OpenUxAS-SoI/resources/AutomationDiagramDataService/ProcessTasks.py

#! /usr/bin/env python

import xml.dom.minidom
from xml.dom.minidom import Node
import pandas as pd
import glob
import math
import re  # regular expressions
import LocalCoords  # conversion module
from ProcessZones import ProcessAbstractGeometry, ProcessLocation3DElement


def ProcessAngledAreaSearchTask(angledAreaSearchTaskElement):
    taskID = 0
    elements = angledAreaSearchTaskElement.getElementsByTagName('TaskID')
    if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:
        taskID = int(elements[0].firstChild.data)
    label = 'AAS' + str(taskID)
    elements = angledAreaSearchTaskElement.getElementsByTagName('Label')
    if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:
        label = str(elements[0].firstChild.data)
    print('taskID[{0}], label[{1}]'.format(taskID,label))
    searchAreaStartPoint = []
    searchAreaPoints = []
    startPointElements = angledAreaSearchTaskElement.getElementsByTagName('StartPoint')
    if startPointElements:
        location3DElements = startPointElements[0].getElementsByTagName('Location3D')
        if location3DElements:
            loc3D = ProcessLocation3DElement(location3DElements[0])
            if loc3D:
                searchAreaStartPoint = loc3D
    searchAreaId = 0
    elements = angledAreaSearchTaskElement.getElementsByTagName('SearchAreaID')
    if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:
        searchAreaId = int(elements[0].firstChild.data)
        # find the area of interest
        isFoundFile = False
        for areaOfInterestFile in glob.glob('AreaOfInterest_Id*'):
            #	AreaOfInterest_Id_100.xml
            fileId = int(re.search(r'\d+',areaOfInterestFile).group())
            if fileId == searchAreaId:
                isFoundFile = True
                docFileId = xml.dom.minidom.parse(areaOfInterestFile)
                if docFileId.hasChildNodes():
                    fileNode = docFileId.firstChild
                    areaElements = fileNode.getElementsByTagName('Area')
                    # print('areaNode[' + str(areaNode[0].nodeName) + ']')
                    if areaElements:
                        points = ProcessAbstractGeometry(areaElements[0])
                        for point in points:
                            searchAreaPoints.append(point)
                    else:
                        print('ERROR:: Unknown search area type encountered!!!')
                if not isFoundFile:
                    print('ERROR:: AngledAreaSearchTask could not find AreaOfInterest File for Id[' + str(searchAreaId) + ']!!!')

    else:
        print('ERROR:: AngledAreaSearchTask could not parse SearchAreaID!!!')
    # Close the boundary
    if searchAreaPoints:
        searchAreaPoints.append(searchAreaPoints[0])
    # Add start point if there is one
    if searchAreaStartPoint:
        searchAreaPoints.insert(0,searchAreaStartPoint)
    searchAreaLocationPd = pd.DataFrame(data = searchAreaPoints,columns=['latitude','longitude','altitude'])
    return [taskID,label,searchAreaLocationPd]


def ProcessWatchTask(watchTaskNode):
    taskID = 0
    elements = watchTaskNode.getElementsByTagName('TaskID')
    if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:
        taskID = int(elements[0].firstChild.data)
    label = 'W' + str(taskID)
    elements = watchTaskNode.getElementsByTagName('Label')
    if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:
        label = str(elements[0].firstChild.data)
    print('taskID[{0}], label[{1}]'.format(taskID,label))

    watchedEntityLocation = []
    watchedEntityID = 0
    elements = watchTaskNode.getElementsByTagName('WatchedEntityID')
    if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:
        watchedEntityID = int(elements[0].firstChild.data)
    if watchedEntityID > 0:
        # find the point of interest
        isFoundFile = False
        for entityStateFile in glob.glob('WatchedEntity_Id*'):
            #	WatchedEntity_Id_1002.xml
            fileId = int(re.search(r'\d+',entityStateFile).group())
            if fileId == watchedEntityID:
                isFoundFile = True
                docFileId = xml.dom.minidom.parse(entityStateFile)
                if docFileId.hasChildNodes():
                    fileNode = docFileId.firstChild
                    locationElements = fileNode.getElementsByTagName('Location')
                    if locationElements:
                        location3DElements = locationElements[0].getElementsByTagName('Location3D')
                        if location3DElements:
                            loc3D = ProcessLocation3DElement(location3DElements[0])
                            watchedEntityLocation.append(loc3D)
                        else:
                            print('ERROR:: processing [' + entityStateFile +'] !!!')
                    else:
                        print('ERROR:: processing [' + entityStateFile +'] !!!')
                else:
                    print('ERROR:: processing [' + entityStateFile +'] !!!')
                break
    watchedEntityLocationPd = pd.DataFrame(data = watchedEntityLocation,columns=['latitude','longitude','altitude'])
    return [taskID,label,watchedEntityLocationPd]


