def emit_propagation(self, w: GeoData, w_timestamp: datetime.datetime, p: GeoData,
p_timestamp: datetime.datetime,
until: datetime.datetime):
"""Publish current situation assessment."""
current = None
if w:
current = WildfireMap(
header=rospy.Header(stamp=rospy.Time.from_sec(w_timestamp.timestamp())),
raster=serialization.raster_msg_from_geodata(w, 'ignition'))
pred = PredictedWildfireMap(
header=rospy.Header(stamp=rospy.Time.from_sec(p_timestamp.timestamp())),
last_valid=rospy.Time.from_sec(until.timestamp()),
raster=serialization.raster_msg_from_geodata(p, 'ignition'))
# self.pub_wildfire_real.publish(pred)
self.pub_wildfire_pred.publish(pred)
# self.pub_wildfire_real.publish(WildfireMap(
# header=rospy.Header(stamp=rospy.Time.from_sec(p_timestamp.timestamp())),
# raster=serialization.raster_msg_from_geodata(p, 'ignition')))
if current:
self.pub_wildfire_current.publish(current)
if self.sa.elevation_timestamp > self.last_elevation_timestamp:
# pub_elevation is latching, don't bother other nodes with unnecessary elevation updates
elevation = ElevationMap(
header=rospy.Header(
stamp=rospy.Time.from_sec(self.sa.elevation_timestamp.timestamp())),
raster=serialization.raster_msg_from_geodata(self.sa.elevation, 'elevation'))
self.pub_elevation.publish(elevation)
rospy.loginfo("A new Elevation Map has been generated")
self.last_elevation_timestamp = self.sa.elevation_timestamp
g = GeoDataDisplay.pyplot_figure(p)
g.draw_ignition_shade(with_colorbar=True)
g.figure.savefig("/home/rbailonr/fuego_pre.png")
g.close()
if w:
g = GeoDataDisplay.pyplot_figure(w)
g.draw_ignition_shade(with_colorbar=True)
g.figure.savefig("/home/rbailonr/fuego_cur.png")
g.close()
g = GeoDataDisplay.pyplot_figure(self.sa.observed_wildfire.geodata)
g.draw_ignition_shade(with_colorbar=True)
g.figure.savefig("/home/rbailonr/fuego_obs.png")
# obs_cpp = self.sa.observed_wildfire.geodata.as_cpp_raster("ignition")
# obs_cpp_bytes = obs_cpp.encoded(3035)
# print("Compressed: ")
# print(obs_cpp_bytes.hex())
# obs_cpp_bytes = obs_cpp.encoded_uncompressed(3035)
# print("Uncompressed: ")
# print(obs_cpp_bytes.hex())
g.close()
del g
rospy.loginfo("Wildfire propagation publishing ended")
def pub_alarm(posx, posy):
start_wind = (3.0, 3 * np.pi / 2)
environment = fire_rs.firemodel.propagation.Environment(
area, start_wind[0], start_wind[1], fire_rs.geodata.environment.World(
**world_paths,
landcover_to_fuel_remap=fire_rs.geodata.environment.EVERYTHING_FUELMODEL_REMAP))
rw = fire_rs.simulation.wildfire.RealWildfire(
datetime.datetime.fromtimestamp(
(rospy.Time.now() - rospy.Duration.from_sec(10 * 60)).to_sec()),
environment)
ignitions = [(posx, posy), ]
ignitions_cell = [rw.fire_map.array_index(p) for p in ignitions]
rw.ignite((posx, posy))
rospy.loginfo("ignite %s", str((posx, posy)))
rw.propagate(datetime.timedelta(minutes=90.))
