def _get_pantilt(self, point_name, point_set):
mongo = pymongo.MongoClient(rospy.get_param("datacentre_host"),
rospy.get_param("datacentre_port"))
pt = PanTilt()
pt.pan_increment = -1
pt.tilt_increment = -1
# first check whether PT is defined for this waypoint
pt_name = point_name+"_pan_tilt"
try:
index = self.pantilts.index([point_set,pt_name])
search = {"meta.name": pt_name,
"meta.pantiltset": point_set}
p = mongo.autonomous_patrolling.waypoints.find(search)
p = p[0]
meta, pt = strands_datacentre.util.document_to_msg(p, PanTilt)
except ValueError:
# No pan tilt defined for this waypoint
print "Pan tilt not defined for ", point_name
return pt
def way_points_file_to_datacentre(filename, dataset_name, map_name):
host = rospy.get_param("datacentre_host")
port = rospy.get_param("datacentre_port")
print "Using datacentre ",host,":", port
client = pymongo.MongoClient(host, port)
db=client.autonomous_patrolling
points_db=db["waypoints"]
points=[]
with open(filename, 'rb') as csvfile:
reader = csv.reader(csvfile, delimiter=',')
for row in reader:
current_row=[]
for element in row:
current_row.append(float(element))
points.append(current_row)
for i,point in enumerate(points):
entry={}
entry["map"]=map_name
if i==0:
entry["name"]="charging_point"
else:
entry["name"]="Point%d"%i
entry["pointset"]=dataset_name
p = Pose()
p.position.x=point[0]
p.position.y=point[1]
p.position.z=point[2]
p.orientation.x=point[3]
p.orientation.y=point[4]
p.orientation.z=point[5]
p.orientation.w=point[6]
strands_datacentre.util.store_message(points_db,p,entry)
if (len(point) > 12):
entry={}
entry["name"]="Point%d_pan_tilt"%i
entry["map"]=map_name
entry["pantiltset"]=dataset_name
pt = PanTilt()
pt.pan_start = point[7]
pt.pan_increment = point[8]
pt.pan_end = point[9]
pt.tilt_start = point[10]
pt.tilt_increment = point[11]
pt.tilt_end = point[12]
strands_datacentre.util.store_message(points_db,pt,entry)