def ProcessImpactPointSearchTask(impactPointSearchTaskNode):
    taskID = 0
    elements = impactPointSearchTaskNode.getElementsByTagName('TaskID')
    if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:
        taskID = int(elements[0].firstChild.data)
    label = 'IPS' + str(taskID)
    elements = impactPointSearchTaskNode.getElementsByTagName('Label')
    if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:
        label = str(elements[0].firstChild.data)
    print('taskID[{0}], label[{1}]'.format(taskID,label))

    searchLocation = []
    searchLocationID = 0
    elements = impactPointSearchTaskNode.getElementsByTagName('SearchLocationID')
    if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:
        searchLocationID = int(elements[0].firstChild.data)
    if searchLocationID > 0:
        # find the point of interest
        isFoundFile = False
        for pointOfInterestFile in glob.glob('PointOfInterest_Id*'):
            #	PointOfInterest_Id_102.xml
            fileId = int(re.search(r'\d+',pointOfInterestFile).group())
            if fileId == searchLocationID:
                isFoundFile = True
                docFileId = xml.dom.minidom.parse(pointOfInterestFile)
                if docFileId.hasChildNodes():
                    fileNode = docFileId.firstChild
                    locationNode = fileNode.getElementsByTagName('Location')
                    if len(locationNode):
                        pointsNode = locationNode[0].getElementsByTagName('Location3D')
                        if len(pointsNode):
                            loc3D = ProcessLocation3DElement(pointsNode[0])
                            searchLocation.append(loc3D)
                        else:
                            print('ERROR:: processing [' + pointOfInterestFile +'] !!!')
                    else:
                        print('ERROR:: processing [' + pointOfInterestFile +'] !!!')
                else:
                    print('ERROR:: processing [' + pointOfInterestFile +'] !!!')
                break
    else:
        searchLocationNode = impactPointSearchTaskNode.getElementsByTagName('SearchLocation')
        if len(searchLocationNode):
            pointsNode = searchLocationNode[0].getElementsByTagName('Location3D')
            if len(pointsNode):
                loc3D = ProcessLocation3DElement(pointsNode[0])
                searchLocation.append(loc3D)

    searchLocationPd = pd.DataFrame(data = searchLocation,columns=['latitude','longitude','altitude'])
    # print('RESULT:: ProcessImpactPointSearchTask->searchLocationPd [' + str(searchLocationPd) +'] !!!')
    return [taskID,label,searchLocationPd]


def ProcessImpactLineSearchTask(impactLineSearchTaskNode):
    taskID = 0
    elements = impactLineSearchTaskNode.getElementsByTagName('TaskID')
    if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:
        taskID = int(elements[0].firstChild.data)
    label = 'ILS' + str(taskID)
    elements = impactLineSearchTaskNode.getElementsByTagName('Label')
    if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:
        label = str(elements[0].firstChild.data)
    print('taskID[{0}], label[{1}]'.format(taskID,label))

    pointList = []
    lineId = 0
    lineIdNode = impactLineSearchTaskNode.getElementsByTagName('LineID')
    if lineIdNode and lineIdNode[0].firstChild and lineIdNode[0].firstChild.nodeType == Node.TEXT_NODE:
        lineId = int(lineIdNode[0].firstChild.data)
        # find the line of interest
        isFoundFile = False
        for lineOfInterestFile in glob.glob('LineOfInterest_Id*'):
            #	LineOfInterest_Id_101.xml
            fileId = int(re.search(r'\d+',lineOfInterestFile).group())
            if fileId == lineId:
                isFoundFile = True
                docFileId = xml.dom.minidom.parse(lineOfInterestFile)
                if docFileId.hasChildNodes():
                    fileNode = docFileId.firstChild
                    pointListNode = fileNode.getElementsByTagName('Line')
                    # print('pointListNode[' + str(pointListNode[0].nodeName) + ']')
                    if len(pointListNode):
                        pointsNode = pointListNode[0].getElementsByTagName('Location3D')
                        for point in pointsNode:
                            latitude = 0.0
                            longitude = 0.0
                            altitude = 0.0
                            if point:
                                elements = point.getElementsByTagName('Latitude')
                                if(elements and elements[0].firstChild
                                            and elements[0].firstChild.nodeType == Node.TEXT_NODE):
                                    latitude = float(elements[0].firstChild.data)
                                elements = point.getElementsByTagName('Longitude')
                                if(elements and elements[0].firstChild
                                            and elements[0].firstChild.nodeType == Node.TEXT_NODE):
                                    longitude = float(elements[0].firstChild.data)
                                elements = point.getElementsByTagName('Altitude')
                                if(elements and elements[0].firstChild
                                            and elements[0].firstChild.nodeType == Node.TEXT_NODE):
                                    altitude = float(elements[0].firstChild.data)
                            pointList.append([latitude,longitude,altitude])
        if not isFoundFile:
            print('ERROR:: ImpactLineSearchTask could not find LineOfInterest File for Id[' + str(lineId) + '!!!')

