Devel for 1.1 (#47)

* Mission takeoff fix (#46) * patch for takeoff wp write error * Path tree (#50) * added pathTree subclass * working integrated pathTree * Or export (#51) * exporting some data for OR tools * added at method to survey * clean up on metaTree creation * added timeouut for cvx * switched smt to sat, thanks MK * Kml (#53) * added kml parser to Areas class * Priority Point (#55) * Queue sort (#56) * simple queue sort to avoid islands * syntax shooogar * K2shah patch 1 (#57) * Update python-app.yml * hard coded values are bad * relinking after changing route parameters (#58) * relinking after changing route parameters * guard against small graphs * fixed view with new solver api Co-authored-by: jadenvc <[email protected]>
k2shah · Aug 8, 2022 · 9e22497 · 9e22497
1 parent e4af342
commit 9e22497
Show file tree

Hide file tree

Showing 26 changed files with 1,540 additions and 220 deletions.
diff --git a/.DS_Store b/.DS_Store
diff --git a/.github/workflows/python-app.yml b/.github/workflows/python-app.yml
@@ -5,9 +5,9 @@ name: build
 
 on:
   push:
-    branches: [ master, devel ]
+    branches: [master]
   pull_request:
-    branches: [ master, devel ]
+    branches: [master, devel ]
 
 jobs:
   build:

diff --git a/.gitignore b/.gitignore
@@ -3,6 +3,9 @@ __pycache__/
 *.py[cod]
 *$py.class
 
+# unknown
+.DS_Store
+
 # C extensions
 *.so
 

diff --git a/docs/.DS_Store b/docs/.DS_Store
diff --git a/example/.DS_Store b/example/.DS_Store
diff --git a/example/stanford.py b/example/stanford.py
@@ -7,7 +7,7 @@
 from wadl.lib.route import RouteParameters
 from wadl.mission import MissionParameters
 
-# suvey design script
+# survey design script
 # get file name
 # files are assumed geofences (ID, lat, long)
 file = "data/stanford.csv"
@@ -22,24 +22,25 @@
              }
 survey.setKeyPoints(keyPoints)
 
-# route paramters
+# route parameters
 routeParams = RouteParameters()
-routeParams["limit"] = 30*60,  # s
+routeParams["limit"] = 30*60  # s
 routeParams["speed"] = 5  # m/s
 routeParams["altitude"] = 50.0  # m
 # add the tasks
 
 survey.addTask(file,
                step=100,
-               home=["oval", "MSL"],
+               home=["MSL", "oval"],
                routeParameters=routeParams,
                )
 
 # solver parameters
 solverParams = SolverParameters()
 solverParams["subGraph_size"] = 20
-solverParams["SATBound_offset"] = 4
-solverParams["timeout"] = 30
+solverParams["SATBound_offset"] = 2
+solverParams["timeout"] = 10
+solverParams["stitch"] = "milp"
 
 # set the solver parameters
 survey.setSolverParamters(solverParams)
@@ -51,22 +52,22 @@
     survey.view()
 else:
     # run path solver to plan paths and write output
-    survey.plan()
+    survey.plan(write=False, showPlot=True)
     # survey.plot()
 
 # make mission
-# mission paramters
-missionParams = MissionParameters()
-missionParams["N_bands"] = 3
-missionParams["autoland"] = False
+# mission parameters
+# missionParams = MissionParameters()
+# missionParams["N_bands"] = 3
+# missionParams["autoland"] = False
 
-missionParams["assign"] = "sequence"
+# missionParams["assign"] = "sequence"
 
-missionParams["offset_takeoff_dist"] = 10
-missionParams["offset_land_dist"] = 10
+# missionParams["offset_takeoff_dist"] = 10
+# missionParams["offset_land_dist"] = 10
 
