diff --git a/Server_CoAP/CoAPthon3/coapserver.py b/Server_CoAP/CoAPthon3/coapserver.py
index 3f80d0f73d38c9f6b33dc05488a7a0bd21a49b88..a977161dd5fb6c30edf9690dda00354003e1117b 100644
--- a/Server_CoAP/CoAPthon3/coapserver.py
+++ b/Server_CoAP/CoAPthon3/coapserver.py
@@ -92,9 +92,9 @@ class CoAPServer(CoAP):
dd = datetime.datetime.now()
dd = dd.replace(hour=dd.hour + 9)
userNodeData = {
- 'rpuuid1': userLocationData[0]['rpuuid'],
- 'rpuuid2': userLocationData[1]['rpuuid'],
- 'rpuuid3': userLocationData[2]['rpuuid'],
+ 'rp1': {'rpuuid' : userLocationData[0]['rpuuid'], 'distance': userLocationData[0]['distance']},
+ 'rp2': {'rpuuid' : userLocationData[1]['rpuuid'], 'distance' : userLocationData[1]['distance']},
+ 'rp3': {'rpuuid' : userLocationData[2]['rpuuid'], 'distance' : userLocationData[2]['distance']},
'useruuid': useruuid,
'x': x,
'y': y,
diff --git a/Server_CoAP/CoAPthon3/triangulation.py b/Server_CoAP/CoAPthon3/triangulation.py
index 9365c81e13eaee5030a8d2e628d55e76b1166286..d45c38d7b7d2cd4b0753a55e179a2faf7d90bdc7 100644
--- a/Server_CoAP/CoAPthon3/triangulation.py
+++ b/Server_CoAP/CoAPthon3/triangulation.py
@@ -1,5 +1,4 @@
import math
-
class Triangulation():
def __init__(self, nodeList):
self.n = nodeList
@@ -71,7 +70,7 @@ class Triangulation():
meet1[1][1]=line_position[1][2]/line_position[1][1]
meet2[1][1]=meet1[0][1]
meet1[1][0]=math.sqrt(r1*r1-(meet1[1][1]-b1)*(meet1[1][1]-b1))+a1
- meet2[1][0]=a1-math.sqrt(r1*r1-(meet1[1][1]-b1)*(meet1[0][1]-b1))
+ meet2[1][0]=a1-math.sqrt(r1*r1-(meet1[1][1]-b1)*(meet1[1][1]-b1))
if(self.cal_distance(meet1[1][0],meet1[1][1],a2,b2)>=self.cal_distance(meet2[1][0],meet2[1][1],a2,b2)):
meet_result[1][0]=meet2[1][0]
meet_result[1][1]=meet2[1][1]
@@ -104,7 +103,6 @@ class Triangulation():
meet_result[1][0]=meet1[1][0]
meet_result[1][1]=meet1[1][1]
print("x2:",meet_result[1][0],"y2:",meet_result[1][1])
-
#세번째 직선의 교점
if(line_position[2][0]==0 and line_position[2][1]!=0):
meet1[2][1]=line_position[2][2]/line_position[2][1]
@@ -121,7 +119,7 @@ class Triangulation():
meet1[2][0]=line_position[2][2]/line_position[2][0]
meet2[2][0]=meet1[2][0]
meet1[2][1]=math.sqrt(r2*r2-(meet1[2][0]-a2)*(meet1[2][0]-a2))+b2
- meet2[2][1]=b2-math.sqrt(r2*r2-(meet1[2][0]-a1)*(meet1[2][0]-a2))
+ meet2[2][1]=b2-math.sqrt(r2*r2-(meet1[2][0]-a2)*(meet1[2][0]-a2))
if(self.cal_distance(meet1[2][0],meet1[2][1],a1,b1)>=self.cal_distance(meet2[2][0],meet2[2][1],a1,b1)):
meet_result[2][0]=meet2[2][0]
meet_result[2][1]=meet2[2][1]
@@ -130,8 +128,8 @@ class Triangulation():
meet_result[2][1]=meet1[2][1]
else:
a=1+(line_position[2][0]/line_position[2][1])*(line_position[2][0]/line_position[2][1])
- b=(-2*a2)+((-2*line_position[2][0]*line_position[2][2]) / (line_position[2][1]*line_position[2][1]))+(2*line_position[2][0]*b1/line_position[2][1])
- c=(line_position[2][2]/line_position[2][1])*(line_position[2][2]/line_position[2][1]) + (-2*line_position[2][2]*b1/line_position[2][1]) + b2*b2 - r2*r2 +a2*a2
+ b=(-2*a2)+((-2*line_position[2][0]*line_position[2][2]) / (line_position[2][1]*line_position[2][1]))+(2*line_position[2][0]*b2/line_position[2][1])
+ c=(line_position[2][2]/line_position[2][1])*(line_position[2][2]/line_position[2][1]) + (-2*line_position[2][2]*b2/line_position[2][1]) + b2*b2 - r2*r2 +a2*a2
meet1[2][0]=(-b+math.sqrt(b*b-4*a*c))/(2*a)
meet2[2][0]=(-b-math.sqrt(b*b-4*a*c))/(2*a)
meet1[2][1]=(-1*line_position[2][0]*meet1[2][0]/line_position[2][1])+(line_position[2][2]/line_position[2][1])
@@ -200,9 +198,8 @@ class Triangulation():
else:
meet_result[0][0]=meet1[0][0]
meet_result[0][1]=meet1[0][1]
-
+ print("x:",meet_result[0][0],"y:",meet_result[0][1])
return meet_result[0][0], meet_result[0][1]
- #print("x:",meet_result[0][0],"y:",meet_result[0][1])
#def third_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3):#3번째 경우로 겹치는 원이 없는 경우이다.(값이 정확히지는 않음)
# a=2*(a1-a2)
@@ -216,9 +213,25 @@ class Triangulation():
# print("x:",x1,"y:",y1)
def doTriangulation(self):
+ x, y = 0, 0
+ list=[self.n[0]['distance'],self.n[1]['distance'],self.n[2]['distance']]
+ list.sort()
a=self.cal_distance(self.n[0]['x'],self.n[0]['y'],self.n[1]['x'],self.n[1]['y'])