    else:
        print('ERROR:: ImpactLineSearchTask could not parse LineID!!!')

    pointListPd = pd.DataFrame(data = pointList,columns=['latitude','longitude','altitude'])
    return [taskID,label,pointListPd]


def ProcessPatternSearchTask(patternSearchTaskNode):
    taskID = 0
    elements = patternSearchTaskNode.getElementsByTagName('TaskID')
    if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:
        taskID = int(elements[0].firstChild.data)
    label = 'PaS' + str(taskID)
    elements = patternSearchTaskNode.getElementsByTagName('Label')
    if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:
        label = str(elements[0].firstChild.data)
    print('taskID[{0}], label[{1}]'.format(taskID,label))

    isGoodSearchLocation = False
    latitude = 0.0
    longitude = 0.0
    altitude = 0.0
    searchLocation = []
    searchLocationID = 0
    elements = patternSearchTaskNode.getElementsByTagName('SearchLocationID')
    if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:
        searchLocationID = int(elements[0].firstChild.data)
    if searchLocationID > 0:
        # find the point of interest
        for pointOfInterestFile in glob.glob('PointOfInterest_Id*'):
            #	PointOfInterest_Id_102.xml
            fileId = int(re.search(r'\d+',pointOfInterestFile).group())
            if fileId == searchLocationID:
                isFoundFile = True
                docFileId = xml.dom.minidom.parse(pointOfInterestFile)
                if docFileId.hasChildNodes():
                    fileNode = docFileId.firstChild
                    locationNode = fileNode.getElementsByTagName('Location')
                    if len(locationNode):
                        pointsNode = locationNode[0].getElementsByTagName('Location3D')
                        if len(pointsNode):
                            elements = pointsNode[0].getElementsByTagName('Latitude')
                            if(elements and elements[0].firstChild
                                        and elements[0].firstChild.nodeType == Node.TEXT_NODE):
                                latitude = float(elements[0].firstChild.data)
                            elements = pointsNode[0].getElementsByTagName('Longitude')
                            if (elements and elements[0].firstChild
                                         and elements[0].firstChild.nodeType == Node.TEXT_NODE):
                                longitude = float(elements[0].firstChild.data)
                            elements = pointsNode[0].getElementsByTagName('Altitude')
                            if (elements and elements[0].firstChild
                                         and elements[0].firstChild.nodeType == Node.TEXT_NODE):
                                altitude = float(elements[0].firstChild.data)
                            isGoodSearchLocation = True
                        else:
                            print('ERROR:: processing [' + pointOfInterestFile +'] !!!')
                    else:
                        print('ERROR:: processing [' + pointOfInterestFile +'] !!!')
                else:
                    print('ERROR:: processing [' + pointOfInterestFile +'] !!!')
                break
    else:
        searchLocationNode = patternSearchTaskNode.getElementsByTagName('SearchLocation')
        if len(searchLocationNode):
            pointsNode = searchLocationNode[0].getElementsByTagName('Location3D')
            if len(pointsNode):
                elements = pointsNode[0].getElementsByTagName('Latitude')
                if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:
                    latitude = float(elements[0].firstChild.data)
                elements = pointsNode[0].getElementsByTagName('Longitude')
                if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:
                    longitude = float(elements[0].firstChild.data)
                elements = pointsNode[0].getElementsByTagName('Altitude')
                if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:
                    altitude = float(elements[0].firstChild.data)
                isGoodSearchLocation = True