 
-mission = Mission(missionParams)
-mission.fromSurvey(survey, showPlot=True)
-mission.setVersion(4, 0, 187)
-mission.write()
+# mission = Mission(missionParams)
+# mission.fromSurvey(survey, showPlot=True)
+# mission.setVersion(4, 0, 187)
+# mission.write()
diff --git a/example/stanford/routes.png b/example/stanford/routes.png
diff --git a/requirements.txt b/requirements.txt
@@ -6,3 +6,7 @@ Shapely>=1.7.0
 tqdm>=4.46.1
 utm>=0.5.0
 z3-solver>=4.8.8.0
+cvxopt>=1.2.5
+cvxpy>=1.1.7
+lxml>=4.6.3
+fastkml>=0.11
diff --git a/setup.py b/setup.py
@@ -5,7 +5,8 @@
 from setuptools import setup, find_packages
 
 requirements = ['numpy', 'matplotlib', 'scipy', 'tqdm',
-                'shapely', 'z3-solver', 'networkx', 'utm']
+                'shapely', 'networkx', 'utm', 'fastkml', 'lxml',
+                'z3-solver', 'cvxpy', 'cvxopt']
 
 setup_requirements = ['pytest-runner', ]
 

diff --git a/tests/data/HMR_tree_polygon_v2/8FCD70AEBABB4DBF958BF447B4088ADE.xsl b/tests/data/HMR_tree_polygon_v2/8FCD70AEBABB4DBF958BF447B4088ADE.xsl
@@ -0,0 +1,152 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<xsl:stylesheet version="1.0" xmlns:xsl="http://www.w3.org/1999/XSL/Transform" xmlns:fo="http://www.w3.org/1999/XSL/Format" xmlns:msxsl="urn:schemas-microsoft-com:xslt">
+	<xsl:variable name="ignoreFieldNames" select="'|OBJECTID|Shape|Shape_Length|Shape_Area|ATTACHMENTID|REL_OBJECTID|CONTENT_TYPE|ATT_NAME|DATA_SIZE|DATA|'"/>
+	<xsl:variable name="headerRowColor" select="'#9CBCE2'"/>
+	<xsl:variable name="alternateRowColor" select="'#D4E4F3'"/>
+	<xsl:template match="/">
+		<html>
+			<head>
+				<meta http-equiv="content-type" content="text/html; charset=UTF-8"/>
+			</head>
+			<body style="margin:0px 0px 0px 0px;overflow:auto;background:#FFFFFF;">
+				<table style="font-family:Arial,Verdana,Times;font-size:12px;text-align:left;width:100%;border-collapse:collapse;padding:3px 3px 3px 3px">
+					<tr style="text-align:center;font-weight:bold;background:{$headerRowColor}">
+						<td>
+							<xsl:value-of select="FieldsDoc/Title" />
+						</td>
+					</tr>
+					<xsl:apply-templates select="FieldsDoc/Attachments" />
+					<tr>
+						<td>
+							<table style="font-family:Arial,Verdana,Times;font-size:12px;text-align:left;width:100%;border-spacing:0px; padding:3px 3px 3px 3px">
+								<xsl:choose>
+									<xsl:when test="FieldsDoc/Fields/Field/FieldName">
+										<xsl:apply-templates select="FieldsDoc/Fields/Field/FieldName[not(contains($ignoreFieldNames, concat(concat('|', text()), '|')))]/.." />
+									</xsl:when>
+									<xsl:otherwise>
+										<xsl:apply-templates select="FieldsDoc/Fields/Field" />
+									</xsl:otherwise>
+								</xsl:choose>
+							</table>
+						</td>
+					</tr>
+				</table>
+			</body>
+		</html>
+	</xsl:template>
+
+	<xsl:template match="Attachments">
+		<xsl:variable name="imageCount" select="count(Attachment/ContentType[contains(., 'image')])"/>
+		<xsl:variable name="attachmentCount" select="count(Attachment)"/>
+		<tr bgcolor="{$headerRowColor}">
+			<td>
+				<table style="font-family:Arial,Verdana,Times;font-size:12px;text-align:left;width:100%;border-spacing:0px; padding:3px 3px 3px 3px">
+					<xsl:variable name="imageSrc" select="Attachment/ContentType[contains(., 'image')]/../FilePath"/>
+					<xsl:if test="$imageSrc">
+						<tr align="center">
