def on_elevation_map(self, msg: ElevationMap):
with self.op_lock:
rospy.loginfo("Elevation map received")
decoded = serialization.geodata_from_raster_msg(msg.raster, layer="elevation")
rospy.logwarn("Ignoring data from ElevationMap message. Using flat terrain")
decoded.data["elevation"][...] = 0.
self.op.logger.info("%s", str(decoded))
self.op.set_elevation(decoded)
def _on_wildfire_map_observed(self, msg: WildfireMap, uav: str):
with self.sa_lock:
local_firemap = serialization.geodata_from_raster_msg(msg.raster, "ignition")
g = GeoDataDisplay.pyplot_figure(local_firemap)
g.draw_ignition_shade(with_colorbar=True)
g.figure.savefig("local_firemap_" + str(uav) + ".png")
g.close()
del g
rospy.loginfo("Local wildfire map received from %s", str(uav))
for cell in zip(*np.where(local_firemap.data["ignition"] < np.inf)):
self.sa.observed_wildfire.set_cell_ignition(
(*cell, local_firemap["ignition"][cell]))
def on_wildifre_prediction(self, msg: PredictedWildfireMap):
def create_drawable_contour(f_map: geo_data.GeoData,
time_sec: float,
color: ty.Tuple[int, int, int],
one_out_of: int = 1):
cur_perimeter = _compute_perimeter(firemap, time_sec)
count = 0
if cur_perimeter[1]: # cells
coor_tran = geo_data.CoordinateTransformation(
firemap.projection_epsg, geo_data.EPSG_WGS84)
polygon = []
for cell in cur_perimeter[2][0]:
if count % one_out_of:
continue
if not np.isnan(cell[0]) and not np.isnan(cell[1]):
pcs_point = firemap.coordinates(cell)
gcs_point = coor_tran.transform(*pcs_point)
polygon.append({
"lat": gcs_point[1],
"lon": gcs_point[0]
})
if polygon:
return {"time": time_sec, "color": color, "polygon": polygon}
firemap = serialization.geodata_from_raster_msg(msg.raster, "ignition")
oof = 2
rospy.loginfo("Sending to Neptus %s out of %s point in contours",
str(1), str(oof))
# Colors from bright red to white, varying saturation: (255, x, x)
desired_contours = [(rospy.Time.now().to_sec(), (255, 0, 0)),
(rospy.Time.now().to_sec() + 1800, (255, 85, 85)),
(rospy.Time.now().to_sec() + 3600, (255, 170, 170))
]
drawable_conts = []
for d in desired_contours:
d_cont = create_drawable_contour(firemap, d[0], d[1], oof)
if d_cont:
drawable_conts.append(d_cont)
self.ccu.send_wildfire_contours(*drawable_conts)
def on_wildfire_map_observed(self, uav: str,
wildfire_map_observed_msg: WildfireMap):
gd = serialization.geodata_from_raster_msg(
wildfire_map_observed_msg.raster, "ignition", invert=True)
self.wildfire_map_observed.data = gd
def on_wildfire_map(self, wildfire_map_msg: WildfireMap):
self.wildfire_map.data = serialization.geodata_from_raster_msg(
wildfire_map_msg.raster, "ignition")
def on_wildfire_map_predicted(self,
wildfire_map_msg: PredictedWildfireMap):
self.wildfire_map_predicted.data = serialization.geodata_from_raster_msg(
wildfire_map_msg.raster, "ignition")
def on_elevation_map(self, elevation_map_msg: ElevationMap):
self.elevation_map.data = serialization.geodata_from_raster_msg(
elevation_map_msg.raster, "elevation")
def on_wildfire_prediction(self, msg: PredictedWildfireMap):
with self.op_lock:
rospy.loginfo("Predicted wildfire map received")
self.op.set_wildfire_map(serialization.geodata_from_raster_msg(
msg.raster, layer="ignition"))
def _on_real_wildfire_map(self, wildfire: WildfireMap):
self.real_wildfire_map = serialization.geodata_from_raster_msg(wildfire.raster, "ignition")
rospy.loginfo("Real wildfire received")
rospy.loginfo(wildfire.raster.metadata)
self._reset_firemapper()
def _on_elevation_map(self, elevation: ElevationMap):
self.elevation_map = serialization.geodata_from_raster_msg(elevation.raster, "elevation")
rospy.loginfo("Elevation received")
rospy.loginfo(elevation.raster.metadata)
self._reset_firemapper()
