add triangulation.py

Server_CoAP/CoAPthon3/coapserver.py

@@ -6,6 +6,7 @@ import _thread
 import time
 import datetime
 import json
+import triangulation
 from coapthon.server.coap import CoAP
 from exampleresources import BleInfoResource, RpNodeInfoResource, RpGraphInfoResource
 from pymongo import MongoClient
@@ -74,24 +75,26 @@ class CoAPServer(CoAP):
         if len(userLocationData) < 3:
             return
 
-        node = []
+        nodeList = []
         for i in range(3):
-            node.append({
-                'x': piNodeCollection.find({'rpuuid': userLocationData[i]['rpuuid']})[i]['x'],
-                'y': piNodeCollection.find({'rpuuid': userLocationData[i]['rpuuid']})[i]['y'],
+            nodeList.append({
+                'x': self.piNodeCollection.find({'rpuuid': userLocationData[i]['rpuuid']})[0]['x'],
+                'y': self.piNodeCollection.find({'rpuuid': userLocationData[i]['rpuuid']})[0]['y'],
                 'distance': userLocationData[i]['distance']
             })
 
-        triangulationInst = triangulation.Triangulation(node[:3])
-        x, y = triangulation.doTriangulation()
+        triangulationInst = triangulation.Triangulation(nodeList[:3])
+        x, y = triangulationInst.doTriangulation()
 
-        if(x == null)
+        if x == None:
             return
 
         dd = datetime.datetime.now()
         dd = dd.replace(hour=dd.hour + 9)
         userNodeData = {
-            'rpuuid': userLocationData[0]['rpuuid'],
+            'rpuuid1': userLocationData[0]['rpuuid'],
+            'rpuuid2': userLocationData[1]['rpuuid'],
+            'rpuuid3': userLocationData[2]['rpuuid'],
             'useruuid': useruuid,
             'x': x,
             'y': y,

Server_CoAP/CoAPthon3/exampleresources.py

@@ -94,8 +94,7 @@ class RpNodeInfoResource(Resource):
                     'b': graphColletion.find({'v1': vertexA[0][rpuuid], 'v2': info})[0]['distance'],
                     'c': vertexB[0]['x']
                 }
-                cosA = (math.pow(dis['b'], 2) + math.pow(dis['c'], 2) - math.pow(dis['a'], 2))
-                / (2 * dis['b'] * dis['c'])
+                cosA = (math.pow(dis['b'], 2) + math.pow(dis['c'], 2) - math.pow(dis['a'], 2)) / (2 * dis['b'] * dis['c'])
                 sinA = math.sqrt((1 - math.pow(cosA,2)))
                 x = b * cosA
                 y = b * sinA
@@ -115,23 +114,21 @@ class RpNodeInfoResource(Resource):
                 if len(nodeLocationData) < 3:
                     return
 
-                node = []
+                nodeList = []
                 for i in range(3):
-                    node.append({
-                        'x': piNodeCollection.find({'rpuuid': nodeLocationData[i]['rpuuid']})[i]['x'],
-                        'y': piNodeCollection.find({'rpuuid': nodeLocationData[i]['rpuuid']})[i]['y'],
+                    nodeList.append({
+                        'x': self.piNodeCollection.find({'rpuuid': nodeLocationData[i]['rpuuid']})[0]['x'],
+                        'y': self.piNodeCollection.find({'rpuuid': nodeLocationData[i]['rpuuid']})[0]['y'],
                         'distance': nodeLocationData[i]['distance']
                     })
 
-                triangulationInst = triangulation.Triangulation(node[:3])
+                triangulationInst = triangulation.Triangulation(nodeList[:3])
                 x, y = triangulation.doTriangulation()
 
-                if(x == null)
+                if x == None:
                     return
 
                 self.collection.update({'rpuuid' : info}, {'$set':{'x': x, 'y': y}}, False)
-                else :
-                    print("This is not registered Node")
                 
         
 

