def region2svg(regionFile):
"""
Converts region file to svg
This is from the deprecated regions file with slight changes for
proper calculation of the size of the regions map
"""
fout= regionFile.replace(".regions", ".svg")
rfi = regions.RegionFileInterface()
rfi.readFile(regionFile)
polyList = []
for region in rfi.regions:
if region.name != "boundary":
points = [(pt.x,-pt.y) for pt in region.getPoints()]
poly = Polygon.Polygon(points)
polyList.append(poly)
else:
width=region.size.width
height=region.size.height
#use boundary size for image size
Polygon.IO.writeSVG(fout, polyList,width=width,height=height, fill_color=("(255,255,255)",)) # works better than width=width,height=height
#Polygon.IO.writeSVG(fout, polyList, fill_color=("(255,255,255)",)) # works better than width=width,height=height
return fout #return the file name
def loadSimpleSpec(self,text="", regionList=[], sensors=[], actuators=[], customs=[], adj=[], outputfile=""):
"""
Load a simple spec given by the arguments without reading from a spec file
For Slurp
region, sensors, actuators, customs are lists of strings representing props
adj is a list of tuples [(region1,region2),...]
"""
if outputfile == "":
logging.error("Need to specify output filename")
return
self.proj.compile_options['decompose'] = False
self.proj.project_root = os.path.abspath(os.path.dirname(os.path.expanduser(outputfile)))
self.proj.project_basename, ext = os.path.splitext(os.path.basename(outputfile))
self.proj.specText=text
# construct a list of region objects with given names
self.proj.rfi = regions.RegionFileInterface()
for rname in regionList:
self.proj.rfi.regions.append(regions.Region(name=rname))
self.proj.enabled_sensors = sensors
self.proj.enabled_actuators = actuators
self.proj.all_customs = customs
# construct adjacency matrix
self.proj.rfi.transitions= [[[] for j in range(len(self.proj.rfi.regions))] for i in range(len(self.proj.rfi.regions))]
for tran in adj:
idx0 = self.proj.rfi.indexOfRegionWithName(tran[0])
idx1 = self.proj.rfi.indexOfRegionWithName(tran[1])
self.proj.rfi.transitions[idx0][idx1] = [(0,0)] # fake trans face
self.proj.rfi.transitions[idx1][idx0] = [(0,0)]
def loadRegionFile(self, decomposed=False):
"""
Returns a Region File Interface object corresponding to the regions file referenced in the spec file
"""
#### Load in the region file
if decomposed:
regf_name = self.getFilenamePrefix() + "_decomposed.regions"
else:
try:
regf_name = os.path.join(
self.project_root,
self.spec_data['SETTINGS']['RegionFile'][0])
except (IndexError, KeyError):
logging.warning("Region file undefined")
return None
logging.info("Loading region file %s..." % regf_name)
rfi = regions.RegionFileInterface()
if not rfi.readFile(regf_name):
if not self.silent:
logging.error("Could not load region file %s!" % regf_name)
if decomposed:
logging.error(
"Are you sure you compiled your specification?")
return None
logging.info("Found definitions for %d regions." % len(rfi.regions))
return rfi
def gen_world_regions(region_dict, to_remove_faces, output_file):
region_obj_list = []
map_polygon = Polygon.Polygon()
region_obj_list, map_polygon = create_regions(region_dict,
map_polygon=map_polygon)
# add boundary
obstacles_and_boundary_regions = make_boundary_and_obstacles(
region_obj_list)
interface = regions.RegionFileInterface(regions=region_obj_list +
obstacles_and_boundary_regions)
# here we also want to remove the lanes in the middle
#offset_faces = get_offset_faces(to_remove_faces)
#interface.recalcAdjacency(offset_faces)
interface.recalcAdjacency()
interface.writeFile(output_file)
return region_obj_list
def loadRegionFile(self, filename):
self.proj.rfi = regions.RegionFileInterface()
self.proj.rfi.readFile(filename)
self.Bind(wx.EVT_SIZE, self.onResize, self)
self.onResize()
ltlmop_root = os.path.join(os.path.dirname(os.path.abspath(__file__)), "..",
"..")
