendCallMeRequest(string endPoint)
{
Debug.WriteLine("Call me request");
- await SendMessageAsync("CALLME " + endPoint);
+ await SendMessageAsync("CALLMELIDAR " + endPoint);
}
public async Task SendPingMessage()
diff --git a/App/RobobinApp/Resources/Images/lab_map.jpg b/App/RobobinApp/Resources/Images/lab_map.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..1d7ac60e7dc9e87a9b961d14535710a373025f43
Binary files /dev/null and b/App/RobobinApp/Resources/Images/lab_map.jpg differ
diff --git a/App/RobobinApp/RobobinApp.csproj b/App/RobobinApp/RobobinApp.csproj
index a8e008bc3cd5f030d851ba9a7f601d16378528d6..ecc4a079aa94816911a4b1dd42710bd42213e475 100644
--- a/App/RobobinApp/RobobinApp.csproj
+++ b/App/RobobinApp/RobobinApp.csproj
@@ -48,11 +48,21 @@
<AndroidResource Remove="Platforms\Android\Resources\mipmap\robobinlogo1.png" />
</ItemGroup>
+ <ItemGroup>
+ <MauiImage Remove="Resources\Images\lab_map.jpg" />
+ </ItemGroup>
+
<ItemGroup>
<None Remove="Platforms\Android\Resources\drawable\bin.svg" />
<None Remove="Platforms\Android\Resources\mipmap\robobinlogo1.png" />
</ItemGroup>
+ <ItemGroup>
+ <EmbeddedResource Include="Resources\Images\lab_map.jpg">
+ <CopyToOutputDirectory>Always</CopyToOutputDirectory>
+ </EmbeddedResource>
+ </ItemGroup>
+
<ItemGroup>
<PackageReference Include="Microsoft.Extensions.Logging.Console" Version="8.0.1" />
<PackageReference Include="Microsoft.Maui.Controls" Version="8.0.91" />
diff --git a/App/RobobinApp/ViewModels/MainPageViewModel.cs b/App/RobobinApp/ViewModels/MainPageViewModel.cs
index a3477a1d0ff40f31f1e1d4e42b9b69a2ff06a3cd..52c0b7a0a103657e6e347fe8bc27474382fb4c05 100644
--- a/App/RobobinApp/ViewModels/MainPageViewModel.cs
+++ b/App/RobobinApp/ViewModels/MainPageViewModel.cs
@@ -1,6 +1,7 @@
using System.Collections.ObjectModel;
using System.ComponentModel;
using System.Diagnostics;
+using System.Linq;
using System.Runtime.CompilerServices;
using System.Windows.Input;
using Microsoft.Extensions.Logging;
@@ -58,15 +59,26 @@ namespace RobobinApp.ViewModels
ToggleModeCommand = new Command(async () => await OnToggleMode());
GetNewGraphCommand = new Command(async () => await GetNewGraph());
var graphNodes1 = new List<Node>
-
-{
- new Node("No graph loaded", 50, 50),
-
-};
-
- var graphMatrix1 = CalculatePolarConnections(graphNodes1, new bool[,]
{
- { false } });
+ new Node("1", 347, 276),
+ new Node("2", 321, 280),
+ new Node("3", 350, 318),
+ new Node("4", 326, 317),
+ new Node("5", 357, 360),
+ new Node("6", 328, 355),
+ new Node("7", 355, 404),
+ new Node("8", 332, 390),
+ new Node("9", 359, 455),
+ new Node("10", 334, 425),
+ new Node("11", 423, 443),
+ new Node("12", 417, 400),
+ new Node("13", 417, 355),
+ new Node("14", 416, 313),
+ new Node("15", 417, 269)
+ };
+
+
+ var graphMatrix1 = CalculatePolarConnections(graphNodes1, new bool[graphNodes1.Count, graphNodes1.Count]);
var mapdata = App.WifiManager.MapData;
Debug.WriteLine($"Mapdata : { mapdata}");
var graphNodes = graphNodes1;
diff --git a/App/RobobinApp/Views/CentreGraph.xaml.cs b/App/RobobinApp/Views/CentreGraph.xaml.cs
index 113ac5412ed3565ddabd0d1993610521c4a56f31..d27595eaf9e4ea535aef49211e8b3b016191e390 100644
--- a/App/RobobinApp/Views/CentreGraph.xaml.cs
+++ b/App/RobobinApp/Views/CentreGraph.xaml.cs
@@ -1,42 +1,30 @@
using Microsoft.Maui.Graphics;
using Robobin.Models;
-using RobobinApp.Models;
using System;
using System.Collections.Generic;
using System.Diagnostics;
-using System.Linq;
namespace RobobinApp.Views