Server_CoAP/CoAPthon3/triangulation.py

-import pymongo
 import math
-from pymongo import MongoClient
 
-def cal_distance(a1,b1,a2,b2):
+class Triangulation():
+    def __init__(self, nodeList):
+        self.n = nodeList
+        for a in self.n:
+            print(a)
+
+    def cal_distance(self, 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
+    def first_situation(self, 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]]
@@ -29,7 +33,7 @@ def first_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3):#첫번째 경우로 원 3개가
             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)):
+            if(self.cal_distance(meet1[0][0],meet1[0][1],a3,b3)>=self.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:
@@ -40,7 +44,7 @@ def first_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3):#첫번째 경우로 원 3개가
             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)):
+            if(self.cal_distance(meet1[0][0],meet1[0][1],a3,b3)>=self.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:
@@ -54,7 +58,7 @@ def first_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3):#첫번째 경우로 원 3개가
             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)):
+            if(self.cal_distance(meet1[0][0],meet1[0][1],a3,b3)>=self.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:
@@ -68,7 +72,7 @@ def first_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3):#첫번째 경우로 원 3개가
             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))
-        if(cal_distance(meet1[1][0],meet1[1][1],a2,b2)>=cal_distance(meet2[1][0],meet2[1][1],a2,b2)):
+            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]
             else:
@@ -79,7 +83,7 @@ def first_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3):#첫번째 경우로 원 3개가
             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)):
+            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]
             else:
@@ -93,20 +97,21 @@ def first_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3):#첫번째 경우로 원 3개가
             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)):
+            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]
             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)):
+            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]
             else:
@@ -117,7 +122,7 @@ def first_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3):#첫번째 경우로 원 3개가
             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))
-        if(cal_distance(meet1[2][0],meet1[2][1],a1,b1)>=cal_distance(meet2[2][0],meet2[2][1],a1,b1)):
+            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]
             else:
@@ -131,7 +136,7 @@ def first_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3):#첫번째 경우로 원 3개가
             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)):
+            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]
             else:
@@ -140,10 +145,10 @@ def first_situation(a1,b1,r1,a2,b2,r2,a3,b3,r3):#첫번째 경우로 원 3개가
         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
+        return (meet_result[0][0]+meet_result[1][0]+meet_result[2][0])/3, (meet_result[0][1]+meet_result[1][1]+meet_result[2][1])/3
 
 
-def second_situation(a1,b1,r1,a2,b2,r2,oa3,ob3,or3):#2번째 경우로 2개의 원만 겹치는 부분이 있는 경우이다.
+    def second_situation(self, 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]]
@@ -159,7 +164,7 @@ def second_situation(a1,b1,r1,a2,b2,r2,oa3,ob3,or3):#2번째 경우로 2개의
             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)):
+            if(self.cal_distance(meet1[0][0],meet1[0][1],oa3,ob3)>=self.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:
@@ -170,7 +175,7 @@ def second_situation(a1,b1,r1,a2,b2,r2,oa3,ob3,or3):#2번째 경우로 2개의
             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)):
+            if(self.cal_distance(meet1[0][0],meet1[0][1],oa3,ob3)>=self.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:
@@ -187,15 +192,17 @@ def second_situation(a1,b1,r1,a2,b2,r2,oa3,ob3,or3):#2번째 경우로 2개의
             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)):
+            print(self.cal_distance(meet1[0][0],meet1[0][1],oa3,ob3))
+            print(self.cal_distance(meet2[0][0],meet2[0][1],oa3,ob3))
+            if(self.cal_distance(meet1[0][0],meet1[0][1],oa3,ob3)>=self.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])
+            
+        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)
@@ -208,23 +215,36 @@ def second_situation(a1,b1,r1,a2,b2,r2,oa3,ob3,or3):#2번째 경우로 2개의
     #    x1=(c-b*y1)/a
     #    print("x:",x1,"y:",y1)
 
-def function(a1,b1,r1,a2,b2,r2,a3,b3,r3):
-    a=cal_distance(a1,b1,a2,b2)
-    b=cal_distance(a1,b1,a3,b3)
-    c=cal_distance(a2,b2,a2,b2)
-    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)
-
+    def doTriangulation(self):
+        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'])
+        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'],
+            self.n[2]['x'],self.n[2]['y'],self.n[2]['distance'])
+        elif(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.second_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'],
+            self.n[2]['x'],self.n[2]['y'],self.n[2]['distance'])
+        elif(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.second_situation(self.n[0]['x'],self.n[0]['y'],self.n[0]['distance'],
+            self.n[2]['x'],self.n[2]['y'],self.n[2]['distance'],
+            self.n[1]['x'],self.n[1]['y'],self.n[1]['distance'])
+        elif(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.second_situation(self.n[1]['x'],self.n[1]['y'],self.n[1]['distance'],
+            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")
+        return x, y
+    """
     #예시
-first_situation(20,10,10,9,10,1,10,9,1)
-function(20,10,10,9,10,1,10,9,1)
+    self.first_situation(20,10,10,9,10,1,10,9,1)
+    doTriangulation(20,10,10,9,10,1,10,9,1)
     print("-----------------------")
-second_situation(0,3,1,0,4,1,5,3,1)
-function(0,3,1,0,4,1,5,3,1)
+    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