b=self.cal_distance(self.n[0]['x'],self.n[0]['y'],self.n[2]['x'],self.n[2]['y'])
- c=self.cal_distance(self.n[1]['x'],self.n[1]['y'],self.n[1]['x'],self.n[1]['y'])
+ c=self.cal_distance(self.n[1]['x'],self.n[1]['y'],self.n[2]['x'],self.n[2]['y'])
+ if(list[2]==self.n[0]['distance']):
+ if(self.n[1]['distance']+a<=self.n[0]['distance'] or self.n[2]['distance']+b<=self.n[0]['distance']):
+ print("error")
+ return None, None
+ elif(list[2]==self.n[1]['distance']):
+ if(self.n[0]['distance']+a<=self.n[1]['distance'] or self.n[2]['distance']+c<=self.n[1]['distance']):
+ print("error")
+ return None, None
+ elif(list[2]==self.n[2]['distance']):
+ if(self.n[0]['distance']+b<=self.n[2]['distance'] or self.n[1]['distance']+c<=self.n[2]['distance']):
+ print("error")
+ return None, None
+
if(a<=self.n[0]['distance']+self.n[1]['distance'] and b<=self.n[0]['distance']+self.n[2]['distance'] and c<=self.n[1]['distance']+self.n[2]['distance']):
x, y = self.first_situation(self.n[0]['x'],self.n[0]['y'],self.n[0]['distance'],
self.n[1]['x'],self.n[1]['y'],self.n[1]['distance'],
@@ -236,15 +249,15 @@ class Triangulation():
self.n[2]['x'],self.n[2]['y'],self.n[2]['distance'],
self.n[0]['x'],self.n[0]['y'],self.n[0]['distance'])
else:
- x, y = None, None
- print("NoneNone")
+ print("error")
+ return None, None
return x, y
- """
- #예시
- self.first_situation(20,10,10,9,10,1,10,9,1)
- doTriangulation(20,10,10,9,10,1,10,9,1)
- print("-----------------------")
- self.second_situation(0,3,1,0,4,1,5,3,1)
- doTriangulation(0,3,1,0,4,1,5,3,1)
- print("-----------------------")
- """
\ No newline at end of file
+"""
+self.doTriangulation(20,10,10,9,10,1,10,9,1)
+print("-----------------------")
+self.doTriangulation(9,10,1,10,9,1,20,10,10)
+print("-----------------------")
+self.doTriangulation(10,9,1,9,10,1,20,10,10)
+print("-----------------------")
+self.doTriangulation(0,3,1,0,4,1,5,3,1)
+"""
\ No newline at end of file
diff --git a/Server_CoAP/triangulation.py b/Server_CoAP/triangulation.py
deleted file mode 100644
index 8c0563e2f0ad26d502bd726e2e8a8643279bd15c..0000000000000000000000000000000000000000
--- a/Server_CoAP/triangulation.py
+++ /dev/null
@@ -1,247 +0,0 @@
-import pymongo
-import math
-from pymongo import MongoClient
-
-def cal_distance(a1,b1,a2,b2):
- return math.sqrt((a2-a1)*(a2-a1)+(b2-b1)*(b2-b1))
-
-def first_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3):#첫번째 경우로 원 3개가 서로에게 모두 겹치는 경우가 있는 경우이다
- line_position = [[0,0,0],[0,0,0],[0,0,0]]#Ax+By=c의 형태[A,B,C]
- meet1 = [[0,0],[0,0],[0,0]]
- meet2 = [[0,0],[0,0],[0,0]]
- meet_result = [[0,0],[0,0],[0,0]]
- #첫번째 직선(1,2)
- line_position[0][0]=-2*a1+2*a2
- line_position[0][1]=-2*b1+2*b2
- line_position[0][2]=(r1*r1-r2*r2)+(a2*a2-a1*a1)+(b2*b2-b1*b1)
- #두번째 직선(1,3)
- line_position[1][0]=-2*a1+2*a3
- line_position[1][1]=-2*b1+2*b3
- line_position[1][2]=(r1*r1-r3*r3)+(a3*a3-a1*a1)+(b3*b3-b1*b1)
- #세번째 직선(2,3)
- line_position[2][0]=-2*a2+2*a3
- line_position[2][1]=-2*b2+2*b3
- line_position[2][2]=(r2*r2-r3*r3)+(a3*a3-a2*a2)+(b3*b3-b2*b2)
-
- #첫번째 직선의 교점
- if(line_position[0][0]==0 and line_position[0][1]!=0):
- meet1[0][1]=line_position[0][2]/line_position[0][1]
- meet2[0][1]=meet1[0][1]
- meet1[0][0]=math.sqrt(r1*r1-(meet1[0][1]-b1)*(meet1[0][1]-b1))+a1
- meet2[0][0]=a1-math.sqrt(r1*r1-(meet1[0][1]-b1)*(meet1[0][1]-b1))
- if(cal_distance(meet1[0][0],meet1[0][1],a3,b3)>=cal_distance(meet2[0][0],meet2[0][1],a3,b3)):
- meet_result[0][0]=meet2[0][0]
- meet_result[0][1]=meet2[0][1]
- else:
- meet_result[0][0]=meet1[0][0]
- meet_result[0][1]=meet1[0][1]
- elif(line_position[0][0]!=0 and line_position[0][1]==0):
- meet1[0][0]=line_position[0][2]/line_position[0][0]
- meet2[0][0]=meet1[0][0]
- meet1[0][1]=math.sqrt(r1*r1-(meet1[0][0]-a1)*(meet1[0][0]-a1))+b1
- meet2[0][1]=b1-math.sqrt(r1*r1-(meet1[0][0]-a1)*(meet1[0][0]-a1))
- if(cal_distance(meet1[0][0],meet1[0][1],a3,b3)>=cal_distance(meet2[0][0],meet2[0][1],a3,b3)):
- meet_result[0][0]=meet2[0][0]
- meet_result[0][1]=meet2[0][1]
- else:
- meet_result[0][0]=meet1[0][0]
- meet_result[0][1]=meet1[0][1]
- else:
- a=1+(line_position[0][0]/line_position[0][1])*(line_position[0][0]/line_position[0][1])
