def test_feature_match(self):
f = MapFeature()
put(f, 'different')
put(f, 'valid', 'any')
prop = match(f, set(['a', 'valid', 'property']))
self.assertNotEqual(prop, None)
self.assertEqual(prop, ('valid', 'any'))
k, v = prop
self.assertEqual(k, 'valid')
self.assertEqual(v, 'any')
def test_invalid_key_set(self):
f = MapFeature()
put(f, 'notset', 'any')
self.assertEqual(get(f, 'notset'), 'any')
self.assertRaises(ValueError, match, f, 'notset')
def test_empty_property_set(self):
f = MapFeature()
put(f, 'valid', 'any')
self.assertEqual(match(f, set()), None)
def test_empty_feature_match(self):
f = MapFeature()
self.assertEqual(match(f, set(['no', 'such', 'property'])), None)
def get_osm(url, bounds):
"""Get GeographicMap from Open Street Map XML data.
The latitude and longitude bounding box returned may differ from
the requested bounds.
:param url: Uniform Resource Locator for map.
:param bounds: Desired bounding box for map (presently ignored).
:returns: GeographicMap message with header not filled in.
"""
# parse the URL
filename = ''
if url.startswith('file:///'):
filename = url[7:]
elif url.startswith('package://'):
pkg_name, slash, pkg_path = url[10:].partition('/')
pkg_dir = roslib.packages.get_pkg_dir(pkg_name)
filename = pkg_dir + '/' + pkg_path
else:
raise ValueError('unsupported URL: ' + url)
map = GeographicMap(id=geodesy.gen_uuid.makeUniqueID(url))
xm = None
try:
f = open(filename, 'r')
xm = ElementTree.parse(f)
except IOError:
raise ValueError('unable to read ' + str(url))
except ElementTree.ParseError:
raise ValueError('XML parse failed for ' + str(url))
osm = xm.getroot()
# get map bounds
for el in osm.iterfind('bounds'):
map.bounds.min_latitude = float(get_required_attribute(el, 'minlat'))
map.bounds.min_longitude = float(get_required_attribute(el, 'minlon'))
map.bounds.max_latitude = float(get_required_attribute(el, 'maxlat'))
map.bounds.max_longitude = float(get_required_attribute(el, 'maxlon'))
# get map way-point nodes
for el in osm.iterfind('node'):
way = WayPoint()
id = el.get('id')
if id == None:
raise ValueError('node id missing')
way.id = makeOsmUniqueID('node', id)
way.position.latitude = float(get_required_attribute(el, 'lat'))
way.position.longitude = float(get_required_attribute(el, 'lon'))
way.position.altitude = float(el.get('ele', float('nan')))
for tag_list in el.iterfind('tag'):
kv = get_tag(tag_list)
if kv != None:
way.props.append(kv)
map.points.append(way)
# get map paths
for el in osm.iterfind('way'):
feature = MapFeature()
id = el.get('id')
if id == None:
raise ValueError('way id missing')
feature.id = makeOsmUniqueID('way', id)
for nd in el.iterfind('nd'):
way_id = get_required_attribute(nd, 'ref')
feature.components.append(makeOsmUniqueID('node', way_id))
for tag_list in el.iterfind('tag'):
kv = get_tag(tag_list)
if kv != None:
feature.props.append(kv)
map.features.append(feature)
# get relations
for el in osm.iterfind('relation'):
feature = MapFeature()
id = el.get('id')
if id == None:
raise ValueError('relation id missing')
feature.id = makeOsmUniqueID('relation', id)
for mbr in el.iterfind('member'):
mbr_type = get_required_attribute(mbr, 'type')
if mbr_type in set(['node', 'way', 'relation']):
mbr_id = get_required_attribute(mbr, 'ref')
feature.components.append(makeOsmUniqueID(mbr_type, mbr_id))
else:
print('unknown relation member type: ' + mbr_type)
for tag_list in el.iterfind('tag'):
kv = get_tag(tag_list)
if kv != None:
feature.props.append(kv)
map.features.append(feature)
return map
def get_osm(url, bounds):
"""Get `geographic_msgs/GeographicMap`_ from Open Street Map XML data.
The latitude and longitude of the bounding box returned may differ
from the requested bounds.
:param url: Uniform Resource Locator for map.
:param bounds: Desired `geographic_msgs/BoundingBox`_ for map (presently ignored).
:returns: `geographic_msgs/GeographicMap`_ message (header not filled in).
"""
# parse the URL
filename = ''
if url.startswith('file:///'):
filename = url[7:]
elif url.startswith('package://'):
pkg_name, slash, pkg_path = url[10:].partition('/')
pkg_dir = roslib.packages.get_pkg_dir(pkg_name)
filename = pkg_dir + '/' + pkg_path
else:
raise ValueError('unsupported URL: ' + url)
gmap = GeographicMap(id = geodesy.gen_uuid.makeUniqueID(url))
xm = None
try:
f = open(filename, 'r')
xm = ElementTree.parse(f)
except IOError:
raise ValueError('unable to read ' + str(url))
except ElementTree.ParseError:
raise ValueError('XML parse failed for ' + str(url))
osm = xm.getroot()
# get map bounds
for el in osm.iterfind('bounds'):
minlat = float(get_required_attribute(el, 'minlat'))
minlon = float(get_required_attribute(el, 'minlon'))
maxlat = float(get_required_attribute(el, 'maxlat'))
maxlon = float(get_required_attribute(el, 'maxlon'))
gmap.bounds = bounding_box.makeBounds2D(minlat, minlon, maxlat, maxlon)
# get map way-point nodes
for el in osm.iterfind('node'):
way = WayPoint()
el_id = el.get('id')
if el_id is None:
raise ValueError('node id missing')
way.id = makeOsmUniqueID('node', el_id)
way.position.latitude = float(get_required_attribute(el, 'lat'))
way.position.longitude = float(get_required_attribute(el, 'lon'))
way.position.altitude = float(el.get('ele', float('nan')))
for tag_list in el.iterfind('tag'):
kv = get_tag(tag_list)
if kv != None:
way.props.append(kv)
gmap.points.append(way)
# get map paths
for el in osm.iterfind('way'):
feature = MapFeature()
el_id = el.get('id')
if el_id is None:
raise ValueError('way id missing')
feature.id = makeOsmUniqueID('way', el_id)
for nd in el.iterfind('nd'):
way_id = get_required_attribute(nd, 'ref')
feature.components.append(makeOsmUniqueID('node', way_id))
for tag_list in el.iterfind('tag'):
kv = get_tag(tag_list)
if kv != None:
feature.props.append(kv)
gmap.features.append(feature)
# get relations
for el in osm.iterfind('relation'):
feature = MapFeature()
el_id = el.get('id')
if el_id is None:
raise ValueError('relation id missing')
feature.id = makeOsmUniqueID('relation', el_id)
for mbr in el.iterfind('member'):
mbr_type = get_required_attribute(mbr, 'type')
if mbr_type in set(['node', 'way', 'relation']):
mbr_id = get_required_attribute(mbr, 'ref')
feature.components.append(makeOsmUniqueID(mbr_type, mbr_id))
else:
print('unknown relation member type: ' + mbr_type)
for tag_list in el.iterfind('tag'):
kv = get_tag(tag_list)
if kv != None:
feature.props.append(kv)
gmap.features.append(feature)
return gmap