def load():
starttime = time.time() * 1000
initdict_terrain = MapLoader.loadFile(
"../../def/1_Terrain.yml")["terrain"]
initdict_zones = MapLoader.loadFile("../../def/2_Zones.yml")["zones"]
initdict_waypoints = MapLoader.loadFile(
"../../def/3_Waypoints.yml")["waypoints"]
initdict_entities = MapLoader.loadFile(
"../../def/4_Entities.yml")["entities"]
initdict_objects = MapLoader.loadFile(
"../../def/5_Objects.yml")["objects"]
# Instantiate objects before creating the map dict
for zone in initdict_zones:
initdict_zones[zone] = Zone(initdict_zones[zone])
for waypoint in initdict_waypoints:
initdict_waypoints[waypoint] = Waypoint(
initdict_waypoints[waypoint])
for entity in initdict_entities:
initdict_entities[entity] = Entity(initdict_entities[entity])
for obj in initdict_objects:
initdict_objects[obj] = Object(initdict_objects[obj])
rospy.loginfo("Loaded files in {0:.2f}ms.".format(time.time() * 1000 -
starttime))
# Create main Map dict
Map.MapDict = DictManager({
"terrain": Terrain(initdict_terrain),
"zones": DictManager(initdict_zones),
"waypoints": DictManager(initdict_waypoints),
"entities": DictManager(initdict_entities),
"objects": DictManager(initdict_objects)
})
rospy.loginfo("Loaded map in {0:.2f}ms.".format(time.time() * 1000 -
starttime))
def load():
# Loading XML files
starttime = time.time() * 1000
xml_config = MapLoader.loadFile("1_config.xml")
xml_terrain = MapLoader.loadFile("2_terrain.xml")
xml_waypoints = MapLoader.loadFile("3_waypoints.xml")
xml_objects = MapLoader.loadFile("4_objects.xml")
xml_robot = MapLoader.loadFile("5_robot.xml")
rospy.loginfo("Loaded files in {0:.2f}ms.".format(time.time() * 1000 -
starttime))
# Setting current team to the default set one.
for xml_team in xml_config.find("teams").findall("team"):
if "default" in xml_team.attrib and bool(
xml_team.attrib["default"]):
if MapManager.CurrentTeam != "":
raise ValueError(
"ERROR Two or more teams have been set to default.")
MapManager.CurrentTeam = xml_team.attrib["name"]
MapManager.Teams.append(Team(xml_team))
if MapManager.CurrentTeam == "":
raise ValueError("ERROR One team has to be set as default.")
# Loading the color palette
for xml_color in xml_config.find("colors").findall("color"):
MapManager.Colors.append(Color(xml_color))
# Constructing object classes
if not xml_objects.findall("classes"):
raise KeyError("Objects file must have a 'classes' tag.")
obj_classes = []
for c in xml_objects.find("classes").findall("class"):
obj_classes.append(Class(c, obj_classes))
# Instantiate objects and create the map dict
MapDict.Terrain = Terrain(xml_terrain)
xml_objects.attrib["name"] = "map"
MapDict.Objects = Container(xml_objects, obj_classes)
MapDict.Waypoints = [
Waypoint(w) for w in xml_waypoints.findall("waypoint")
]
MapDict.Robot = Robot(xml_robot, obj_classes)
rospy.loginfo("Loaded map in {0:.2f}ms.".format(time.time() * 1000 -
starttime))
