okets · August 29, 2024 16:01 · Kisty · Dec 1, 2022 · Hypfer · Dec 1, 2022
diff --git a/gistfile1.txt b/gistfile1.txt
 const mapData = msg.payload;
 const _pixelSize = mapData.pixelSize;
 let _robotXY = null;
 for (let i = 0; i < mapData.entities.length; i++) {
    if (mapData.entities[i].type == "robot_position") {
        _robotXY = {
            x: Math.floor(mapData.entities[i].points[0] / _pixelSize),
            y: Math.floor(mapData.entities[i].points[1] / _pixelSize)
        };
        break;
    }
 }

 // Test Data
 // _robotXY = {
 //     x: 1000,
 //     y: 1000
 // };

 const _nearestPoint = {
    x: mapData.size.x,
    y: mapData.size.y,
    distance: Math.pow(mapData.size.x,2) + Math.pow(mapData.size.y,2), //Just a placeholder with the biggest distance possible
    foundRoom:{
        segmentId: null,
        name: null
    }
 }

 if (mapData.metaData?.version === 2 && Array.isArray(mapData.layers)) {
    mapData.layers.forEach(layer => {
        if (layer.pixels.length === 0 && layer.compressedPixels.length !== 0 && layer.type == "segment") {
            for (let i = 0; i < layer.compressedPixels.length; i = i + 3) {
                const xStart = layer.compressedPixels[i];
                const y = layer.compressedPixels[i + 1]
                const count = layer.compressedPixels[i + 2]
                for (let j = 0; j < count; j++) {
                    let x = xStart + j;

                    let _distanceX = x - _robotXY.x;
                    let _distanceY = y - _robotXY.y;
                    //const _pointToRobotDistance = Math.sqrt(Math.pow(_distanceX, 2) + Math.pow(_distanceY, 2));
                    const _pointToRobotDistance = Math.pow(_distanceX, 2) + Math.pow(_distanceY, 2);//sqrt is the "correct" trig function, but I only need to compare relative to other points, not exact distance, so I dropped the "sqrt" function for efficiancy
                    if (_nearestPoint.distance > _pointToRobotDistance){
                        _nearestPoint.distance = _pointToRobotDistance;
                        _nearestPoint.x = x;
                        _nearestPoint.y = y;
                        _nearestPoint.foundRoom= {
                            segmentId: layer.metaData.segmentId,
                            name: layer.metaData.name
                        };
                    }
                    if (_nearestPoint.distance==0) {
                        return;
                    }
                }
            }
        }
    })
 }
 return _nearestPoint.foundRoom;
	const mapData = msg.payload;
	const _pixelSize = mapData.pixelSize;
	let _robotXY = null;
	for (let i = 0; i < mapData.entities.length; i++) {
	if (mapData.entities[i].type == "robot_position") {
	_robotXY = {
	x: Math.floor(mapData.entities[i].points[0] / _pixelSize),
	y: Math.floor(mapData.entities[i].points[1] / _pixelSize)
	};
	break;
	}
	}

	// Test Data
	// _robotXY = {
	// x: 1000,
	// y: 1000
	// };

	const _nearestPoint = {
	x: mapData.size.x,
	y: mapData.size.y,
	distance: Math.pow(mapData.size.x,2) + Math.pow(mapData.size.y,2), //Just a placeholder with the biggest distance possible
	foundRoom:{
	segmentId: null,
	name: null
	}
	}

	if (mapData.metaData?.version === 2 && Array.isArray(mapData.layers)) {
	mapData.layers.forEach(layer => {
	if (layer.pixels.length === 0 && layer.compressedPixels.length !== 0 && layer.type == "segment") {
	for (let i = 0; i < layer.compressedPixels.length; i = i + 3) {
	const xStart = layer.compressedPixels[i];
	const y = layer.compressedPixels[i + 1]
	const count = layer.compressedPixels[i + 2]
	for (let j = 0; j < count; j++) {
	let x = xStart + j;

	let _distanceX = x - _robotXY.x;
	let _distanceY = y - _robotXY.y;
	//const _pointToRobotDistance = Math.sqrt(Math.pow(_distanceX, 2) + Math.pow(_distanceY, 2));
	const _pointToRobotDistance = Math.pow(_distanceX, 2) + Math.pow(_distanceY, 2);//sqrt is the "correct" trig function, but I only need to compare relative to other points, not exact distance, so I dropped the "sqrt" function for efficiancy
	if (_nearestPoint.distance > _pointToRobotDistance){
	_nearestPoint.distance = _pointToRobotDistance;
	_nearestPoint.x = x;
	_nearestPoint.y = y;
	_nearestPoint.foundRoom= {
	segmentId: layer.metaData.segmentId,
	name: layer.metaData.name
	};
	}
	if (_nearestPoint.distance==0) {
	return;
	}
	}
	}
	}
	})
	}
	return _nearestPoint.foundRoom;