    # ADD the boundary circle
    if isGoodSearchLocation:
        radius = 0
        elements = patternSearchTaskNode.getElementsByTagName('Extent')
        if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:
            radius = float(elements[0].firstChild.data)
        centerNorthEast_m = LocalCoords.LatLong_degToNorthEast_m(latitude,longitude)
        heading = 0;
        headingStep = math.pi/18;	# 10 deg steps
        while heading < 2.0*math.pi:
            north_m = radius*math.sin(heading) + centerNorthEast_m[0]
            east_m = radius*math.cos(heading) + centerNorthEast_m[1]
            searchPointLatLong = LocalCoords.NorthEast_mToLatLong_deg(north_m,east_m)
            searchLocation.append([searchPointLatLong[0],searchPointLatLong[1],altitude])
            heading = heading + headingStep
    # Close the boundary
    if searchLocation:
        searchLocation.append(searchLocation[0])
    searchLocationPd = pd.DataFrame(data = searchLocation,columns=['latitude','longitude','altitude'])
    # print('RESULT:: ProcessPatternSearchTask->searchLocationPd [' + str(searchLocationPd) +'] !!!')
    return [taskID,label,searchLocationPd]


def ProcessPointSearchTask(pointSearchTaskNode):
    # PointSearchTask
    # Members inherited from Task: TaskID, Label, EligibleEntities, RevisitRate, Parameters, Priority, Required,
    # Members inherited from SearchTask: DesiredWavelengthBands, DwellTime, GroundSampleDistance,
    # SearchLocation - Point to search
    # StandoffDistance - Minimum distance that an aircraft must maintain from the point of interest.
    # ViewAngleList - A list of acceptable look-angles for this task. Each wedge is defined relative to true North. To be a valid look angle, a sensor must be looking from a direction within the bounds of the wedge.
    taskID = 0
    elements = pointSearchTaskNode.getElementsByTagName('TaskID')
    if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:
        taskID = int(elements[0].firstChild.data)
    label = 'PS' + str(taskID)
    elements = pointSearchTaskNode.getElementsByTagName('Label')
    if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:
        label = str(elements[0].firstChild.data)
    print('taskID[{0}], label[{1}]'.format(taskID,label))

    searchLocation = []
    searchLocationNode = pointSearchTaskNode.getElementsByTagName('SearchLocation')
    if len(searchLocationNode):
        pointsNode = searchLocationNode[0].getElementsByTagName('Location3D')
        if len(pointsNode):
            latitude = 0.0
            longitude = 0.0
            altitude = 0.0
            elements = pointsNode[0].getElementsByTagName('Latitude')
            if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:
                latitude = float(elements[0].firstChild.data)
            elements = pointsNode[0].getElementsByTagName('Longitude')
            if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:
                longitude = float(elements[0].firstChild.data)
            elements = pointsNode[0].getElementsByTagName('Altitude')
            if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:
                altitude = float(elements[0].firstChild.data)
            searchLocation.append([latitude,longitude,altitude])
    searchLocationPd = pd.DataFrame(data = searchLocation,columns=['latitude','longitude','altitude'])
    return [taskID,label,searchLocationPd]


def ProcessLineSearchTask(lineSearchTaskNode):
    # LineSearchTask
    # Members inherited from Task: TaskID, Label, EligibleEntities, RevisitRate, Parameters, Priority, Required,
    # Members inherited from SearchTask: DesiredWavelengthBands, DwellTime, GroundSampleDistance,
    # PointList - Line to search
    # ViewAngleList - Defines a list of acceptable look-angles for this task. See the documentation above for details.
    # UseInertialViewAngles - If true, the ViewAngleList specifies inertial (North-East) angles. See documentation above.
    taskID = 0
    elements = lineSearchTaskNode.getElementsByTagName('TaskID')
    if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:
        taskID = int(elements[0].firstChild.data)
    label = 'LS' + str(taskID)
    elements = lineSearchTaskNode.getElementsByTagName('Label')
    if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:
        label = str(elements[0].firstChild.data)
    print('taskID[{0}], label[{1}]'.format(taskID,label))

    pointList = []
    pointListNode = lineSearchTaskNode.getElementsByTagName('PointList')
    # print('pointListNode[' + str(pointListNode[0].nodeName) + ']')
    if len(pointListNode):
        pointsNode = pointListNode[0].getElementsByTagName('Location3D')
        for point in pointsNode:
            latitude = 0.0
            longitude = 0.0
            altitude = 0.0
            if point:
                elements = point.getElementsByTagName('Latitude')
                if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:
                    latitude = float(elements[0].firstChild.data)
                elements = point.getElementsByTagName('Longitude')
                if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:
                    longitude = float(elements[0].firstChild.data)
                elements = point.getElementsByTagName('Altitude')
                if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:
                    altitude = float(elements[0].firstChild.data)
            pointList.append([latitude,longitude,altitude])
    pointListPd = pd.DataFrame(data = pointList,columns=['latitude','longitude','altitude'])
    return [taskID,label,pointListPd]