{
public class GraphicsDrawable : IDrawable
{
private Graph _graph;
- private (float, float) _location;
- public const float BaseNodeRadius = 5f; // Make this public if needed elsewhere
+ public const float NodeRadius = 5f; // Fixed radius for nodes
private static readonly Color DefaultNodeColor = Colors.Red;
- private static readonly Color HomeNodeColor = Colors.Green;
- private static readonly Color BackgroundColor = Color.FromHex("#2C2F33");
- private static readonly Color ConnectionColor = Colors.Grey;
- private static readonly Color HighlightedNodeColor = Colors.Yellow; // For the highlighted node
- private static readonly Color PathColor = Colors.Blue; // For the path
+ private static readonly Color HighlightedNodeColor = Colors.Yellow; // Highlighted node color
private RectF storedDirtyRect;
- public float CurrentScale { get; private set; } = 1.0f;
- public (float X, float Y) CurrentOffset { get; private set; } = (0, 0);
-
private Node _highlightedNode;
- private List<Node> _path;
public void SetGraph(Graph graph)
{
_graph = graph ?? throw new ArgumentNullException(nameof(graph));
_highlightedNode = null;
- _path = null;
}
- public void SetLocation((float, float) location)
+ public void HighlightNode(Node node)
{
- _location = location;
+ _highlightedNode = node;
}
public void Draw(ICanvas canvas, RectF dirtyRect)
@@ -44,127 +32,68 @@ namespace RobobinApp.Views
storedDirtyRect = dirtyRect;
if (_graph == null) return;
+ // Draw the background image
DrawBackground(canvas, dirtyRect);
- (float minX, float minY, float maxX, float maxY) = CalculateBounds();
-
- CurrentScale = CalculateScale(dirtyRect, minX, minY, maxX, maxY);
- (float offsetX, float offsetY) = CalculateOffsets(dirtyRect, minX, minY, maxX, maxY, CurrentScale);
- CurrentOffset = (offsetX, offsetY);
- float nodeRadius = BaseNodeRadius * CurrentScale;
-
- DrawConnections(canvas, CurrentScale, offsetX, offsetY);
- DrawPath(canvas, CurrentScale, offsetX, offsetY);
- DrawNodes(canvas, CurrentScale, offsetX, offsetY, nodeRadius, _highlightedNode);
- DrawLocation(canvas, CurrentScale, offsetX, offsetY);
- }
-
- private void DrawLocation(ICanvas canvas, float scale, float offsetX, float offsetY)
- {
- Debug.WriteLine($"Drawing Location {_location.Item1} {_location.Item2}");
- float scaledX = _location.Item1 * scale + offsetX;
- float flippedY = storedDirtyRect.Height - (_location.Item2 * scale + offsetY);
-
- canvas.FillColor = Colors.Yellow;
- canvas.FillCircle(scaledX, flippedY, 5);
- canvas.FontColor = Colors.White;
- canvas.DrawString($"Robobin ({_location.Item1} {_location.Item2})", scaledX + 7, flippedY - 5, HorizontalAlignment.Left);
+ // Draw the nodes on top of the image
+ DrawNodes(canvas, NodeRadius, _highlightedNode);
}
private void DrawBackground(ICanvas canvas, RectF dirtyRect)
{
- canvas.FillColor = BackgroundColor;
- canvas.FillRectangle(dirtyRect);
- }
-
- private (float minX, float minY, float maxX, float maxY) CalculateBounds()
- {
- float minX = _graph.Nodes.Min(node => node.X);
- float minY = _graph.Nodes.Min(node => node.Y);
- float maxX = _graph.Nodes.Max(node => node.X);
- float maxY = _graph.Nodes.Max(node => node.Y);
- return (minX, minY, maxX, maxY);
- }
-
- private float CalculateScale(RectF dirtyRect, float minX, float minY, float maxX, float maxY)
- {
- float graphWidth = maxX - minX;
- float graphHeight = maxY - minY;
- float scaleX = dirtyRect.Width / graphWidth;
- float scaleY = dirtyRect.Height / graphHeight;