- b=(-2*a1)+((-2*line_position[0][0]*line_position[0][2]) / (line_position[0][1]*line_position[0][1]))+(2*line_position[0][0]*b1/line_position[0][1])
- c=(line_position[0][2]/line_position[0][1])*(line_position[0][2]/line_position[0][1]) + (-2*line_position[0][2]*b1/line_position[0][1]) + b1*b1 - r1*r1 + a1*a1
- meet1[0][0]=(-b+math.sqrt(b*b-4*a*c))/(2*a)
- meet2[0][0]=(-b-math.sqrt(b*b-4*a*c))/(2*a)
- meet1[0][1]=(-1*line_position[0][0]*meet1[0][0]/line_position[0][1])+(line_position[0][2]/line_position[0][1])
- meet2[0][1]=(-1*line_position[0][0]*meet2[0][0]/line_position[0][1])+(line_position[0][2]/line_position[0][1])
- if(cal_distance(meet1[0][0],meet1[0][1],a3,b3)>=cal_distance(meet2[0][0],meet2[0][1],a3,b3)):
- meet_result[0][0]=meet2[0][0]
- meet_result[0][1]=meet2[0][1]
- else:
- meet_result[0][0]=meet1[0][0]
- meet_result[0][1]=meet1[0][1]
- print("x1:",meet_result[0][0],"y1:",meet_result[0][1])
-
- #두번째 직선의 교점
- if(line_position[1][0]==0 and line_position[1][1]!=0):
- meet1[1][1]=line_position[1][2]/line_position[1][1]
- meet2[1][1]=meet1[0][1]
- meet1[1][0]=math.sqrt(r1*r1-(meet1[1][1]-b1)*(meet1[1][1]-b1))+a1
- meet2[1][0]=a1-math.sqrt(r1*r1-(meet1[1][1]-b1)*(meet1[1][1]-b1))
- if(cal_distance(meet1[1][0],meet1[1][1],a2,b2)>=cal_distance(meet2[1][0],meet2[1][1],a2,b2)):
- meet_result[1][0]=meet2[1][0]
- meet_result[1][1]=meet2[1][1]
- else:
- meet_result[1][0]=meet1[1][0]
- meet_result[1][1]=meet1[1][1]
- elif(line_position[1][0]!=0 and line_position[1][1]==0):
- meet1[1][0]=line_position[1][2]/line_position[1][0]
- meet2[1][0]=meet1[1][0]
- meet1[1][1]=math.sqrt(r1*r1-(meet1[1][0]-a1)*(meet1[1][0]-a1))+b1
- meet2[1][1]=b1-math.sqrt(r1*r1-(meet1[1][0]-a1)*(meet1[1][0]-a1))
- if(cal_distance(meet1[1][0],meet1[1][1],a2,b2)>=cal_distance(meet2[1][0],meet2[1][1],a2,b2)):
- meet_result[1][0]=meet2[1][0]
- meet_result[1][1]=meet2[1][1]
- else:
- meet_result[1][0]=meet1[1][0]
- meet_result[1][1]=meet1[1][1]
- else:
- a=1+((line_position[1][0]/line_position[1][1])*(line_position[1][0]/line_position[1][1]))
- b=(-2*a1)+((-2*line_position[1][0]*line_position[1][2]) / (line_position[1][1]*line_position[1][1]))+((2*line_position[1][0]*b1)/line_position[1][1])
- c=((line_position[1][2]/line_position[1][1])*(line_position[1][2]/line_position[1][1])) + ((-2*line_position[1][2]*b1)/line_position[1][1]) + b1*b1 - r1*r1 + a1*a1
- meet1[1][0]=(-b+math.sqrt(b*b-4*a*c))/(2*a)
- meet2[1][0]=(-b-math.sqrt(b*b-4*a*c))/(2*a)
- meet1[1][1]=(-1*line_position[1][0]*meet1[1][0]/line_position[1][1])+(line_position[1][2]/line_position[1][1])
- meet2[1][1]=(-1*line_position[1][0]*meet2[1][0]/line_position[1][1])+(line_position[1][2]/line_position[1][1])
- if(cal_distance(meet1[1][0],meet1[1][1],a2,b2)>=cal_distance(meet2[1][0],meet2[1][1],a2,b2)):
- meet_result[1][0]=meet2[1][0]
- meet_result[1][1]=meet2[1][1]
- else:
- meet_result[1][0]=meet1[1][0]
- meet_result[1][1]=meet1[1][1]
- print("x2:",meet_result[1][0],"y2:",meet_result[1][1])
- #세번째 직선의 교점
- if(line_position[2][0]==0 and line_position[2][1]!=0):
- meet1[2][1]=line_position[2][2]/line_position[2][1]
- meet2[2][1]=meet1[2][1]
- meet1[2][0]=math.sqrt(r2*r2-(meet1[2][1]-b2)*(meet1[2][1]-b2))+a2
- meet2[2][0]=a2-math.sqrt(r2*r2-(meet1[2][1]-b2)*(meet1[2][1]-b2))
- if(cal_distance(meet1[2][0],meet1[2][1],a1,b1)>=cal_distance(meet2[2][0],meet2[2][1],a1,b1)):
- meet_result[2][0]=meet2[2][0]
- meet_result[2][1]=meet2[2][1]
- else:
- meet_result[2][0]=meet1[2][0]
- meet_result[2][1]=meet1[2][1]
- elif(line_position[2][0]!=0 and line_position[2][1]==0):
- meet1[2][0]=line_position[2][2]/line_position[2][0]
- meet2[2][0]=meet1[2][0]
- meet1[2][1]=math.sqrt(r2*r2-(meet1[2][0]-a2)*(meet1[2][0]-a2))+b2
- meet2[2][1]=b2-math.sqrt(r2*r2-(meet1[2][0]-a2)*(meet1[2][0]-a2))
- if(cal_distance(meet1[2][0],meet1[2][1],a1,b1)>=cal_distance(meet2[2][0],meet2[2][1],a1,b1)):
- meet_result[2][0]=meet2[2][0]
- meet_result[2][1]=meet2[2][1]
- else:
- meet_result[2][0]=meet1[2][0]
- meet_result[2][1]=meet1[2][1]
- else:
- a=1+(line_position[2][0]/line_position[2][1])*(line_position[2][0]/line_position[2][1])
- b=(-2*a2)+((-2*line_position[2][0]*line_position[2][2]) / (line_position[2][1]*line_position[2][1]))+(2*line_position[2][0]*b2/line_position[2][1])