sys.path.append(os.path.join(ltlmop_root, "lib"))
# load in the LTLMoP library
import regions
# load in topo file
print "Loading '{}'...".format(sys.argv[1])
with open(sys.argv[1]) as f:
data = f.read()
data = json.loads(data)
# create LTLMoP regions
rfi = regions.RegionFileInterface()
for rn in data["region_names"]:
newRegion = regions.Region(name=rn)
rfi.regions.append(newRegion)
# force topology (we avoid LTLMoP's automatic coincident edge detection)
rfi.transitions = [[[] for j in range(len(rfi.regions))]
for i in range(len(rfi.regions))]
for path in data["adjacencies"]:
r1 = rfi.indexOfRegionWithName(path[0])
r2 = rfi.indexOfRegionWithName(path[1])
fake_face = [frozenset((regions.Point(1, 2), regions.Point(3, 4)))]
rfi.transitions[r1][r2] = fake_face
rfi.transitions[r2][r1] = fake_face
(p, t) = os.path.split(p)
if p == "":
print "I have no idea where I am; this is ridiculous"
sys.exit(1)
sys.path.append(os.path.join(p, "src", "lib"))
import regions
# Check that we have been passed an input file
if len(sys.argv) != 2:
print "Usage: {} [input_region_file]".format(sys.argv[0])
sys.exit(-1)
# Load in map file
print "Loading '{}'...".format(sys.argv[1])
mapfile = regions.RegionFileInterface()
mapfile.readFile(sys.argv[1])
# Make all regions relative to (0,0), so they effectively store absolute coordinates
for region in mapfile.regions:
region.pointArray = map(lambda pt: region.position+pt, region.pointArray)
region.position = regions.Point(0,0)
# Calculate transformation matrix
# Flip over y-axis, scale up to make width be 1000, and topleft be (100,100)
leftMargin, topMargin, rightExtent, downExtent = mapfile.getBoundingBox()
scale_factor = 1000.0/rightExtent
offset = regions.Point(100,100) - regions.Point(leftMargin, -(topMargin+downExtent))*scale_factor
T = matrix([[scale_factor, 0, offset.x],
[0, -scale_factor, offset.y],
[0, 0, 1]])
def region2svg(regionFile, png_file):
"""
Converts region file to svg
This is from the deprecated regions file with slight changes for
proper calculation of the size of the regions map
"""
rfi = regions.RegionFileInterface()
rfi.readFile(regionFile)
fout_list = []
two_region_list = itertools.combinations(rfi.regions, 2)
for (region_1, region_2) in two_region_list:
if not (region_1.name == 'boundary' or region_2.name == 'boundary' \
or region_1.isObstacle or region_2.isObstacle) \
and rfi.transitions[rfi.regions.index(region_1)][rfi.regions.index(region_2)]: #adjacent region
print region_1, region_2
fout= png_file.replace(".png","_"+region_1.name+"_"+region_2.name+".svg")
# combine two regions next to each other
region_1_poly = Polygon.Polygon([(pt.x,-pt.y) for pt in region_1.getPoints()])
region_2_poly = Polygon.Polygon([(pt.x,-pt.y) for pt in region_2.getPoints()])
two_region_poly = region_1_poly + region_2_poly
polyList = [two_region_poly]
width = 0
height = 0
for region in rfi.regions:
width = max(width, *[pt.x for pt in region.getPoints()])
height = max(height, *[pt.y for pt in region.getPoints()])
if region.name != "boundary" and region.name != region_1.name and region.name != region_2.name:
points = [(pt.x,-pt.y) for pt in region.getPoints()]
poly = Polygon.Polygon(points)
polyList.append(poly)
bound_zero = Polygon.Polygon([(0,0),(1, 0), (1, -1), (0, -1)])
bound_width = Polygon.Polygon([(width,0),(width-1, 0), (width-1, -1), (width, -1)])
bound_height = Polygon.Polygon([(0,-height),(-1, -height), (-1, -height+1), (0, -height+1)])
bound_all = Polygon.Polygon([(width,-height),(width-1, -height), (width-1, -height+1), (width, -height+1)])
polyList.extend([bound_zero, bound_width, bound_height, bound_all])
#use boundary size for image size
Polygon.IO.writeSVG(fout, polyList, width=width,height=height, fill_color=("(255,255,255)",))
fout_list.append(fout) #return the file name
# original only
polyList = []
fout= png_file.replace(".png", ".svg")
width = 0
height = 0
for region in rfi.regions:
width = max(width, *[pt.x for pt in region.getPoints()])
height = max(height, *[pt.y for pt in region.getPoints()])
if region.name != "boundary":
points = [(pt.x,-pt.y) for pt in region.getPoints()]
poly = Polygon.Polygon(points)
polyList.append(poly)
bound_zero = Polygon.Polygon([(0,0),(1, 0), (1, -1), (0, -1)])
bound_width = Polygon.Polygon([(width,0),(width-1, 0), (width-1, -1), (width, -1)])
bound_height = Polygon.Polygon([(0,-height),(-1, -height), (-1, -height+1), (0, -height+1)])
bound_all = Polygon.Polygon([(width,-height),(width-1, -height), (width-1, -height+1), (width, -height+1)])
polyList.extend([bound_zero, bound_width, bound_height, bound_all])
#use boundary size for image size
Polygon.IO.writeSVG(fout, polyList, width=width,height=height, fill_color=("(255,255,255)",))
fout_list.append(fout) #return the file name
return fout_list
