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OpenUxAS-SoI/resources/AutomationDiagramDataService/ProcessZones.code
Derek Kingston a896c984f0 Ensured automation diagram works with python 3
2017-12-04 15:30:56 -05:00

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file << "#! /usr/bin/env python" << std::endl;
file << "" << std::endl;
file << "import xml.dom.minidom" << std::endl;
file << "from xml.dom.minidom import Node" << std::endl;
file << "import pandas as pd" << std::endl;
file << "import glob" << std::endl;
file << "import math" << std::endl;
file << "import LocalCoords # Conversion module" << std::endl;
file << "" << std::endl;
file << "try:" << std::endl;
file << " reload # Python 2.7" << std::endl;
file << "except NameError:" << std::endl;
file << " try:" << std::endl;
file << " from importlib import reload # Python 3.4+" << std::endl;
file << " except ImportError:" << std::endl;
file << " from imp import reload # Python 3.0 - 3.3" << std::endl;
file << "" << std::endl;
file << "def ProcessZone(zoneElement, zoneType):" << std::endl;
file << " '''\t" << std::endl;
file << "\tReturn zoneID, label, zoneType, and boundary points for a CMASI AbstractZone." << std::endl;
file << "\t" << std::endl;
file << "\t:param zoneElement: An xml.dom.minidom element representing a CMASI AbstractZone message." << std::endl;
file << "\t:param zoneType: A string describing the type of AbstractZone this message implements." << std::endl;
file << "\t:return: A list [zoneID, label, zoneType, boundaryPd], where zoneID is an int, label is a string, " << std::endl;
file << "\t zoneType is the same as the input parameter, and boundaryPd is a pandas.DataFrame containing columns" << std::endl;
file << "\t of ['latitude','longitude','altitude'] values that define the zone boundary. In practice, a zone" << std::endl;
file << "\t boundary extends from MinAltitude to MaxAltitude. The data portion of boundaryPd defaults " << std::endl;
file << "\t to an Empty Dataframe if a boundary element is not found in zoneElement." << std::endl;
file << "\t'''" << std::endl;
file << " zoneID = 0" << std::endl;
file << " elements = zoneElement.getElementsByTagName('ZoneID')" << std::endl;
file << " if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:" << std::endl;
file << " zoneID = int(elements[0].firstChild.data)" << std::endl;
file << " print('zoneID[' + str(zoneID) + ']')" << std::endl;
file << " elements = zoneElement.getElementsByTagName('Label')" << std::endl;
file << " if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:" << std::endl;
file << " label = str(elements[0].firstChild.data)" << std::endl;
file << " else:" << std::endl;
file << " label = str(zoneID)" << std::endl;
file << " print('label[' + str(label) + ']')" << std::endl;
file << " boundaryPoints = []" << std::endl;
file << " boundaryElements = zoneElement.getElementsByTagName('Boundary')" << std::endl;
file << " if boundaryElements:" << std::endl;
file << " boundaryPoints = ProcessAbstractGeometry(boundaryElements[0])" << std::endl;
file << " if not boundaryPoints:" << std::endl;
file << " print('Missing boundary for zoneID[' + str(zoneID) + ']')" << std::endl;
file << " boundaryPd = pd.DataFrame(data=boundaryPoints, columns=['latitude', 'longitude', 'altitude'])" << std::endl;
file << " return [zoneID, label, zoneType, boundaryPd]" << std::endl;
file << "" << std::endl;
file << "" << std::endl;
file << "def ProcessAbstractGeometry(geometryElement):" << std::endl;
file << " '''" << std::endl;
file << "\tReturn boundary points for a CMASI AbstractGeometry message." << std::endl;
file << "\t" << std::endl;
file << "\t:param geometryElement: An xml.dom.minidom element representing a CMASI AbstractGeometry message." << std::endl;
file << "\t:return: A list containing [lat, long, alt] elements that define the boundary. If the boundary" << std::endl;
file << " cannot be constructed, returns an empty list." << std::endl;
file << "\t'''" << std::endl;
file << " boundaryPoints = []" << std::endl;
file << " circleElements = geometryElement.getElementsByTagName('Circle')" << std::endl;
file << " polygonElements = geometryElement.getElementsByTagName('Polygon')" << std::endl;