- c=(line_position[2][2]/line_position[2][1])*(line_position[2][2]/line_position[2][1]) + (-2*line_position[2][2]*b2/line_position[2][1]) + b2*b2 - r2*r2 +a2*a2
- meet1[2][0]=(-b+math.sqrt(b*b-4*a*c))/(2*a)
- meet2[2][0]=(-b-math.sqrt(b*b-4*a*c))/(2*a)
- meet1[2][1]=(-1*line_position[2][0]*meet1[2][0]/line_position[2][1])+(line_position[2][2]/line_position[2][1])
- meet2[2][1]=(-1*line_position[2][0]*meet2[2][0]/line_position[2][1])+(line_position[2][2]/line_position[2][1])
- if(cal_distance(meet1[2][0],meet1[2][1],a1,b1)>=cal_distance(meet2[2][0],meet2[2][1],a1,b1)):
- meet_result[2][0]=meet2[2][0]
- meet_result[2][1]=meet2[2][1]
- else:
- meet_result[2][0]=meet1[2][0]
- meet_result[2][1]=meet1[2][1]
- print("x3:",meet_result[2][0],"y3:",meet_result[2][1])
-
- print("x:",(meet_result[0][0]+meet_result[1][0]+meet_result[2][0])/3,"/y:",(meet_result[0][1]+meet_result[1][1]+meet_result[2][1])/3)
- return 0
-
-
-def second_situation(a1,b1,r1,a2,b2,r2,oa3,ob3,or3):#2번째 경우로 2개의 원만 겹치는 부분이 있는 경우이다.
- line_position = [[0,0,0],[0,0,0],[0,0,0]]#Ax+By=c의 형태[A,B,C]
- meet1 = [[0,0],[0,0],[0,0]]
- meet2 = [[0,0],[0,0],[0,0]]
- meet_result = [[0,0],[0,0],[0,0]]
- #첫번째 직선(1,2)
- line_position[0][0]=-2*a1+2*a2
- line_position[0][1]=-2*b1+2*b2
- line_position[0][2]=(r1*r1-r2*r2)+(a2*a2-a1*a1)+(b2*b2-b1*b1)
- print(line_position[0])
- #첫번째 직선의 교점
- if(line_position[0][0]==0 and line_position[0][1]!=0):
- meet1[0][1]=line_position[0][2]/line_position[0][1]
- meet2[0][1]=meet1[0][1]
- meet1[0][0]=math.sqrt(r1*r1-(meet1[0][1]-b1)*(meet1[0][1]-b1))+a1
- meet2[0][0]=a1-math.sqrt(r1*r1-(meet1[0][1]-b1)*(meet1[0][1]-b1))
- if(cal_distance(meet1[0][0],meet1[0][1],oa3,ob3)>=cal_distance(meet2[0][0],meet2[0][1],oa3,ob3)):
- meet_result[0][0]=meet2[0][0]
- meet_result[0][1]=meet2[0][1]
- else:
- meet_result[0][0]=meet1[0][0]
- meet_result[0][1]=meet1[0][1]
- elif(line_position[0][0]!=0 and line_position[0][1]==0):
- meet1[0][0]=line_position[0][2]/line_position[0][0]
- meet2[0][0]=meet1[0][0]
- meet1[0][1]=math.sqrt(r1*r1-(meet1[0][0]-a1)*(meet1[0][0]-a1))+b1
- meet2[0][1]=b1-math.sqrt(r1*r1-(meet1[0][0]-a1)*(meet1[0][0]-a1))
- if(cal_distance(meet1[0][0],meet1[0][1],oa3,ob3)>=cal_distance(meet2[0][0],meet2[0][1],oa3,ob3)):
- meet_result[0][0]=meet2[0][0]
- meet_result[0][1]=meet2[0][1]
- else:
- meet_result[0][0]=meet1[0][0]
- meet_result[0][1]=meet1[0][1]
- else:
- a=1+(line_position[0][0]/line_position[0][1])*(line_position[0][0]/line_position[0][1])
- b=(-2*a1)+((-2*line_position[0][0]*line_position[0][2]) / (line_position[0][1]*line_position[0][1]))+(2*line_position[0][0]*b1/line_position[0][1])
- c=(line_position[0][2]/line_position[0][1])*(line_position[0][2]/line_position[0][1]) + (-2*line_position[0][2]*b1/line_position[0][1]) + b1*b1 - r1*r1 + a1*a1
- print(a,b,c)
- meet1[0][0]=(-b+math.sqrt(b*b-4*a*c))/(2*a)
- meet2[0][0]=(-b-math.sqrt(b*b-4*a*c))/(2*a)
- meet1[0][1]=(-1*line_position[0][0]*meet1[0][0]/line_position[0][1])+(line_position[0][2]/line_position[0][1])
- meet2[0][1]=(-1*line_position[0][0]*meet2[0][0]/line_position[0][1])+(line_position[0][2]/line_position[0][1])
- print(meet1[0][0],meet1[0][1])
- print(meet2[0][0],meet2[0][1])
- print(cal_distance(meet1[0][0],meet1[0][1],oa3,ob3))
- print(cal_distance(meet2[0][0],meet2[0][1],oa3,ob3))
- if(cal_distance(meet1[0][0],meet1[0][1],oa3,ob3)>=cal_distance(meet2[0][0],meet2[0][1],oa3,ob3)):
- meet_result[0][0]=meet2[0][0]
- meet_result[0][1]=meet2[0][1]
- else:
- meet_result[0][0]=meet1[0][0]
- meet_result[0][1]=meet1[0][1]
- print("x:",meet_result[0][0],"y:",meet_result[0][1])
-
-#def third_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3):#3번째 경우로 겹치는 원이 없는 경우이다.(값이 정확히지는 않음)
-# a=2*(a1-a2)
-# b=2*(b1-b2)
-# c=(r2*r2-r1*r1)+(a1*a1-a2*a2)+(b1*b1-b2*b2)
-# d=2*(a2-a3)
-# e=2*(b2-b3)
-# f=(r3*r3-r2*r2)+(a2*a2-a3*a3)+(b2*b2-b3*b3)
-# y1=(f-((d*c) / a)) / (e-((b*d)/a))
-# x1=(c-b*y1)/a
-# print("x:",x1,"y:",y1)
-
-def function(a1,b1,r1,a2,b2,r2,a3,b3,r3):
- list=[r1,r2,r3]
- list.sort()
- a=cal_distance(a1,b1,a2,b2)
- b=cal_distance(a1,b1,a3,b3)
- c=cal_distance(a2,b2,a3,b3)
- if(list[2]==r1):
- if(r2+a<=r1 or r3+b<=r1):
