From 87698add8e99362ffdab8254ff0a05a165f76d4f Mon Sep 17 00:00:00 2001
From: Paul-Winpenny <92634321+Paul-Winpenny@users.noreply.github.com>
Date: Wed, 8 Jan 2025 14:12:58 +0000
Subject: [PATCH] Updated to use the image (lidar method)

---
 App/RobobinApp/Networking/WifiManager.cs      |   2 +-
 App/RobobinApp/Resources/Images/lab_map.jpg   | Bin 0 -> 45755 bytes
 App/RobobinApp/RobobinApp.csproj              |  10 +
 .../ViewModels/MainPageViewModel.cs           |  28 +-
 App/RobobinApp/Views/CentreGraph.xaml.cs      | 253 +++---------------
 App/RobobinApp/Views/MainPage.xaml.cs         |  38 ++-
 App/RobobinApp/Views/MainPage_Android.xaml.cs |  18 +-
 7 files changed, 88 insertions(+), 261 deletions(-)
 create mode 100644 App/RobobinApp/Resources/Images/lab_map.jpg

diff --git a/App/RobobinApp/Networking/WifiManager.cs b/App/RobobinApp/Networking/WifiManager.cs
index b034c349..ac5bd3c6 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
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literal 0
HcmV?d00001

diff --git a/App/RobobinApp/RobobinApp.csproj b/App/RobobinApp/RobobinApp.csproj
index a8e008bc..ecc4a079 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 a3477a1d..52c0b7a0 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 113ac541..d27595ea 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 533e36ad..3022db93 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 f7059f40..9a93b832 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
-- 
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