file << " rectangleElements = geometryElement.getElementsByTagName('Rectangle')" << std::endl;
file << " if circleElements:" << std::endl;
file << " loc3D = []" << std::endl;
file << " radius = []" << std::endl;
file << " centerPointElements = circleElements[0].getElementsByTagName('CenterPoint')" << std::endl;
file << " if centerPointElements:" << std::endl;
file << " location3DElements = centerPointElements[0].getElementsByTagName('Location3D')" << std::endl;
file << " if location3DElements:" << std::endl;
file << " loc3D = ProcessLocation3DElement(location3DElements[0])" << std::endl;
file << " radiusElements = circleElements[0].getElementsByTagName('Radius')" << std::endl;
file << " if radiusElements and radiusElements[0].firstChild and radiusElements[0].firstChild.nodeType == Node.TEXT_NODE:" << std::endl;
file << " radius = float(radiusElements[0].firstChild.data)" << std::endl;
file << " if type(radius) != float or len(loc3D) != 3:" << std::endl;
file << " return []" << std::endl;
file << " reload(LocalCoords) # reset the initialization coordinates" << std::endl;
file << " centerNorthEast_m = LocalCoords.LatLong_degToNorthEast_m(loc3D[0], loc3D[1])" << std::endl;
file << " heading = 0;" << std::endl;
file << " headingStep = math.pi / 18; # 10 deg steps" << std::endl;
file << " while heading < 2.0 * math.pi:" << std::endl;
file << " north_m = radius * math.sin(heading) + centerNorthEast_m[0]" << std::endl;
file << " east_m = radius * math.cos(heading) + centerNorthEast_m[1]" << std::endl;
file << " boundaryPointLatLong = LocalCoords.NorthEast_mToLatLong_deg(north_m, east_m)" << std::endl;
file << " boundaryPoints.append([boundaryPointLatLong[0], boundaryPointLatLong[1], loc3D[2]])" << std::endl;
file << " heading = heading + headingStep" << std::endl;
file << " elif polygonElements:" << std::endl;
file << " boundaryPointElements = polygonElements[0].getElementsByTagName('BoundaryPoints')" << std::endl;
file << " if boundaryPointElements:" << std::endl;
file << " location3DElements = boundaryPointElements[0].getElementsByTagName('Location3D')" << std::endl;
file << " for location3DElement in location3DElements:" << std::endl;
file << " loc = ProcessLocation3DElement(location3DElement)" << std::endl;
file << " if loc:" << std::endl;
file << " boundaryPoints.append(loc)" << std::endl;
file << " elif rectangleElements:" << std::endl;
file << " loc3D = []" << std::endl;
file << " width = []" << std::endl;
file << " height = []" << std::endl;
file << " rotation = []" << std::endl;
file << " centerPointElements = rectangleElements[0].getElementsByTagName('CenterPoint')" << std::endl;
file << " if centerPointElements:" << std::endl;
file << " location3DElements = centerPointElements[0].getElementsByTagName('Location3D')" << std::endl;
file << " if location3DElements:" << std::endl;
file << " loc3D = ProcessLocation3DElement(location3DElements[0])" << std::endl;
file << " elements = rectangleElements[0].getElementsByTagName('Width')" << std::endl;
file << " if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:" << std::endl;
file << " width = float(elements[0].firstChild.data)" << std::endl;
file << " elements = rectangleElements[0].getElementsByTagName('Height')" << std::endl;
file << " if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:" << std::endl;
file << " height = float(elements[0].firstChild.data)" << std::endl;
file << " elements = rectangleElements[0].getElementsByTagName('Rotation')" << std::endl;
file << " if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:" << std::endl;
file << " rotation = float(elements[0].firstChild.data)" << std::endl;
file << " if type(width) != float or type(height) != float or type(rotation) != float or len(loc3D) != 3:" << std::endl;
file << " return []" << std::endl;
file << " reload(LocalCoords) # reset the initialization coordinates" << std::endl;
file << " centerNorthEast_m = LocalCoords.LatLong_degToNorthEast_m(loc3D[0], loc3D[1])" << std::endl;
file << " boundaryPointsNorthEast = []" << std::endl;
file << " boundaryPointsNorthEast.append([centerNorthEast_m[0] + height / 2, centerNorthEast_m[1] - width / 2])" << std::endl;
file << " boundaryPointsNorthEast.append([centerNorthEast_m[0] + height / 2, centerNorthEast_m[1] + width / 2])" << std::endl;