- print("error")
- return 0
- elif(list[2]==r2):
- if(r1+a<=r2 or r3+c<=r2):
- print("error")
- return 0
- elif(list[2]==r3):
- if(r1+b<=r3 or r2+c<=r3):
- print("error")
- return 0
-
- if(a<=r1+r2 and b<=r1+r3 and c<=r2+r3):
- first_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3)
- elif(a<=r1+r2 and b>r1+r3 and c>r2+r3):
- second_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3)
- elif(a>r1+r2 and b<=r1+r3 and c>r2+r3):
- second_situation(a1,b1,r1,a3,b3,r3,a2,b2,r2)
- elif(a>r1+r2 and b>r1+r3 and c<=r2+r3):
- second_situation(a2,b2,r2,a3,b3,r3,a1,b1,r1)
- else:
- print("error")
- return 0
-
-function(20,10,10,9,10,1,10,9,1)
-print("-----------------------")
-function(9,10,1,10,9,1,20,10,10)
-print("-----------------------")
-function(10,9,1,9,10,1,20,10,10)
-print("-----------------------")
\ No newline at end of file
diff --git a/Server_CoAP/triangulation2.py b/Server_CoAP/triangulation2.py
deleted file mode 100644
index 8c0563e2f0ad26d502bd726e2e8a8643279bd15c..0000000000000000000000000000000000000000
--- a/Server_CoAP/triangulation2.py
+++ /dev/null
@@ -1,247 +0,0 @@
-import pymongo
-import math
-from pymongo import MongoClient
-
-def cal_distance(a1,b1,a2,b2):
- return math.sqrt((a2-a1)*(a2-a1)+(b2-b1)*(b2-b1))
-
-def first_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3):#첫번째 경우로 원 3개가 서로에게 모두 겹치는 경우가 있는 경우이다
- line_position = [[0,0,0],[0,0,0],[0,0,0]]#Ax+By=c의 형태[A,B,C]
- meet1 = [[0,0],[0,0],[0,0]]
- meet2 = [[0,0],[0,0],[0,0]]
- meet_result = [[0,0],[0,0],[0,0]]
- #첫번째 직선(1,2)
- line_position[0][0]=-2*a1+2*a2
- line_position[0][1]=-2*b1+2*b2
- line_position[0][2]=(r1*r1-r2*r2)+(a2*a2-a1*a1)+(b2*b2-b1*b1)
- #두번째 직선(1,3)
- line_position[1][0]=-2*a1+2*a3
- line_position[1][1]=-2*b1+2*b3
- line_position[1][2]=(r1*r1-r3*r3)+(a3*a3-a1*a1)+(b3*b3-b1*b1)
- #세번째 직선(2,3)
- line_position[2][0]=-2*a2+2*a3
- line_position[2][1]=-2*b2+2*b3
- line_position[2][2]=(r2*r2-r3*r3)+(a3*a3-a2*a2)+(b3*b3-b2*b2)
-
- #첫번째 직선의 교점
- if(line_position[0][0]==0 and line_position[0][1]!=0):
- meet1[0][1]=line_position[0][2]/line_position[0][1]
- meet2[0][1]=meet1[0][1]
- meet1[0][0]=math.sqrt(r1*r1-(meet1[0][1]-b1)*(meet1[0][1]-b1))+a1
- meet2[0][0]=a1-math.sqrt(r1*r1-(meet1[0][1]-b1)*(meet1[0][1]-b1))
- if(cal_distance(meet1[0][0],meet1[0][1],a3,b3)>=cal_distance(meet2[0][0],meet2[0][1],a3,b3)):
- meet_result[0][0]=meet2[0][0]
- meet_result[0][1]=meet2[0][1]
- else:
- meet_result[0][0]=meet1[0][0]
- meet_result[0][1]=meet1[0][1]
- elif(line_position[0][0]!=0 and line_position[0][1]==0):
- meet1[0][0]=line_position[0][2]/line_position[0][0]
- meet2[0][0]=meet1[0][0]
- meet1[0][1]=math.sqrt(r1*r1-(meet1[0][0]-a1)*(meet1[0][0]-a1))+b1
- meet2[0][1]=b1-math.sqrt(r1*r1-(meet1[0][0]-a1)*(meet1[0][0]-a1))
- if(cal_distance(meet1[0][0],meet1[0][1],a3,b3)>=cal_distance(meet2[0][0],meet2[0][1],a3,b3)):
- meet_result[0][0]=meet2[0][0]
- meet_result[0][1]=meet2[0][1]
- else:
- meet_result[0][0]=meet1[0][0]
- meet_result[0][1]=meet1[0][1]
- else:
- a=1+(line_position[0][0]/line_position[0][1])*(line_position[0][0]/line_position[0][1])
- b=(-2*a1)+((-2*line_position[0][0]*line_position[0][2]) / (line_position[0][1]*line_position[0][1]))+(2*line_position[0][0]*b1/line_position[0][1])
- c=(line_position[0][2]/line_position[0][1])*(line_position[0][2]/line_position[0][1]) + (-2*line_position[0][2]*b1/line_position[0][1]) + b1*b1 - r1*r1 + a1*a1
- meet1[0][0]=(-b+math.sqrt(b*b-4*a*c))/(2*a)
- meet2[0][0]=(-b-math.sqrt(b*b-4*a*c))/(2*a)
- meet1[0][1]=(-1*line_position[0][0]*meet1[0][0]/line_position[0][1])+(line_position[0][2]/line_position[0][1])
- meet2[0][1]=(-1*line_position[0][0]*meet2[0][0]/line_position[0][1])+(line_position[0][2]/line_position[0][1])
- if(cal_distance(meet1[0][0],meet1[0][1],a3,b3)>=cal_distance(meet2[0][0],meet2[0][1],a3,b3)):
- meet_result[0][0]=meet2[0][0]
- meet_result[0][1]=meet2[0][1]
- else:
- meet_result[0][0]=meet1[0][0]
- meet_result[0][1]=meet1[0][1]
- print("x1:",meet_result[0][0],"y1:",meet_result[0][1])
-
- #두번째 직선의 교점
- if(line_position[1][0]==0 and line_position[1][1]!=0):
- meet1[1][1]=line_position[1][2]/line_position[1][1]
- meet2[1][1]=meet1[0][1]
