def loadMap(self, pointset):
#pointset=str(sys.argv[1])
host = rospy.get_param("datacentre_host")
port = rospy.get_param("datacentre_port")
client = pymongo.MongoClient(host, port)
db=client.autonomous_patrolling
points_db=db["waypoints"]
available = points_db.find().distinct("meta.pointset")
#print available
if pointset not in available :
rospy.logerr("Desired pointset '"+pointset+"' not in datacentre")
rospy.logerr("Available pointsets: "+str(available))
raise Exception("Can't find waypoints.")
#points = self._get_points(waypoints_name)
points = []
search = {"meta.pointset": pointset}
for point in points_db.find(search) :
a= point["meta"]["name"]
b = topological_node(a)
b.edges = point["meta"]["edges"]
b.waypoint = point["meta"]["waypoint"]
b._get_coords()
b._insert_vertices(point["meta"]["vertices"])
points.append(b)
return points
def map_from_msg(self, nodes):
#self.topol_map = msg.pointset
points = []
for i in nodes:
self.map = i.map
b = topological_node(i.name)
edges = []
for j in i.edges:
data = {}
data["node"] = j.node
data["action"] = j.action
edges.append(data)
b.edges = edges
verts = []
for j in i.verts:
data = [j.x, j.y]
verts.append(data)
b._insert_vertices(verts)
c = i.pose
waypoint = [
str(c.position.x),
str(c.position.y),
str(c.position.z),
str(c.orientation.x),
str(c.orientation.y),
str(c.orientation.z),
str(c.orientation.w)
]
b.waypoint = waypoint
b._get_coords()
points.append(b)
return points
def loadMap(self, pointset):
#pointset=str(sys.argv[1])
host = rospy.get_param("datacentre_host")
port = rospy.get_param("datacentre_port")
client = pymongo.MongoClient(host, port)
db = client.autonomous_patrolling
points_db = db["waypoints"]
available = points_db.find().distinct("meta.pointset")
#print available
if pointset not in available:
rospy.logerr("Desired pointset '" + pointset +
"' not in datacentre")
rospy.logerr("Available pointsets: " + str(available))
raise Exception("Can't find waypoints.")
#points = self._get_points(waypoints_name)
points = []
search = {"meta.pointset": pointset}
for point in points_db.find(search):
a = point["meta"]["name"]
b = topological_node(a)
b.edges = point["meta"]["edges"]
b.waypoint = point["meta"]["waypoint"]
b._get_coords()
b._insert_vertices(point["meta"]["vertices"])
points.append(b)
return points
def map_from_msg(self, nodes):
#self.topol_map = msg.pointset
points = []
for i in nodes :
self.map = i.map
b = topological_node(i.name)
edges = []
for j in i.edges :
data = {}
data["node"]=j.node
data["action"]=j.action
edges.append(data)
b.edges = edges
verts = []
for j in i.verts :
data = [j.x,j.y]
verts.append(data)
b._insert_vertices(verts)
c=i.pose
waypoint=[str(c.position.x), str(c.position.y), str(c.position.z), str(c.orientation.x), str(c.orientation.y), str(c.orientation.z), str(c.orientation.w)]
b.waypoint = waypoint
b._get_coords()
points.append(b)
return points
def loadMap(self, point_set):
msg_store = MessageStoreProxy(collection='topological_maps')
query_meta = {}
query_meta["pointset"] = point_set
available = len(msg_store.query(TopologicalNode._type, {},
query_meta)) > 0
if available <= 0:
rospy.logerr("Desired pointset '" + point_set +
"' not in datacentre")
rospy.logerr("Available pointsets: " + str(available))
raise Exception("Can't find waypoints.")
