def update_geo_path(self):
if (self.waypoints and self.zone and self.band):
waypoints_geo = []
for point in self.waypoints:
x, y = point
geo = UTMPoint(x, y, zone=self.zone, band=self.band).toMsg()
wp = WayPoint()
wp.id = unique_id.toMsg(unique_id.fromRandom())
wp.position = geo
waypoints_geo.append(wp)
segments_geo = []
last_wp = waypoints_geo[0].id
for wp in waypoints_geo:
seg = RouteSegment()
seg.id = unique_id.toMsg(unique_id.fromRandom())
seg.start = last_wp
seg.end = wp.id
last_wp = wp.id
segments_geo.append(seg)
self.route_network.points = waypoints_geo
self.route_network.segments = segments_geo
else:
rospy.logwarn('[update_geo_path] waypoints, zone, and/or band\n' +
'\thas not been set/updated.\n\tIgnoring...')
def test_segment_null_value(self):
s = RouteSegment()
put(s, 'another', 'anything')
put(s, 'name')
self.assertEqual(get(s, 'name'), '')
put(s, 'name', 'myself')
self.assertEqual(get(s, 'name'), 'myself')
def makeSeg(start, end, oneway=False):
""" Make RouteSegment message.
:param start: Initial UUID.
:param end: Final UUID.
:param oneway: True if segment is one-way.
:returns: RouteSegment message.
"""
uu = geodesy.gen_uuid.makeUniqueID(PKG_URL + '/' + str(start) + '/' +
str(end))
seg = RouteSegment(id=uu,
start=UniqueID(uuid=start),
end=UniqueID(uuid=end))
if oneway:
seg.props.append(KeyValue(key='oneway', value='yes'))
return seg
def makeSegment(id, start, end):
return RouteSegment(id = UniqueID(id),
start = UniqueID(start),
end = UniqueID(end))