file << " boundaryPointsNorthEast.append([centerNorthEast_m[0] - height / 2, centerNorthEast_m[1] + width / 2])" << std::endl;
file << " boundaryPointsNorthEast.append([centerNorthEast_m[0] - height / 2, centerNorthEast_m[1] - width / 2])" << std::endl;
file << " for point in boundaryPointsNorthEast:" << std::endl;
file << " north_m = math.cos(rotation * math.pi / 180.0) * point[0] - math.sin(rotation * math.pi / 180.0) * point[1]" << std::endl;
file << " east_m = math.sin(rotation * math.pi / 180.0) * point[0] + math.cos(rotation * math.pi / 180.0) * point[1]" << std::endl;
file << " boundaryPointLatLong = LocalCoords.NorthEast_mToLatLong_deg(north_m, east_m)" << std::endl;
file << " boundaryPoints.append([boundaryPointLatLong[0], boundaryPointLatLong[1], loc3D[2]])" << std::endl;
file << " else:" << std::endl;
file << " print('ERROR:: Unknown boundary area type encountered!!!')" << std::endl;
file << " return boundaryPoints" << std::endl;
file << "" << std::endl;
file << "" << std::endl;
file << "def ProcessLocation3DElement(Location3DElement):" << std::endl;
file << " '''" << std::endl;
file << " Return a list [latitude, longitude, altitude] representing the value of a CMASI Location3D message." << std::endl;
file << " :param Location3DElement: An xml.dom.minidom element representing a CMASI Location3D message." << std::endl;
file << " :return: [latitude, longitude, altitude] if the message can be fully processed, [] otherwise." << std::endl;
file << " '''" << std::endl;
file << " loc3D = []" << std::endl;
file << " elements = Location3DElement.getElementsByTagName('Latitude')" << std::endl;
file << " if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:" << std::endl;
file << " loc3D.append(float(elements[0].firstChild.data))" << std::endl;
file << " elements = Location3DElement.getElementsByTagName('Longitude')" << std::endl;
file << " if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:" << std::endl;
file << " loc3D.append(float(elements[0].firstChild.data))" << std::endl;
file << " elements = Location3DElement.getElementsByTagName('Altitude')" << std::endl;
file << " if elements and elements[0].firstChild and elements[0].firstChild.nodeType == Node.TEXT_NODE:" << std::endl;
file << " loc3D.append(float(elements[0].firstChild.data))" << std::endl;
file << " if len(loc3D) == 3:" << std::endl;
file << " return loc3D" << std::endl;
file << " else:" << std::endl;
file << " return []" << std::endl;
file << "" << std::endl;
file << "" << std::endl;
file << "def ProcessZoneFile(filename):" << std::endl;
file << " zones = []" << std::endl;
file << " doc2 = xml.dom.minidom.parse(filename)" << std::endl;
file << " if doc2.hasChildNodes():" << std::endl;
file << " isGoodMessage = True" << std::endl;
file << " zoneNode = doc2.firstChild" << std::endl;
file << " zoneType = ''" << std::endl;
file << " if str(zoneNode.nodeName) == 'KeepInZone':" << std::endl;
file << " zoneType = 'KeepInZone'" << std::endl;
file << " elif str(zoneNode.nodeName) == 'KeepOutZone':" << std::endl;
file << " zoneType = 'KeepOutZone'" << std::endl;
file << " else:" << std::endl;
file << " print('ERROR:: Unknown zone type[' + str(zoneNode.nodeName) + '] encountered!!!')" << std::endl;
file << " isGoodMessage = False" << std::endl;
file << " if isGoodMessage:" << std::endl;
file << " zones.append(ProcessZone(zoneNode, zoneType))" << std::endl;
file << " return zones" << std::endl;
file << "" << std::endl;
file << "" << std::endl;
file << "def main():" << std::endl;
file << " zoneArray = []" << std::endl;
file << " for zoneFile in glob.glob('ZoneKeep*'):" << std::endl;
file << " print('loading [' + zoneFile + ']')" << std::endl;
file << " zoneArray.extend(ProcessZoneFile(zoneFile))" << std::endl;
file << " zoneArrayPd = pd.DataFrame(data=zoneArray, columns=['zoneID', 'label', 'zoneType', 'boundaryPd'])" << std::endl;
file << " print('saving [Zones.pkl]')" << std::endl;
file << " zoneArrayPd.to_pickle('Zones.pkl')" << std::endl;
file << "" << std::endl;
file << "" << std::endl;
file << "if __name__ == '__main__':" << std::endl;
file << " main()" << std::endl;
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