def ProcessAreaSearchTask(areaSearchTaskNode):
    # Area search task
    # Members inherited from Task: TaskID, Label, EligibleEntities, RevisitRate, Parameters, Priority, Required,
    # Members inherited from SearchTask: DesiredWavelengthBands, DwellTime, GroundSampleDistance,
    # SearchArea - Area to search
    # ViewAngleList - A list of acceptable look-angles for this task.
    #					Each wedge is defined relative to true North.
    #					To be a valid look angle, a sensor must be looking from a direction within the bounds of the wedge.

    taskID = 0
    elements = areaSearchTaskNode.getElementsByTagName('TaskID')
    if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:
        taskID = int(elements[0].firstChild.data)
    label = 'AS' + str(taskID)
    elements = areaSearchTaskNode.getElementsByTagName('Label')
    if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:
        label = str(elements[0].firstChild.data)
    print('taskID[{0}], label[{1}]'.format(taskID,label))

    searchAreaPoints = []
    areaNode = areaSearchTaskNode.getElementsByTagName('SearchArea')
    # print('areaNode[' + str(areaNode[0].nodeName) + ']')
    if len(areaNode):
        searchAreaPoints = ProcessAbstractGeometry(areaNode[0])
    # Close the boundary
    if searchAreaPoints:
        searchAreaPoints.append(searchAreaPoints[0])
    searchBoundaryPd = pd.DataFrame(data = searchAreaPoints,columns=['latitude','longitude','altitude'])
    return [taskID,label,searchBoundaryPd]


def ProcessTaskFile(filename):

    searchTask = []
    doc2 = xml.dom.minidom.parse(filename)
    if doc2.hasChildNodes():
        isGoodMessage = True
        taskTypeNode = doc2.firstChild
        taskType = str(taskTypeNode.nodeName)

        if taskType == 'PointSearchTask':
            print('processing PointSearchTask ...')
            taskData = ProcessPointSearchTask(taskTypeNode)
            if len(taskData):
                searchTask.append(taskData)
        elif taskType == 'LineSearchTask':
            print('processing LineSearchTask ...')
            taskData = ProcessLineSearchTask(taskTypeNode)
            if len(taskData):
                searchTask.append(taskData)
        elif taskType == 'AreaSearchTask':
            print('processing AreaSearchTask ...')
            taskData = ProcessAreaSearchTask(taskTypeNode)
            if len(taskData):
                searchTask.append(taskData)
        elif taskType == 'AngledAreaSearchTask':
            print('processing AngledAreaSearchTask ...')
            taskData = ProcessAngledAreaSearchTask(taskTypeNode)
            if len(taskData):
                searchTask.append(taskData)
        elif taskType == 'ImpactPointSearchTask':
            print('processing ImpactPointSearchTask ...')
            taskData = ProcessImpactPointSearchTask(taskTypeNode)
            if len(taskData):
                searchTask.append(taskData)
        elif taskType == 'ImpactLineSearchTask':
            print('processing ImpactLineSearchTask ...')
            taskData = ProcessImpactLineSearchTask(taskTypeNode)
            if len(taskData):
                searchTask.append(taskData)
        elif taskType == 'PatternSearchTask':
            print('processing PatternSearchTask ...')
            taskData = ProcessPatternSearchTask(taskTypeNode)
            if len(taskData):
                searchTask.append(taskData)
        elif taskType == 'WatchTask':
            print('processing WatchTask ...')
            taskData = ProcessWatchTask(taskTypeNode)
            if len(taskData):
                searchTask.append(taskData)
        else:
            print('ERROR:: Unknown task type[' + taskType +'] encountered!!!')
    return searchTask


def main():
    taskArray = []
    for taskFile in glob.glob('Task_Id*'):
        print('')	# add a line return
        print('***loading [{0}] ***'.format(taskFile))
        taskArray.extend(ProcessTaskFile(taskFile))
    taskArrayPd = pd.DataFrame(data = taskArray,columns=['taskID','label','searchBoundaryPd'])
    print('')	# add a line return
    print('*** saving [Tasks.pkl] ***')
    print('')	# add a line return
    taskArrayPd.to_pickle('Tasks.pkl')

if __name__ == '__main__':
    main()