def save(self, map_to_save):
# deep copy
backup = DuckietownMap(empty=True)
# Fill backup layers
for layer in map_to_save.layers:
backup.add_layer(copy.deepcopy(layer))
if len(self.memento) == self.memento.maxlen - 1:
self.memento.popleft()
self.memento.append(backup)
def save(self, map):
# deep copy
backup = DuckietownMap()
backup.tiles = [[]]
for i in range(len(map.tiles)):
backup.tiles.append([])
for j in range(len(map.tiles[i])):
backup.tiles[i].append(copy.copy(map.tiles[i][j]))
if map.items:
for i in range(len(map.items)):
backup.items.append(map.items[i])
if len(self.memento) == self.memento.maxlen - 1:
self.memento.popleft()
self.memento.append(backup)
def test_map_to_yaml_without_yaml(self):
map = DuckietownMap()
map.tiles = tiles_to_objects(
get_tiles('../maps/regress_4way_adam.yaml'))
map.items = map_objects_to_objects(
get_objects('../maps/regress_4way_adam.yaml'))
map_to_yaml(map, '../maps/test_result')
new_map = DuckietownMap()
new_map.tiles = tiles_to_objects(get_tiles('../maps/test_result.yaml'))
new_map.items = map_objects_to_objects(
get_objects('../maps/test_result.yaml'))
for tile, new_tile in zip(
np.array(map.tiles).flat,
np.array(new_map.tiles).flat):
self.assertEqual(tile.kind, new_tile.kind)
self.assertEqual(tile.rotation, new_tile.rotation)
for obj, new_obj in zip(map.items, new_map.items):
self.assertEqual(obj.kind, new_obj.kind)
self.assertEqual(obj.position, new_obj.position)
self.assertEqual(obj.rotation, new_obj.rotation)
self.assertEqual(obj.height, new_obj.height)
self.assertEqual(obj.optional, new_obj.optional)
self.assertEqual(obj.static, new_obj.static)
def test_map_to_yaml_without_objects(self):
map = DuckietownMap()
map.tiles = tiles_to_objects(
get_tiles('../maps/regress_4way_drivable.yaml'))
map.items = map_objects_to_objects(
get_objects('../maps/regress_4way_drivable.yaml'))
map_to_yaml(map, '../maps/test_result.yaml')
new_map = DuckietownMap()
new_map.tiles = tiles_to_objects(get_tiles('../maps/test_result.yaml'))
new_map.items = map_objects_to_objects(
get_objects('../maps/test_result.yaml'))
for tile, new_tile in zip(
np.array(map.tiles).flat,
np.array(new_map.tiles).flat):
self.assertEqual(tile.kind, new_tile.kind)
self.assertEqual(tile.rotation, new_tile.rotation)
self.assertEqual(map.items, new_map.items)
def test_map_to_yaml_2(self):
map = DuckietownMap()
map.set_tile_layer(
tiles_to_objects(data_from_file('../maps/test.yaml').get('tiles')))
map.set_item_layer(
map_objects_to_objects(
data_from_file('../maps/test.yaml').get('objects')))
map_to_yaml(map, '../maps/test_result.yaml')
new_map = DuckietownMap()
new_map.set_tile_layer(
tiles_to_objects(
data_from_file('../maps/test_result.yaml').get('tiles')))
new_map.set_item_layer(
map_objects_to_objects(
data_from_file('../maps/test_result.yaml').get('objects')))
for tile, new_tile in zip(
np.array(map.get_tile_layer().data).flat,
np.array(new_map.get_tile_layer().data).flat):
self.assertEqual(tile.kind, new_tile.kind)
self.assertEqual(tile.rotation, new_tile.rotation)
for obj, new_obj in zip(map.get_item_layer().data,
new_map.get_item_layer().data):
self.assertEqual(obj.kind, new_obj.kind)
self.assertEqual(obj.position, new_obj.position)
self.assertEqual(obj.rotation, new_obj.rotation)
self.assertEqual(obj.height, new_obj.height)
self.assertEqual(obj.optional, new_obj.optional)
self.assertEqual(obj.static, new_obj.static)
def test_map_to_yaml_without_objects(self):
map = DuckietownMap()
map.set_tile_layer(
tiles_to_objects(
data_from_file('../maps/regress_4way_drivable.yaml').get(
'tiles')))
map.set_item_layer(
map_objects_to_objects(
data_from_file('../maps/regress_4way_drivable.yaml').get(
'objects')))
map_to_yaml(map, '../maps/test_result.yaml')
new_map = DuckietownMap()
new_map.set_tile_layer(
tiles_to_objects(
data_from_file('../maps/test_result.yaml').get('tiles')))
new_map.set_item_layer(
map_objects_to_objects(
data_from_file('../maps/test_result.yaml').get('objects')))
for tile, new_tile in zip(
np.array(map.get_tile_layer().data).flat,
np.array(new_map.get_tile_layer().data).flat):
self.assertEqual(tile.kind, new_tile.kind)
self.assertEqual(tile.rotation, new_tile.rotation)
self.assertEqual(map.get_item_layer().data,
new_map.get_item_layer().data)