- meet1[1][0]=math.sqrt(r1*r1-(meet1[1][1]-b1)*(meet1[1][1]-b1))+a1
- meet2[1][0]=a1-math.sqrt(r1*r1-(meet1[1][1]-b1)*(meet1[1][1]-b1))
- if(cal_distance(meet1[1][0],meet1[1][1],a2,b2)>=cal_distance(meet2[1][0],meet2[1][1],a2,b2)):
- meet_result[1][0]=meet2[1][0]
- meet_result[1][1]=meet2[1][1]
- else:
- meet_result[1][0]=meet1[1][0]
- meet_result[1][1]=meet1[1][1]
- elif(line_position[1][0]!=0 and line_position[1][1]==0):
- meet1[1][0]=line_position[1][2]/line_position[1][0]
- meet2[1][0]=meet1[1][0]
- meet1[1][1]=math.sqrt(r1*r1-(meet1[1][0]-a1)*(meet1[1][0]-a1))+b1
- meet2[1][1]=b1-math.sqrt(r1*r1-(meet1[1][0]-a1)*(meet1[1][0]-a1))
- if(cal_distance(meet1[1][0],meet1[1][1],a2,b2)>=cal_distance(meet2[1][0],meet2[1][1],a2,b2)):
- meet_result[1][0]=meet2[1][0]
- meet_result[1][1]=meet2[1][1]
- else:
- meet_result[1][0]=meet1[1][0]
- meet_result[1][1]=meet1[1][1]
- else:
- a=1+((line_position[1][0]/line_position[1][1])*(line_position[1][0]/line_position[1][1]))
- b=(-2*a1)+((-2*line_position[1][0]*line_position[1][2]) / (line_position[1][1]*line_position[1][1]))+((2*line_position[1][0]*b1)/line_position[1][1])
- c=((line_position[1][2]/line_position[1][1])*(line_position[1][2]/line_position[1][1])) + ((-2*line_position[1][2]*b1)/line_position[1][1]) + b1*b1 - r1*r1 + a1*a1
- meet1[1][0]=(-b+math.sqrt(b*b-4*a*c))/(2*a)
- meet2[1][0]=(-b-math.sqrt(b*b-4*a*c))/(2*a)
- meet1[1][1]=(-1*line_position[1][0]*meet1[1][0]/line_position[1][1])+(line_position[1][2]/line_position[1][1])
- meet2[1][1]=(-1*line_position[1][0]*meet2[1][0]/line_position[1][1])+(line_position[1][2]/line_position[1][1])
- if(cal_distance(meet1[1][0],meet1[1][1],a2,b2)>=cal_distance(meet2[1][0],meet2[1][1],a2,b2)):
- meet_result[1][0]=meet2[1][0]
- meet_result[1][1]=meet2[1][1]
- else:
- meet_result[1][0]=meet1[1][0]
- meet_result[1][1]=meet1[1][1]
- print("x2:",meet_result[1][0],"y2:",meet_result[1][1])
- #세번째 직선의 교점
- if(line_position[2][0]==0 and line_position[2][1]!=0):
- meet1[2][1]=line_position[2][2]/line_position[2][1]
- meet2[2][1]=meet1[2][1]
- meet1[2][0]=math.sqrt(r2*r2-(meet1[2][1]-b2)*(meet1[2][1]-b2))+a2
- meet2[2][0]=a2-math.sqrt(r2*r2-(meet1[2][1]-b2)*(meet1[2][1]-b2))
- if(cal_distance(meet1[2][0],meet1[2][1],a1,b1)>=cal_distance(meet2[2][0],meet2[2][1],a1,b1)):
- meet_result[2][0]=meet2[2][0]
- meet_result[2][1]=meet2[2][1]
- else:
- meet_result[2][0]=meet1[2][0]
- meet_result[2][1]=meet1[2][1]
- elif(line_position[2][0]!=0 and line_position[2][1]==0):
- meet1[2][0]=line_position[2][2]/line_position[2][0]
- meet2[2][0]=meet1[2][0]
- meet1[2][1]=math.sqrt(r2*r2-(meet1[2][0]-a2)*(meet1[2][0]-a2))+b2
- meet2[2][1]=b2-math.sqrt(r2*r2-(meet1[2][0]-a2)*(meet1[2][0]-a2))
- if(cal_distance(meet1[2][0],meet1[2][1],a1,b1)>=cal_distance(meet2[2][0],meet2[2][1],a1,b1)):
- meet_result[2][0]=meet2[2][0]
- meet_result[2][1]=meet2[2][1]
- else:
- meet_result[2][0]=meet1[2][0]
- meet_result[2][1]=meet1[2][1]
- else:
- a=1+(line_position[2][0]/line_position[2][1])*(line_position[2][0]/line_position[2][1])
- b=(-2*a2)+((-2*line_position[2][0]*line_position[2][2]) / (line_position[2][1]*line_position[2][1]))+(2*line_position[2][0]*b2/line_position[2][1])
- c=(line_position[2][2]/line_position[2][1])*(line_position[2][2]/line_position[2][1]) + (-2*line_position[2][2]*b2/line_position[2][1]) + b2*b2 - r2*r2 +a2*a2
- meet1[2][0]=(-b+math.sqrt(b*b-4*a*c))/(2*a)
- meet2[2][0]=(-b-math.sqrt(b*b-4*a*c))/(2*a)
- meet1[2][1]=(-1*line_position[2][0]*meet1[2][0]/line_position[2][1])+(line_position[2][2]/line_position[2][1])
- meet2[2][1]=(-1*line_position[2][0]*meet2[2][0]/line_position[2][1])+(line_position[2][2]/line_position[2][1])
- if(cal_distance(meet1[2][0],meet1[2][1],a1,b1)>=cal_distance(meet2[2][0],meet2[2][1],a1,b1)):
- meet_result[2][0]=meet2[2][0]
- meet_result[2][1]=meet2[2][1]
- else:
- meet_result[2][0]=meet1[2][0]
- meet_result[2][1]=meet1[2][1]
- print("x3:",meet_result[2][0],"y3:",meet_result[2][1])
-
- print("x:",(meet_result[0][0]+meet_result[1][0]+meet_result[2][0])/3,"/y:",(meet_result[0][1]+meet_result[1][1]+meet_result[2][1])/3)
- return 0
-
-
-def second_situation(a1,b1,r1,a2,b2,r2,oa3,ob3,or3):#2번째 경우로 2개의 원만 겹치는 부분이 있는 경우이다.