else:
query_meta = {}
query_meta["pointset"] = point_set
message_list = msg_store.query(TopologicalNode._type, {},
query_meta)
points = []
for i in message_list:
self.map = i[0].map
b = topological_node(i[0].name)
edges = []
for j in i[0].edges:
data = {}
data["node"] = j.node
data["action"] = j.action
edges.append(data)
b.edges = edges
verts = []
for j in i[0].verts:
data = [j.x, j.y]
verts.append(data)
b._insert_vertices(verts)
c = i[0].pose
waypoint = [
str(c.position.x),
str(c.position.y),
str(c.position.z),
str(c.orientation.x),
str(c.orientation.y),
str(c.orientation.z),
str(c.orientation.w)
]
b.waypoint = waypoint
b._get_coords()
points.append(b)
return points
def loadMap(self, point_set):
point_set=str(sys.argv[1])
#map_name=str(sys.argv[3])
msg_store = MessageStoreProxy(collection='topological_maps')
query_meta = {}
query_meta["pointset"] = point_set
available = len(msg_store.query(TopologicalNode._type, {}, query_meta)) > 0
print available
if available <= 0 :
rospy.logerr("Desired pointset '"+point_set+"' not in datacentre")
rospy.logerr("Available pointsets: "+str(available))
raise Exception("Can't find waypoints.")
else :
query_meta = {}
query_meta["pointset"] = point_set
message_list = msg_store.query(TopologicalNode._type, {}, query_meta)
points = []
for i in message_list:
#print i[0].name
b = topological_node(i[0].name)
edges = []
for j in i[0].edges :
data = {}
data["node"]=j.node
data["action"]=j.action
edges.append(data)
b.edges = edges
verts = []
for j in i[0].verts :
data = [j.x,j.y]
verts.append(data)
b._insert_vertices(verts)
c=i[0].pose
waypoint=[str(c.position.x), str(c.position.y), str(c.position.z), str(c.orientation.x), str(c.orientation.y), str(c.orientation.z), str(c.orientation.w)]
b.waypoint = waypoint
b._get_coords()
points.append(b)
return points
def loadMap(self, pointset):
pointset = str(sys.argv[1])
host = rospy.get_param("datacentre_host")
port = rospy.get_param("datacentre_port")
print "Using datacentre ", host, ":", port
self.mongo_client = pymongo.MongoClient(host, port)
db = self.mongo_client.autonomous_patrolling
points_db = db["waypoints"]
self._stats_collection = db.nav_stats
available = points_db.find().distinct("meta.pointset")
#print available
if pointset not in available:
rospy.logerr("Desired pointset '" + pointset +
"' not in datacentre")
rospy.logerr("Available pointsets: " + str(available))
raise Exception("Can't find waypoints.")
points = []
search = {"meta.pointset": pointset}
for point in points_db.find(search):
a = point["meta"]["name"]
b = topological_node(a)
b.edges = point["meta"]["edges"]
b.waypoint = point["meta"]["waypoint"]
points.append(b)
#print "Actions Needed"
for i in points:
for k in i.edges:
j = k['action']
if j not in self.actions_needed:
self.actions_needed.append(j)
return points
def loadMap(self, pointset):
pointset=str(sys.argv[1])
host = rospy.get_param("datacentre_host")
port = rospy.get_param("datacentre_port")
print "Using datacentre ",host,":", port
self.mongo_client = pymongo.MongoClient(host, port)
db=self.mongo_client.autonomous_patrolling
points_db=db["waypoints"]
self._stats_collection = db.nav_stats
available = points_db.find().distinct("meta.pointset")
#print available
if pointset not in available :
rospy.logerr("Desired pointset '"+pointset+"' not in datacentre")
rospy.logerr("Available pointsets: "+str(available))
raise Exception("Can't find waypoints.")
points = []
search = {"meta.pointset": pointset}
for point in points_db.find(search) :
a= point["meta"]["name"]
b = topological_node(a)
b.edges = point["meta"]["edges"]
b.waypoint = point["meta"]["waypoint"]
points.append(b)
#print "Actions Needed"
for i in points:
for k in i.edges :
j = k['action']
if j not in self.actions_needed:
self.actions_needed.append(j)
return points