rospy.loginfo("propagate 90 min")
wind = MeanWindStamped(header=Header(stamp=rospy.Time.now()), speed=start_wind[0],
direction=start_wind[1])
wind_pub.publish(wind)
rospy.loginfo("Notify wind")
rospy.loginfo(wind)
firemap = rw.perimeter(rospy.Time.now().to_sec()).geodata
wildfire_message = WildfireMap(header=rospy.Header(stamp=rospy.Time.now()),
raster=serialization.raster_msg_from_geodata(
firemap,
layer="ignition"))
map_pub.publish(wildfire_message)
wildfire_real_message = WildfireMap(header=rospy.Header(stamp=rospy.Time.now()),
raster=serialization.raster_msg_from_geodata(
rw.fire_map,
layer="ignition"))
rospy.loginfo("Notify alarm map at 15 min")
rospy.loginfo(wildfire_message)
pub_wildfire_real.publish(wildfire_real_message)
rospy.loginfo(wildfire_real_message)
firemap.data["ignition"][firemap.data["ignition"] == np.inf] = 0
firemap.data["ignition"][firemap.data["ignition"].nonzero()] = 65535
firemap.write_to_image_file("/home/rbailonr/fire.png", "ignition")
fire_pos = Timed2DPointStamped(header=Header(stamp=rospy.Time.now()),
x=posx, y=posy,
t=rospy.Time.now() - rospy.Duration.from_sec(60 * 30))
alarm_pub.publish(fire_pos)
rospy.loginfo("Notify alarm point")
rospy.loginfo(fire_pos)
def propagate_and_set_fire_front(
self, origin, origin_time: rospy.Time, perimeter_time: rospy.Time,
environment: fire_rs.firemodel.propagation.Environment):
origin_pos = Timed2DPointStamped(header=Header(stamp=rospy.Time.now()),
x=origin[0],
y=origin[1],
t=origin_time)
fireprop = fire_rs.firemodel.propagation.propagate_from_points(
environment,
fire_rs.firemodel.propagation.TimedPoint(*origin,
origin_time.to_sec()))
firemap = fireprop.ignitions()
array, cells, contours = fire_rs.geodata.wildfire._compute_perimeter(
firemap, perimeter_time.to_sec())
# Publish ignition points
# initial alarm
self.pub_w.publish(origin_pos)
self.pub_w.publish(origin_pos)
rospy.loginfo(origin_pos)
wildfire_message = WildfireMap(
header=rospy.Header(stamp=rospy.Time.now()),
raster=serialization.raster_msg_from_geodata(
firemap.clone(data_array=array, dtype=firemap.data.dtype),
'ignition'))
self.pub_wildfire_obs.publish(wildfire_message)
rospy.loginfo(wildfire_message)
def on_firemap_from_neptus(self, **kwargs):
kwargs['uav'] = "x8-06"
if kwargs['uav'] in self._known_uavs:
with self.dict_firemap_lock:
kwargs["firemap"].data["ignition"] = kwargs["firemap"].data[
"ignition"][..., ::-1]
kwargs["firemap"].write_to_image_file(
"/home/rbailonr/hola.png", "ignition")
firemap_msg = WildfireMap(
header=Header(stamp=rospy.Time.from_sec(kwargs['time'])),
raster=serialization.raster_msg_from_geodata(
kwargs["firemap"], 'ignition'))
self.dict_firemap_msg[kwargs['uav']] = firemap_msg
def publish_real_fire(self,
real_fire: fire_rs.simulation.wildfire.RealWildfire):
current_fire_msg = WildfireMap(
header=rospy.Header(stamp=rospy.Time.now()),
raster=serialization.raster_msg_from_geodata(real_fire.fire_map,
layer="ignition"))
self.pub_wildfire_real.publish(current_fire_msg)
rospy.loginfo("Publish real fire")
rospy.loginfo(current_fire_msg)
g = fire_rs.geodata.display.GeoDataDisplay.pyplot_figure(
real_fire.fire_map)
g.draw_ignition_shade(with_colorbar=True)
g.figure.savefig("/home/rbailonr/fuego_ref.png")
g.close()
def notify_alarm_map(self, firemap: fire_rs.geodata.geo_data.GeoData):
if callable(firemap):
firemap = firemap()
wildfire_message = WildfireMap(
header=rospy.Header(stamp=rospy.Time.now()),
raster=serialization.raster_msg_from_geodata(firemap,
layer="ignition"))
self.pub_wildfire_obs.publish(wildfire_message)
rospy.loginfo("Notify alarm map")
rospy.loginfo(wildfire_message)
firemap.data["ignition"][firemap.data["ignition"] == np.inf] = 0
firemap.data["ignition"][firemap.data["ignition"].nonzero()] = 65535
firemap.write_to_image_file(os.path.join(self.workdir, "fire.png"),
"ignition")
def do_mapping(self):
if self.firemapper is not None:
for uav_str, wp_list in self.location_history.items():
self.firemapper.observe(list(zip(*wp_list)), fire_rs.planning.new_planning.UAVModels.get(uav_str))
# obs_fire_map = GeoData.from_cpp_raster(self.firemapper.firemap, "ignition",
# projection=self.elevation_map.projection)
fm = self.firemapper.firemap
om = self.firemapper.observed
print("map")
g = fire_rs.geodata.display.GeoDataDisplay.pyplot_figure(fm)
g.draw_ignition_shade(with_colorbar=True)
g.figure.savefig("/home/rbailonr/fuego_fakemapped.png")
g.close()
g = fire_rs.geodata.display.GeoDataDisplay.pyplot_figure(om)
g.draw_ignition_shade(with_colorbar=True)
g.figure.savefig("/home/rbailonr/fuego_fakeobserved.png")
g.close()
wf_msg = WildfireMap(header=rospy.Header(stamp=rospy.Time.now()),
raster=serialization.raster_msg_from_geodata(fm, 'ignition', invert=False))
self.pub_dict_firemap[uav_str].publish(wf_msg)