- line_position = [[0,0,0],[0,0,0],[0,0,0]]#Ax+By=c의 형태[A,B,C]
- meet1 = [[0,0],[0,0],[0,0]]
- meet2 = [[0,0],[0,0],[0,0]]
- meet_result = [[0,0],[0,0],[0,0]]
- #첫번째 직선(1,2)
- line_position[0][0]=-2*a1+2*a2
- line_position[0][1]=-2*b1+2*b2
- line_position[0][2]=(r1*r1-r2*r2)+(a2*a2-a1*a1)+(b2*b2-b1*b1)
- print(line_position[0])
- #첫번째 직선의 교점
- if(line_position[0][0]==0 and line_position[0][1]!=0):
- meet1[0][1]=line_position[0][2]/line_position[0][1]
- meet2[0][1]=meet1[0][1]
- meet1[0][0]=math.sqrt(r1*r1-(meet1[0][1]-b1)*(meet1[0][1]-b1))+a1
- meet2[0][0]=a1-math.sqrt(r1*r1-(meet1[0][1]-b1)*(meet1[0][1]-b1))
- if(cal_distance(meet1[0][0],meet1[0][1],oa3,ob3)>=cal_distance(meet2[0][0],meet2[0][1],oa3,ob3)):
- meet_result[0][0]=meet2[0][0]
- meet_result[0][1]=meet2[0][1]
- else:
- meet_result[0][0]=meet1[0][0]
- meet_result[0][1]=meet1[0][1]
- elif(line_position[0][0]!=0 and line_position[0][1]==0):
- meet1[0][0]=line_position[0][2]/line_position[0][0]
- meet2[0][0]=meet1[0][0]
- meet1[0][1]=math.sqrt(r1*r1-(meet1[0][0]-a1)*(meet1[0][0]-a1))+b1
- meet2[0][1]=b1-math.sqrt(r1*r1-(meet1[0][0]-a1)*(meet1[0][0]-a1))
- if(cal_distance(meet1[0][0],meet1[0][1],oa3,ob3)>=cal_distance(meet2[0][0],meet2[0][1],oa3,ob3)):
- meet_result[0][0]=meet2[0][0]
- meet_result[0][1]=meet2[0][1]
- else:
- meet_result[0][0]=meet1[0][0]
- meet_result[0][1]=meet1[0][1]
- else:
- a=1+(line_position[0][0]/line_position[0][1])*(line_position[0][0]/line_position[0][1])
- b=(-2*a1)+((-2*line_position[0][0]*line_position[0][2]) / (line_position[0][1]*line_position[0][1]))+(2*line_position[0][0]*b1/line_position[0][1])
- c=(line_position[0][2]/line_position[0][1])*(line_position[0][2]/line_position[0][1]) + (-2*line_position[0][2]*b1/line_position[0][1]) + b1*b1 - r1*r1 + a1*a1
- print(a,b,c)
- meet1[0][0]=(-b+math.sqrt(b*b-4*a*c))/(2*a)
- meet2[0][0]=(-b-math.sqrt(b*b-4*a*c))/(2*a)
- meet1[0][1]=(-1*line_position[0][0]*meet1[0][0]/line_position[0][1])+(line_position[0][2]/line_position[0][1])
- meet2[0][1]=(-1*line_position[0][0]*meet2[0][0]/line_position[0][1])+(line_position[0][2]/line_position[0][1])
- print(meet1[0][0],meet1[0][1])
- print(meet2[0][0],meet2[0][1])
- print(cal_distance(meet1[0][0],meet1[0][1],oa3,ob3))
- print(cal_distance(meet2[0][0],meet2[0][1],oa3,ob3))
- if(cal_distance(meet1[0][0],meet1[0][1],oa3,ob3)>=cal_distance(meet2[0][0],meet2[0][1],oa3,ob3)):
- meet_result[0][0]=meet2[0][0]
- meet_result[0][1]=meet2[0][1]
- else:
- meet_result[0][0]=meet1[0][0]
- meet_result[0][1]=meet1[0][1]
- print("x:",meet_result[0][0],"y:",meet_result[0][1])
-
-#def third_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3):#3번째 경우로 겹치는 원이 없는 경우이다.(값이 정확히지는 않음)
-# a=2*(a1-a2)
-# b=2*(b1-b2)
-# c=(r2*r2-r1*r1)+(a1*a1-a2*a2)+(b1*b1-b2*b2)
-# d=2*(a2-a3)
-# e=2*(b2-b3)
-# f=(r3*r3-r2*r2)+(a2*a2-a3*a3)+(b2*b2-b3*b3)
-# y1=(f-((d*c) / a)) / (e-((b*d)/a))
-# x1=(c-b*y1)/a
-# print("x:",x1,"y:",y1)
-
-def function(a1,b1,r1,a2,b2,r2,a3,b3,r3):
- list=[r1,r2,r3]
- list.sort()
- a=cal_distance(a1,b1,a2,b2)
- b=cal_distance(a1,b1,a3,b3)
- c=cal_distance(a2,b2,a3,b3)
- if(list[2]==r1):
- if(r2+a<=r1 or r3+b<=r1):
- print("error")
- return 0
- elif(list[2]==r2):
- if(r1+a<=r2 or r3+c<=r2):
- print("error")
- return 0
- elif(list[2]==r3):
- if(r1+b<=r3 or r2+c<=r3):
- print("error")
- return 0
-
- if(a<=r1+r2 and b<=r1+r3 and c<=r2+r3):
- first_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3)
- elif(a<=r1+r2 and b>r1+r3 and c>r2+r3):
- second_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3)
- elif(a>r1+r2 and b<=r1+r3 and c>r2+r3):
- second_situation(a1,b1,r1,a3,b3,r3,a2,b2,r2)
- elif(a>r1+r2 and b>r1+r3 and c<=r2+r3):
- second_situation(a2,b2,r2,a3,b3,r3,a1,b1,r1)
- else:
- print("error")
- return 0
-
-function(20,10,10,9,10,1,10,9,1)
-print("-----------------------")
-function(9,10,1,10,9,1,20,10,10)
-print("-----------------------")
