diff --git a/droneCode/connect_to_lidar.py b/droneCode/connect_to_lidar.py
new file mode 100644
index 0000000000000000000000000000000000000000..484624e38bbada7a997fdd9edf59a4407440eb68
--- /dev/null
+++ b/droneCode/connect_to_lidar.py
@@ -0,0 +1 @@
+#include <Wire.h>
diff --git a/droneCode/lidar_setup/lidar_setup.ino b/droneCode/lidar_setup/lidar_setup.ino
new file mode 100644
index 0000000000000000000000000000000000000000..ad8aa24ab4732fd7bb2fe3e385847106211084c8
--- /dev/null
+++ b/droneCode/lidar_setup/lidar_setup.ino
@@ -0,0 +1,77 @@
+#include <SoftwareServo.h>
+#include <TimerOne.h>
+#include <Wire.h>
+#include <LIDARLite.h>
+
+#define DIR_PIN 2
+#define STEP_PIN 3
+
+LIDARLite myLidarLite;
+SoftwareServo servo;
+
+volatile int stepCount = 0;
+volatile int roundCount = 0;
+
+int height = 18;
+
+void setup() {
+ Serial.begin(115200);
+
+ myLidarLite.begin(0, true);
+ myLidarLite.configure(0);
+
+ servo.attach(5);
+ servo.write(height);
+
+ pinMode(DIR_PIN, OUTPUT);
+ pinMode(STEP_PIN, OUTPUT);
+
+ digitalWrite(DIR_PIN, HIGH);
+
+ Timer1.initialize();
+ Timer1.attachInterrupt(tick, 1000000.0f / (3200 * 1));
+}
+
+void loop() {
+ receive(true);
+
+ for(int i = 0; i < 99; i++)
+ receive(false);
+}
+
+void receive(bool bias)
+{
+ float angle = ((float)stepCount / 3200.0f) * 360.0f;
+ Serial.print(108 - height);
+ Serial.print(",");
+ Serial.print(angle);
+ Serial.print(",");
+ Serial.println(myLidarLite.distance(bias));
+
+ if(roundCount >= 2)
+ {
+ height++;
+
+ if(height >= 140)
+ height = 18;
+
+ servo.write(height);
+ roundCount = 0;
+ }
+
+ servo.refresh();
+}
+
+void tick()
+{
+ digitalWrite(STEP_PIN, HIGH);
+ //delay(1);
+ digitalWrite(STEP_PIN, LOW);
+
+ stepCount++;
+ if(stepCount >= 3200)
+ {
+ stepCount = 0;
+ roundCount++;
+ }
+}
\ No newline at end of file
diff --git a/server/data_processing/area_processing.py b/server/data_processing/area_processing.py
index eed3dfc93d711846541fb92e116cdce0b8778082..639d371806aa9ee7a6386a9020ab7c8a29b51567 100644
--- a/server/data_processing/area_processing.py
+++ b/server/data_processing/area_processing.py
@@ -84,17 +84,24 @@ def calculate_corners(lat, lng, area_offset):
# separate the zones into smaller area, into a grid
def define_gridareas(lat, lng, area_offset, grid_size):
# container for an area turned into a grid of areas
+ print("tha wordo")
grided_area = []
# find the main area's corner positions
main_area = calculate_corners(lat, lng, area_offset)
+
+ print("main area", main_area[0], main_area[2])
+ offset_lng, offset_lat = area_offset
+
# find the main area's range size
area_size = (main_area[2][0] - main_area[0][0], main_area[0][1] - main_area[2][1])
# find each subareas vector to it's center
+ print(area_size)
dist_to_subcenter = (area_size[0]/(grid_size*2), area_size[1]/(grid_size*2))
# find subareas size relative to main area
- subarea_offset = area_offset/grid_size
+ subarea_offset_lng = offset_lng/grid_size
+ subarea_offset_lat = offset_lat/grid_size
group_id = 0
i=0
@@ -115,6 +122,7 @@ def define_gridareas(lat, lng, area_offset, grid_size):
i += 1
# use the center of sub areas to find the corner of each subarea
+ subarea_offset = (subarea_offset_lng, subarea_offset_lat)
corners = calculate_corners(lat_pos, lng_pos, subarea_offset)
grided_area.append((group_id + i%2, corners))
diff --git a/server/data_processing/process_lidar_data.py b/server/data_processing/process_lidar_data.py
index 1043694cb4248c07a30cd93e322786f6894b683b..a70d36098b1515dc960e8d247f47dcd5bccd0c35 100644
--- a/server/data_processing/process_lidar_data.py
+++ b/server/data_processing/process_lidar_data.py
@@ -3,8 +3,7 @@ import laspy
import json
import math
import utm # src: https://github.com/Turbo87/utm
-from server.data_processing.area_processing import (calculate_corners, define_gridareas, inArea,
- find_height, closest_points)
+from server.data_processing.area_processing import calculate_corners, define_gridareas, inArea, find_height, closest_points
# hard coded files for test datas
lazData_path = ["server/example_lidar_data/ot_N_000005_1.laz", "server/example_lidar_data/ot_N_000033_1.laz"]
@@ -39,12 +38,13 @@ def calculate_area_data(center, body_of_water):
taken_coords = []
# read json data with path to data for specific water body
- file_name = "server/lake_relations/" + body_of_water + "_div.json"
+ file_name = "server/map_handler/lake_relations/" + body_of_water + "_div.json"
with open(file_name) as data:
map_data = json.load(data)
# grid cell offset
cell_x, cell_y = map_data['tile_width'], map_data['tile_height']
+
# convert the offset to meter
cell_x = 111.320 * cell_x
cell_y = 111.320 * math.cos(60) * cell_y
@@ -70,9 +70,10 @@ def calculate_area_data(center, body_of_water):
max_point = max(ice_points)
min_point = min(ice_points)
+ print("hello")
# define all the sub-areas within the area, local coordinates
- grid_area_heights = define_gridareas(60, 10, (cell_x, cell_y),4)
-
+ grid_area_heights = define_gridareas(center[0], center[1], (cell_x, cell_y),4)
+ print("hello2")
# find the heights of each sub-area => area-heights
for sub_area in grid_area_heights:
print(sub_area)
@@ -91,11 +92,17 @@ def calculate_area_data(center, body_of_water):
ye, xe = end
sub_center = ((xs + xe)/2, (ys + ye)/2)
if len(map_data) > 0:
- current_map_zone = closest_points(sub_center, map_data, taken_coords)
- sub_center = current_map_zone['properties']['sub_div_center'][0]
+ # check if area is part of water body
+ part_of_subarea_of_waterbody = list(filter(lambda pos: inArea((pos['properties']['sub_div_center'][0], pos['properties']['sub_div_center'][1], 0.0), [start,end])), map_data)
+ if(len(part_of_subarea_of_waterbody) > 0):
+ current_map_zone = closest_points(sub_center, map_data, taken_coords)
+ sub_center = current_map_zone['properties']['sub_div_center'][0]
+ else:
+ print("nothing here")
+ break
taken_coords.append(sub_center)
else:
- return [0]
+ return [0] # return [0] if no data collected from lidar
current_zone_id = current_map_zone['properties']['sub_div_id']
@@ -107,5 +114,6 @@ def calculate_area_data(center, body_of_water):
return area_heights
-print(calculate_area_data((61, 11), 0.04, 'mjosa'))
+print(calculate_area_data((61, 11), 'mjosa'))
+