- return Math.Min(scaleX, scaleY) * 0.8f;
- }
-
- private (float offsetX, float offsetY) CalculateOffsets(RectF dirtyRect, float minX, float minY, float maxX, float maxY, float scale)
- {
- float offsetX = dirtyRect.Center.X - ((minX + maxX) * 0.5f) * scale;
- float offsetY = dirtyRect.Center.Y - ((minY + maxY) * 0.5f) * scale;
- return (offsetX, offsetY);
- }
-
- private void DrawConnections(ICanvas canvas, float scale, float offsetX, float offsetY)
- {
- canvas.StrokeColor = ConnectionColor;
- canvas.StrokeSize = 2;
-
- foreach (var node in _graph.Nodes)
+ try
{
- int nodeIndex = _graph.Nodes.IndexOf(node);
- float startX = node.X * scale + offsetX;
- float startY = storedDirtyRect.Height - (node.Y * scale + offsetY); // flip Y
+ // Load the embedded image resource
+ var assembly = typeof(GraphicsDrawable).Assembly;
+ var resourceStream = assembly.GetManifestResourceStream("Robobin.Resources.Images.lab_map.jpg");
- for (int j = 0; j < _graph.Nodes.Count; j++)
+ if (resourceStream != null)
{
- var (magnitude, angle) = _graph.AdjacencyMatrix[nodeIndex, j];
- if (magnitude > 0)
- {
- float targetX = (node.X + magnitude * MathF.Cos(MathF.PI * angle / 180)) * scale + offsetX;
- float targetRawY = (node.Y + magnitude * MathF.Sin(MathF.PI * angle / 180)) * scale + offsetY;
- float targetY = storedDirtyRect.Height - targetRawY; // flip Y
-
- canvas.DrawLine(startX, startY, targetX, targetY);
- }
+ var image = Microsoft.Maui.Graphics.Platform.PlatformImage.FromStream(resourceStream);
+ canvas.DrawImage(image, dirtyRect.Left, dirtyRect.Top, dirtyRect.Width, dirtyRect.Height);
+ }
+ else
+ {
+ throw new Exception("Embedded resource not found.");
}
}
+ catch (Exception ex)
+ {
+ Debug.WriteLine($"Error loading image: {ex.Message}");
+
+ // Fallback: fill background with a color if the image is unavailable
+ canvas.FillColor = Colors.Black;
+ canvas.FillRectangle(dirtyRect);
+ }
}
- private void DrawNodes(ICanvas canvas, float scale, float offsetX, float offsetY, float nodeRadius, Node highlightedNode)
+ private void DrawNodes(ICanvas canvas, float nodeRadius, Node highlightedNode)
{
foreach (var node in _graph.Nodes)
{
- float scaledX = node.X * scale + offsetX;
- float flippedY = storedDirtyRect.Height - (node.Y * scale + offsetY); // flip Y
+ float x = node.X; // Use the original X-coordinate
+ float y = node.Y; // Use the original Y-coordinate
+
+ // Set fill color based on whether the node is highlighted
+ canvas.FillColor = (highlightedNode == node) ? HighlightedNodeColor : DefaultNodeColor;
- canvas.FillColor = (highlightedNode == node)
- ? HighlightedNodeColor
- : (node.Name == "Home" ? HomeNodeColor : DefaultNodeColor);
+ // Draw the node as a circle
+ canvas.FillCircle(x, y, nodeRadius);
- canvas.FillCircle(scaledX, flippedY, nodeRadius);
+ // Optionally, draw node name or other details
canvas.FontColor = Colors.White;
- var nodeDetails = $"{node.Name}";
- canvas.DrawString(nodeDetails, scaledX + nodeRadius + 2, flippedY - nodeRadius, HorizontalAlignment.Left);
+ canvas.DrawString(node.Name, x + nodeRadius + 2, y - nodeRadius, HorizontalAlignment.Left);
}
}
- public Node FindNearestNode(float clickX, float clickY, float scale, float offsetX, float offsetY)
+ public Node FindNearestNode(float tapPointX, float tapPointY)
{
- // The coordinates given (clickX, clickY) are in the original coordinate system
- // where the y-axis goes down. We must transform them similarly to how we did
- // when drawing: flip the Y using storedDirtyRect.