+							<td>
+								<a target="_blank" href="{$imageSrc}">
+									<img src="{$imageSrc}" width="275px" border="0"/>
+								</a>
+							</td>
+						</tr>
+						<tr align="center">
+							<td>
+								<xsl:value-of select="Attachment/ContentType[contains(., 'image')]/../Name" />
+							</td>
+						</tr>
+					</xsl:if>
+					<xsl:if test="($attachmentCount &gt; $imageCount) or not($imageCount = 1)">
+						<tr align="center">
+							<td>
+								<table style="font-family:Arial,Verdana,Times;font-size:12px;text-align:left;width:100%;border-spacing:0px; padding:3px 3px 3px 3px">
+									<xsl:for-each select="Attachment[position() mod 2 = 1]">
+										<tr align="left" bgcolor="white">
+											<xsl:if test="(position() +1) mod 2">
+												<xsl:attribute name="bgcolor">
+													<xsl:value-of select="$alternateRowColor"/>
+												</xsl:attribute>
+											</xsl:if>
+											<td>
+												<a target="_blank">
+													<xsl:attribute name="href">
+														<xsl:value-of select="FilePath"/>
+													</xsl:attribute>
+													<xsl:value-of select="Name" />
+												</a>
+											</td>
+											<td>
+												<a target="_blank">
+													<xsl:attribute name="href">
+														<xsl:value-of select="following-sibling::Attachment/FilePath"/>
+													</xsl:attribute>
+													<xsl:value-of select="following-sibling::Attachment/Name" />
+												</a>
+											</td>
+										</tr>
+									</xsl:for-each>
+								</table>
+							</td>
+						</tr>
+					</xsl:if>
+				</table>
+			</td>
+		</tr>
+	</xsl:template>
+
+	<xsl:template match="Field">
+		<tr>
+			<xsl:if test="(position() +1) mod 2">
+				<xsl:attribute name="bgcolor">
+					<xsl:value-of select="$alternateRowColor"/>
+				</xsl:attribute>
+			</xsl:if>
+			<xsl:if test="FieldName">
+				<td>
+					<xsl:value-of select="FieldName"/>
+				</td>
+			</xsl:if>
+			<td>
+				<xsl:choose>
+					<xsl:when test="FieldValue[starts-with(., 'www.')]">
+						<a target="_blank">
+							<xsl:attribute name="href">http://<xsl:value-of select="FieldValue"/>
+							</xsl:attribute>
+							<xsl:value-of select="FieldValue"/>
+						</a>
+					</xsl:when>
+					<xsl:when test="FieldValue[starts-with(., 'http:')]">
+						<a target="_blank">
+							<xsl:attribute name="href">
+								<xsl:value-of select="FieldValue"/>
+							</xsl:attribute>
+							<xsl:value-of select="FieldValue"/>
+						</a>
+					</xsl:when>
+					<xsl:when test="FieldValue[starts-with(., 'https:')]">
+						<a target="_blank">
+							<xsl:attribute name="href">
+								<xsl:value-of select="FieldValue"/>
+							</xsl:attribute>
+							<xsl:value-of select="FieldValue"/>
+						</a>
+					</xsl:when>
+					<xsl:when test="FieldValue[starts-with(., '\\')]">
+						<a target="_blank">
+							<xsl:attribute name="href">
+								<xsl:value-of select="FieldValue"/>
+							</xsl:attribute>
+							<xsl:value-of select="FieldValue"/>
+						</a>
+					</xsl:when>
+					<xsl:when test="FieldValue[starts-with(., '&lt;img ')]">
+						<xsl:value-of select="FieldValue" disable-output-escaping="yes" />
+					</xsl:when>
+					<xsl:otherwise>
+						<xsl:value-of select="FieldValue"/>
+					</xsl:otherwise>
+				</xsl:choose>
+			</td>
+		</tr>
+	</xsl:template>
+</xsl:stylesheet>