def navigation():
request_json = request.json
if "start_lat" not in request_json:
return jsonify([])
if "start_lon" not in request_json:
return jsonify([])
if "end_lat" not in request_json:
return jsonify([])
if "end_lon" not in request_json:
return jsonify([])
start_latlon = str(request_json["start_lat"]) + "," + \
str(request_json["start_lon"])
end_latlon = str(request_json["end_lat"]) + "," + \
str(request_json["end_lon"])
url = "http://navi-env.axty8vi3ic.us-west-2." \
"elasticbeanstalk.com/dreamview/navigation?origin=" + \
start_latlon + "&destination=" + end_latlon + "&heading=0"
res = requests.get(url)
if res.status_code != 200:
return jsonify([])
# send to ros
navigation_info = navigation_pb2.NavigationInfo()
navigation_info.ParseFromString(res.content)
routing_pub.publish(navigation_info)
# send to browser
latlon_path = []
for path in navigation_info.navigation_path:
for point in path.path.path_point:
lons, lats = projector(point.x, point.y, inverse=True)
latlon_path.append({'lat': lats, 'lng': lons})
if len(latlon_path) > 0:
latlon_path[0]['human'] = True
return jsonify(latlon_path)
boundary.setMap(map);
}
""")
doc.asis('}\n')
doc.asis('<script src="' + api_url + '"></script>')
self.html = doc.getvalue()
return self.html
if __name__ == "__main__":
import google.protobuf.text_format as text_format
if len(sys.argv) < 2:
print "usage: python map_viewer.py dbmap_file [utm_zone=10]"
sys.exit(0)
map_file = sys.argv[1]
utm_zone = 10
if len(sys.argv) >= 3:
utm_zone = int(sys.argv[2])
dbmap = navigation_pb2.NavigationInfo()
proto_utils.get_pb_from_file(map_file, dbmap)
with open(map_file, 'r') as file_in:
text_format.Merge(file_in.read(), dbmap)
viewer = DBMapViewer(utm_zone)
viewer.add(dbmap)
html = viewer.generate()
with open('dbmap.html', 'w') as f:
f.write(html)
###############################################################################
import rospy
import sys
import json
from modules.map.relative_map.proto import navigation_pb2
if __name__ == '__main__':
navi_files = sys.argv[1:]
rospy.init_node("navigator_offline", anonymous=True)
navigation_pub = rospy.Publisher("/apollo/navigation",
navigation_pb2.NavigationInfo,
queue_size=1)
# generate navigation info
navigation_info = navigation_pb2.NavigationInfo()
priority = 0
for fdata in navi_files:
print("processing " + fdata)
navigation_path = navigation_info.navigation_path.add()
navigation_path.path_priority = priority
priority += 1
navigation_path.path.name = "navigation"
f = open(fdata, 'r')
cnt = 0
for line in f:
cnt += 1
if cnt < 3:
continue
json_point = json.loads(line)