- float flippedClickY = clickY;
-
- Node nearestNode = null;
float minDistance = float.MaxValue;
+ Node nearestNode = null;
foreach (var node in _graph.Nodes)
{
- float scaledX = node.X * scale + offsetX;
- // Flip Y when comparing distances
- float flippedY = storedDirtyRect.Height - (node.Y * scale + offsetY);
-
- float dx = clickX - scaledX;
- float dy = flippedClickY - flippedY;
- float distance = MathF.Sqrt(dx * dx + dy * dy);
+ float distance = (float)Math.Sqrt(Math.Pow(node.X - tapPointX, 2) + Math.Pow(node.Y - tapPointY, 2));
if (distance < minDistance)
{
minDistance = distance;
@@ -174,109 +103,5 @@ namespace RobobinApp.Views
return nearestNode;
}
-
- public void HighlightNode(Node node)
- {
- _highlightedNode = node;
- }
-
- public List<Node> AStarPathfinding(Node startNode, Node targetNode)
- {
- var openSet = new List<Node> { startNode };
- var cameFrom = new Dictionary<Node, Node>();
- var gScore = new Dictionary<Node, float>();
- var fScore = new Dictionary<Node, float>();
-
- foreach (var node in _graph.Nodes)
- {
- gScore[node] = float.MaxValue;
- fScore[node] = float.MaxValue;
- }
- gScore[startNode] = 0;
- fScore[startNode] = Heuristic(startNode, targetNode);
-
- while (openSet.Count > 0)
- {
- Node currentNode = openSet.OrderBy(node => fScore[node]).First();
-
- if (currentNode == targetNode)
- {
- return ReconstructPath(cameFrom, currentNode);
- }
-
- openSet.Remove(currentNode);
-
- foreach (var edge in currentNode.Edges)
- {
- Node neighbor = edge.TargetNode;
- float tentativeGScore = gScore[currentNode] + edge.Cost;
-
- if (tentativeGScore < gScore[neighbor])
- {
- cameFrom[neighbor] = currentNode;
- gScore[neighbor] = tentativeGScore;
- fScore[neighbor] = gScore[neighbor] + Heuristic(neighbor, targetNode);
-
- if (!openSet.Contains(neighbor))
- {
- openSet.Add(neighbor);
- }
- }
- }
- }
-
- return new List<Node>();
- }
-
- private float Heuristic(Node a, Node b)
- {
- return MathF.Sqrt((a.X - b.X) * (a.X - b.X) + (a.Y - b.Y) * (a.Y - b.Y));
- }
-
- private List<Node> ReconstructPath(Dictionary<Node, Node> cameFrom, Node currentNode)
- {
- var totalPath = new List<Node> { currentNode };
-
- while (cameFrom.ContainsKey(currentNode))
- {
- currentNode = cameFrom[currentNode];
- totalPath.Add(currentNode);
- }
-
- totalPath.Reverse();
- return totalPath;
- }
-
- public Node GetHomeNode()
- {
- return _graph.Nodes.FirstOrDefault(n => n.Name == "Home");
- }
-
- public List<Node> Path
- {
- get => _path;
- set => _path = value;
- }
-
- private void DrawPath(ICanvas canvas, float scale, float offsetX, float offsetY)
- {
- if (_path != null && _path.Count > 0)
- {
- canvas.StrokeColor = PathColor;
- canvas.StrokeSize = 3;
-
- for (int i = 0; i < _path.Count - 1; i++)
- {
- float startX = _path[i].X * scale + offsetX;
- float startRawY = _path[i].Y * scale + offsetY;
- float startY = storedDirtyRect.Height - startRawY; // flip Y
- float endX = _path[i + 1].X * scale + offsetX;
- float endRawY = _path[i + 1].Y * scale + offsetY;
- float endY = storedDirtyRect.Height - endRawY; // flip Y
-
- canvas.DrawLine(startX, startY, endX, endY);
- }
- }
- }
}
}
diff --git a/App/RobobinApp/Views/MainPage.xaml.cs b/App/RobobinApp/Views/MainPage.xaml.cs
index 533e36ad3deccfbb9d762b15e0ab72f50a9c730a..3022db93b3b46d8817e10f8d0278ded97ec8c5e4 100644
