# DISTRIBUTION STATEMENT A. Approved for public release. Distribution is unlimited.
# This material is based upon work supported by the Under Secretary of Defense for
# Research and Engineering under Air Force Contract No. FA8702-15-D-0001. Any
# opinions, findings, conclusions or recommendations expressed in this material
# are those of the author(s) and do not necessarily reflect the views of the Under
# Secretary of Defense for Research and Engineering.
# (C) 2021 Massachusetts Institute of Technology.
# Subject to FAR52.227-11 Patent Rights - Ownership by the contractor (May 2014)
# The software/firmware is provided to you on an As-Is basis
# Delivered to the U.S. Government with Unlimited Rights, as defined in DFARS
# Part 252.227-7013 or 7014 (Feb 2014). Notwithstanding any copyright notice, U.S.
# Government rights in this work are defined by DFARS 252.227-7013 or DFARS
# 252.227-7014 as detailed above. Use of this work other than as specifically
# authorized by the U.S. Government may violate any copyrights that exist in this
# work.
# SPDX-License-Identifier: BSD-3-Clause
import numpy as np
import scipy as sp
import os
import simplekml as simplekml
from simplekml import Kml, Snippet, Types
from datetime import datetime
from datetime import timedelta
from lomap.classes.ts import Ts
###############################################################################
#This class definition creates a struct target_data structure
class empty_struct:
pass
##############################################################################
[docs]def gen_kml_file(m,plan_to_draw):
#points = empty_struct()
new_agent_names = [["A1"],["A2"],["A3"],["A4"],["B1"],["B2"],["B3"],["B4"],["C1"],["C2"],["C3"]]
agent_names = ["0","1","2","3","4","5","6","7","8","9","10"]
agent_color = ['ff00ff00','ff00ff00','ff00ff00','ff00ff00','551400ff','551400ff','551400ff','551400ff','55000000','55000000','55000000']
points = empty_struct()
num_agents = 11
time_step_size = (30*60)/(150*12)
corner_coor = m.corner_coor
alt = 500
scale_to_m_y = 85.8000#71.666667
scale_to_m_x = 73.0000#52.142857
start_time = datetime.now()
# Create the KML document
kml = Kml(name="CaTL", open=1)
doc = kml.newdocument(name='test')
doc.lookat.longitude = -71.0000000000
doc.lookat.latitude = 42.33
doc.lookat.range = 5000.00
# Create a folder
fol = doc.newfolder(name='Tracks')
#Get the region points and convert them to lat_long
ts = Ts.load(m.ts_filename)
region_bounds = []
region_color = []
region_label = []
num_states = 0
value = 'pol'
for state in ts.g.node:
lat_long_bounds = []
state_int = np.int(state[1:len(state)])
bounds = ts.g.node[state]['shape']
prop = ts.g.node[state]['prop']
prop_str = str(prop)
len_b = len(prop_str)
label = prop_str[6:len_b-3]
color = ts.g.node[state]['color']
num_states += 1
num_points = len(bounds)
for i in range(0,num_points):
lat,long = point_transform((bounds[i][0],bounds[i][1]),corner_coor,scale_to_m_x,scale_to_m_y)
lat_long_bounds.append((long,lat,500))
pol_var = value+str(state_int)
#Generate polygon map of regions:
vars()[pol_var] = kml.newpolygon(name=label,
outerboundaryis=lat_long_bounds)
if color == 'white':
vars()[pol_var].style.polystyle.color = '5514ffff'
if color == 'yellow':
vars()[pol_var].style.polystyle.color = '5514f0ff'
if color == 'red':
vars()[pol_var].style.polystyle.color = '551400ff'
if color == 'black':
vars()[pol_var].style.polystyle.color = '55140000'
vars()[pol_var].style.polystyle.outline = 1
vars()[pol_var].style.labelstyle.color = simplekml.Color.white
#vars()[pol_var].gxtimespan.begin = current_time
#vars()[pol_var].gxtimespan.end = current_time + timedelta(seconds=time_step_size)
#Loop Starts here:
for agent in range(0,plan_to_draw.shape[0]):
label_name = new_agent_names[int(agent)][0]
agent_color_val = agent_color[int(agent)]
#agent = agent_name
points.pts = []
points.when = []
cx = []
cy = []
for t in range(0,plan_to_draw.shape[1]):
cx = list(cx)
cy = list(cy)
cx.append(plan_to_draw[agent][t][0])
cy.append(plan_to_draw[agent][t][1])
points.x = [i for i in cx if i>=0]
points.y = [i for i in cy if i>=0]
current_time = start_time + timedelta(seconds=time_step_size)
#print(agent)
#if len(points.x) > 1000:
# save_length = int(len(points.x)*.6)
#else:
# save_length = int(len(points.x))
for i in range(0, len(points.x)):
x = points.x[i]
#print(x)
y = points.y[i]
#print(y)
lat,long = point_transform((x,y),corner_coor,scale_to_m_x,scale_to_m_y)
points.pts.append([long,lat,alt])
current_time = current_time + timedelta(seconds=time_step_size)
points.when.append(current_time.strftime("%Y-%m-%d")+"T"+current_time.strftime("%H:%M:%S")+"Z")
agent_info = {"coord" : points.pts,
"when" : points.when
}
# Create the trajectory
trk = fol.newgxtrack(name=label_name)
trk.newwhen(agent_info["when"])
trk.newgxcoord(agent_info["coord"])
trk.altitudemode = 'relativeToGround'
# Styling
trk.stylemap.normalstyle.iconstyle.icon.href = 'http://maps.google.com/mapfiles/kml/shapes/airports.png'
trk.stylemap.normalstyle.linestyle.color = '00000000'
trk.stylemap.normalstyle.linestyle.width = 6
trk.stylemap.highlightstyle.iconstyle.icon.href = 'http://maps.google.com/mapfiles/kml/shapes/airports.png'
trk.stylemap.highlightstyle.iconstyle.scale = 1.2
trk.stylemap.highlightstyle.linestyle.color = agent_color_val
trk.stylemap.highlightstyle.linestyle.width = 8
# Saving
kml.save(m.save_filename+".kml")
#kml.savekmz(os.path.splitext(__file__)[0] + ".kmz") # uncomment to save to kmz
#print kml.kml() # uncomment to see the kml printed to screen
[docs]def txt_output(m,the_plan):
for a in range(0,len(the_plan)):
valsx = []
valsy = []
for t in range(0,len(the_plan[a])):
valsx.append(the_plan[a][t][0])
valsy.append(the_plan[a][t][1])
np.savetxt(m.output_path+'/txt_files/'+str(a)+'x.txt',valsx)
np.savetxt(m.output_path+'/txt_files/'+str(a)+'y.txt',valsy)