def get_route(data_directory,
waypoints,
lookup_radius=10000,
lookup_edge_names=True,
connection=None):
"""Get the shortest route between a list of waypoints using MoNav.
* connection should be a TcpConnection object.
* data_directory should be the path to the directory called routing_
created by the MoNav preprocessor.
* Return type RoutingResult:
seconds
nodes
edges
edge_names
edge_types
* First start the monav-server.
"""
if not connection:
connection = TcpConnection()
# Generate and write the command type.
connection.write(CommandType(value=CommandType.ROUTING_COMMAND))
# Generate the command.
command = RoutingCommand()
command.data_directory = data_directory
command.lookup_radius = lookup_radius
command.lookup_edge_names = lookup_edge_names
wayP = []
for point in waypoints:
lat, lon = point
w = Waypoint()
w.latitude = lat
w.longitude = lon
wayP.append(w)
command.waypoints.extend(wayP)
# if hasattr(waypoints[0], 'latitude'):
# command.waypoints.extend(waypoints)
# else:
# for latlon in waypoints:
# assert len(latlon) == 2
# waypoint = command.waypoints.add(latitude=latlon[0], longitude=latlon[1])
# Write the command.
log.debug("COMMAND")
log.debug(command)
connection.write(command)
# Read result.
result = RoutingResult()
connection.read(result)
# Close the connection (just in case)
connection.close()
return result
def get_route(data_directory, waypoints, lookup_radius=10000, lookup_edge_names=True, connection=None):
"""Get the shortest route between a list of waypoints using MoNav.
* connection should be a TcpConnection object.
* data_directory should be the path to the directory called routing_
created by the MoNav preprocessor.
* Return type RoutingResult:
seconds
nodes
edges
edge_names
edge_types
* First start the monav-server.
"""
if not connection:
connection = TcpConnection()
# Generate and write the command type.
connection.write(CommandType(value=CommandType.ROUTING_COMMAND))
# Generate the command.
command = RoutingCommand()
command.data_directory = data_directory
command.lookup_radius = lookup_radius
command.lookup_edge_names = lookup_edge_names
if hasattr(waypoints[0], 'latitude'):
command.waypoints.extend(waypoints)
else:
for latlon in waypoints:
assert len(latlon) == 2
waypoint = command.waypoints.add(latitude=latlon[0], longitude=latlon[1])
# Write the command.
connection.write(command)
# Read result.
result = RoutingResult()
connection.read(result)
# Close the connection (just in case)
connection.close()
if result.type == RoutingResult.SUCCESS:
return result
elif result.type == RoutingResult.LOAD_FAILED:
raise Exception(str(result.type) + ": failed to load data directory")
elif result.type == RoutingResult.LOOKUP_FAILED:
raise Exception(str(result.type) + ": failed to lookup nearest edge")
elif result.type == RoutingResult.ROUTE_FAILED:
raise Exception(str(result.type) + ": failed to compute route")
elif result.type == RoutingResult.NAME_LOOKUP_FAILED:
raise Exception(str(result.type) + ": name lookup failed")
elif result.type == RoutingResult.TYPE_LOOKUP_FAILED:
raise Exception(str(result.type) + ": type lookup failed")
else:
raise Exception(str(result.type) + ": return value not recognized")
def get_route(data_directory, waypoints, lookup_radius=10000, lookup_edge_names=True, connection=None):
"""Get the shortest route between a list of waypoints using MoNav.
* connection should be a TcpConnection object.
* data_directory should be the path to the directory called routing_
created by the MoNav preprocessor.
* Return type RoutingResult:
seconds
nodes
edges
edge_names
edge_types
* First start the monav-server.
"""
if not connection:
connection = TcpConnection()
# Generate and write the command type.
connection.write(CommandType(value=CommandType.ROUTING_COMMAND))
# Generate the command.
command = RoutingCommand()
command.data_directory = data_directory
command.lookup_radius = lookup_radius
command.lookup_edge_names = lookup_edge_names
wayP = []
for point in waypoints:
lat, lon = point
w = Waypoint()
w.latitude = lat
w.longitude = lon
wayP.append(w)
command.waypoints.extend(wayP)
# if hasattr(waypoints[0], 'latitude'):
# command.waypoints.extend(waypoints)
# else:
# for latlon in waypoints:
# assert len(latlon) == 2
# waypoint = command.waypoints.add(latitude=latlon[0], longitude=latlon[1])
# Write the command.
log.debug("COMMAND")
log.debug(command)
connection.write(command)
# Read result.
result = RoutingResult()
connection.read(result)
# Close the connection (just in case)
connection.close()
return result
def get_route(data_directory,
waypoints,
lookup_radius=10000,
lookup_edge_names=True,
connection=None):
"""Get the shortest route between a list of waypoints using MoNav.
* connection should be a TcpConnection object.
* data_directory should be the path to the directory called routing_
created by the MoNav preprocessor.
* Return type RoutingResult:
seconds
nodes
edges
edge_names
edge_types
* First start the monav-server.
"""
if not connection:
connection = TcpConnection()
# Generate and write the command type.
connection.write(CommandType(value=CommandType.ROUTING_COMMAND))
# Generate the command.
command = RoutingCommand()
command.data_directory = data_directory
command.lookup_radius = lookup_radius
command.lookup_edge_names = lookup_edge_names
if hasattr(waypoints[0], 'latitude'):
command.waypoints.extend(waypoints)
else:
for latlon in waypoints:
assert len(latlon) == 2
waypoint = command.waypoints.add(latitude=latlon[0],
longitude=latlon[1])
# Write the command.
connection.write(command)
# Read result.
result = RoutingResult()
connection.read(result)
# Close the connection (just in case)
connection.close()
if result.type == RoutingResult.SUCCESS:
return result
elif result.type == RoutingResult.LOAD_FAILED:
raise Exception(str(result.type) + ": failed to load data directory")
elif result.type == RoutingResult.LOOKUP_FAILED:
raise Exception(str(result.type) + ": failed to lookup nearest edge")
elif result.type == RoutingResult.ROUTE_FAILED:
raise Exception(str(result.type) + ": failed to compute route")
elif result.type == RoutingResult.NAME_LOOKUP_FAILED:
raise Exception(str(result.type) + ": name lookup failed")
elif result.type == RoutingResult.TYPE_LOOKUP_FAILED:
raise Exception(str(result.type) + ": type lookup failed")
else:
raise Exception(str(result.type) + ": return value not recognized")