--- a/App/RobobinApp/Views/MainPage.xaml.cs
+++ b/App/RobobinApp/Views/MainPage.xaml.cs
@@ -52,40 +52,32 @@ namespace RobobinApp.Views
private void OnGraphicsViewTapped(object sender, TappedEventArgs e)
{
- if (App.WifiManager.Mode != "Call")
- {
- DisplayAlert("NO CALL","Bin must be in call mode to use this feature!","Sorry!");
- return;
- }
+ //if (App.WifiManager.Mode != "Call")
+ //{
+ // DisplayAlert("NO CALL","Bin must be in call mode to use this feature!","Sorry!");
+ // return;
+ //}
var tapPoint = e.GetPosition(GraphicsView);
var drawable = (GraphicsDrawable)Resources["drawable"];
- float scale = drawable.CurrentScale;
- var offset = drawable.CurrentOffset;
+
var tapPointX = (float)tapPoint.Value.X;
var tapPointY = (float)tapPoint.Value.Y;
+ Debug.WriteLine($"position: {tapPointX}, {tapPointY}");
(float,float) endPoint = (tapPointX, tapPointY);
- var nearestNode = drawable.FindNearestNode(tapPointX, tapPointY, scale, offset.X, offset.Y);
- Task task = App.WifiManager.SendCallMeRequest(nearestNode.Name);
- // Highlight the nearest node
- drawable.HighlightNode(nearestNode);
+ var nearestNode = drawable.FindNearestNode(tapPointX, tapPointY);
+
+
+
if (nearestNode != null)
{
- // Find the home node
- Node homeNode = drawable.GetHomeNode();
-
- if (homeNode != null)
- {
-
- List<Node> path = drawable.AStarPathfinding(nearestNode, homeNode);
- drawable.Path = path;
- GraphicsView.Invalidate();
- }
-
+ Task task = App.WifiManager.SendCallMeRequest(nearestNode.Name);
+ // Highlight the nearest node
+ drawable.HighlightNode(nearestNode);
DisplayAlert("Node Clicked", $"You clicked on node: {nearestNode.Name}", "OK");
}
else
@@ -113,7 +105,7 @@ namespace RobobinApp.Views
{
var drawable = (GraphicsDrawable)Resources["drawable"];
Debug.WriteLine($"VM Location { viewModel.Location }");
- drawable.SetLocation(viewModel.Location);
+ //drawable.SetLocation(viewModel.Location);
drawable.SetGraph(viewModel.Graph);
GraphicsView.Invalidate(); // Redraw the GraphicsView
Debug.WriteLine("Graph updated and redrawn.");
diff --git a/App/RobobinApp/Views/MainPage_Android.xaml.cs b/App/RobobinApp/Views/MainPage_Android.xaml.cs
index f7059f4065ca2314d5558c12d3d66f1efee7a807..9a93b832f92eaf59f1e00d8895a509af2c819ce6 100644
--- a/App/RobobinApp/Views/MainPage_Android.xaml.cs
+++ b/App/RobobinApp/Views/MainPage_Android.xaml.cs
@@ -34,33 +34,21 @@ namespace RobobinApp.Views
var tapPoint = e.GetPosition(GraphicsView);
var drawable = (GraphicsDrawable)Resources["drawable"];
- float scale = drawable.CurrentScale;
- var offset = drawable.CurrentOffset;
-
+
var tapPointX = (float)tapPoint.Value.X;
var tapPointY = (float)tapPoint.Value.Y;
(float, float) endPoint = (tapPointX, tapPointY);
- var nearestNode = drawable.FindNearestNode(tapPointX, tapPointY, scale, offset.X, offset.Y);
+ var nearestNode = drawable.FindNearestNode(tapPointX, tapPointY);
Task task = App.WifiManager.SendCallMeRequest(nearestNode.Name);
// Highlight the nearest node
drawable.HighlightNode(nearestNode);
if (nearestNode != null)
{
- // Find the home node
- Node homeNode = drawable.GetHomeNode();
-
- if (homeNode != null)
- {
-
- List<Node> path = drawable.AStarPathfinding(nearestNode, homeNode);
- drawable.Path = path;
- GraphicsView.Invalidate();
- }
-
+
DisplayAlert("Node Clicked", $"You clicked on node: {nearestNode.Name}", "OK");
}
else