-function(10,9,1,9,10,1,20,10,10)
-print("-----------------------")
\ No newline at end of file
diff --git a/Server_Vue_Express/backend/models/userNode.js b/Server_Vue_Express/backend/models/userNode.js
index 448fddea63781d57bf05ed43a7ab3c7a5b388cae..1fee736cf3c013f04d65461741a0913856598cb3 100644
--- a/Server_Vue_Express/backend/models/userNode.js
+++ b/Server_Vue_Express/backend/models/userNode.js
@@ -2,7 +2,16 @@ var mongoose = require('mongoose');
const Schema = mongoose.Schema;
const userNodeSchema = new Schema({
- rasbpID: { type: String, default: "" },
+ rp1: {
+ rpuuid:{ type: String, default: "" },
+ distance:{ type: Number, default: 0 }
+ },rp2: {
+ rpuuid:{ type: String, default: "" },
+ distance:{ type: Number, default: 0 }
+ },rp3: {
+ rpuuid:{ type: String, default: "" },
+ distance:{ type: Number, default: 0 }
+ },
useruuid: { type: String, default: "" },
x:{ type: Number, default: 0 },
y:{ type: Number, default: 0 },
diff --git a/Server_Vue_Express/backend/public/chart.js b/Server_Vue_Express/backend/public/chart.js
index d461cc046fbe53e77389258b457bec9d70b31abd..847d52d422dc6a90b4425a4b7a385dd218eaea21 100644
--- a/Server_Vue_Express/backend/public/chart.js
+++ b/Server_Vue_Express/backend/public/chart.js
@@ -21,7 +21,7 @@ var options = {
yAxes: [
{
ticks: {
- //max:30,
+ max:30,
beginAtZero: true
}
}
@@ -29,7 +29,7 @@ var options = {
xAxes: [
{
ticks: {
- //max:20,
+ max:20,
beginAtZero: true
}
}
diff --git a/Server_Vue_Express/backend/routes/api.js b/Server_Vue_Express/backend/routes/api.js
index 5e435684682301d69dfebf9060bc82a527d60199..368cb6422b40653f81aec8b6616ff37154a0f602 100644
--- a/Server_Vue_Express/backend/routes/api.js
+++ b/Server_Vue_Express/backend/routes/api.js
@@ -75,47 +75,57 @@ router.get('/findUserByUUID/:id', function(req, res, next) {
var data =new Array();
var UserName = "";
var UserLocation =[];
+ var temp;
var rpNodeData=[];
//console.log("kkkk")
(async () => {
try{
await User.find({uuid:req.params.id}, (err,output)=>{
//res.json(output);
- console.log(output[0].name)
- userData.push({name:output[0].name})
+ //console.log(output[0].name)
UserName = output[0].name;
})
await User.find({uuid:req.params.id}, (err,output)=>{
//res.json(output);
- console.log(output[0].name)
- userData.push({name:output[0].name})
+ //console.log(output[0].name)
UserName = output[0].name;
})
await UserNode.find({useruuid:req.params.id}, (err,output)=>{
//res.json(output);
+ //console.log("tt,",output[0].rp1)
+
try{
+ temp =[output[0].rp1,output[0].rp2,output[0].rp3];
UserLocation ={
x:output[0].x,
y:output[0].y,
r:10
}
- userData.push({
- x:output[0].x,
- y:output[0].y,
- updateTime:output[0].updateTime,
- })
}catch(exception){}
})
- await rpNode.find((err,output) =>{
- rpNodeData = output;
- console.log("tt",JSON.stringify(rpNodeData));
- })
+ // await rpNode.find((err,output) =>{
+ // rpNodeData = output;
+ // console.log("tt",JSON.stringify(rpNodeData));
+ // })
+ for(i in temp){
+ console.log(i, temp[i].rpuuid)
+ await rpNode.find({'rpuuid': temp[i].rpuuid},(err,output)=>{
+ //console.log(temp[i].distance)
+ rpNodeData.push({
+ rpuuid : temp[i].rpuuid,
+ x: output[0].x,
+ y: output[0].y,
+ r: temp[i].distance * 20
+ })
+ })
+ //console.log(rpNodeData,i)
+ }
}
catch(exception){
console.log(exception)
}
-
+ console.log(rpNodeData)
res.render('index',{title:'Express',UserName:UserName ,UserLocation: UserLocation, rpNodeData:JSON.stringify(rpNodeData)})
})();
});
diff --git a/Server_Vue_Express/backend/views/index.pug b/Server_Vue_Express/backend/views/index.pug
index ece03bdd40bedc215c5e0213aa16d08144f4129e..952ffcf754e027bc20650a8f1b4c1cbd84bca45c 100644
--- a/Server_Vue_Express/backend/views/index.pug
+++ b/Server_Vue_Express/backend/views/index.pug
@@ -33,7 +33,7 @@ block content
t.push({
x: nodeData[i].x,
y: nodeData[i].y,
- r: 5
+ r: nodeData[i].r
})
}