Merge pull request #15 from NUIG-ROCSAFE/cleanupDirectoryStructure

updated file path in bastch scripts and routes generation codde

BatchScripts/one_drone.bat

@@ -1,10 +1,10 @@
 cd ..
 set base_dir=%cd%
 
-cd ./PythonCode/PythonClientGPSMapping/GPSMappings/Images/Images1/Camera1
-del *.png
+cd ./RAVCollectedData/PNGImages/
+del /F /S *.png
 
 cd %base_dir%
 
-cd ./PythonCode/PythonGridMapping/AirSimPythonClient
+cd ./PythonCode/Routing/AirSimPythonClient/RAVExecuteRoutes
 start python rav_zero_mapper.py

Config/config.ini

@@ -1,31 +1,29 @@
 [JAVA]
-JavaBinLoc = /JavaRuntime/jre1.8.0_171/bin/
-JavaCodeLoc = /JavaCode/
-JavaMissionDesignerJar = MissionPlanner.jar
+JavaBinLoc = /JavaRuntime/jre1.8.0_171/bin
+JavaCodeLoc = /JavaCode
+JavaMissionDesignerJar = /MissionPlanner.jar
 
 [BLOG]
-BlogBinLoc = /BlogRuntime/bin/
-BlogCodeLoc = /BlogScripts/
-BlogProgName = ChemicalProbablisticReasoning.blog
+BlogBinLoc = /BlogRuntime/bin
+BlogCodeLoc = /BlogScripts
+BlogProgName = /ChemicalProbablisticReasoning.blog
 
 [PYTHON]
-PythonDocRetrievalCodeLoc = /SOPRanking/RocsafeCode/Demo-IR/
-PythonRAVRouteExecutionDir = /PythonCode/Routing/AirSimPythonClient/RAVExecuteRoutes/
-PythonElasticMain = elasticMain.py
-PythonGenerateRouteDir = /PythonCode/Routing/RouteGeneration/
-PythonGenerateRoutesFileLoc = generateRoutesForUnreal.py
+PythonDocRetrievalCodeLoc = /SOPRanking/RocsafeCode/Demo-IR
+PythonRAVRouteExecutionDir = /PythonCode/Routing/AirSimPythonClient/RAVExecuteRoutes
+PythonElasticMain = /elasticMain.py
+PythonGenerateRouteDir = /PythonCode/Routing/RouteGeneration
+PythonGenerateRoutesFileLoc = /generateRoutesForUnreal.py
 
 [BATCHSCRIPTS]
-BatchScriptsLoc = /BatchScripts/
+BatchScriptsLoc = /BatchScripts
 
 [DATA]
-RAVGPSRoutesDir = /RCode/ShinyApp/Data/
-CollectedPNGImagesDir = /RAVCollectedData/PNGImages/
-RAVRecordedGPSWaypoints = /RAVCollectedData/GPSCoords/
-RAVPlannedWaypointsFile = gridPoints.csv
-UIImagesDir = RCode/ShinyApp/Data/Images/
-MostRecentProcessImageFileLoc = mostRecentImageProcessed.jpg
-MostRecentImageRawFileLoc = mostRecentImageProcessed.jpg
-PlannedAgentRoutesDir = /RAVPlannedRoutes/
-
-
+RAVGPSRoutesDir = /RCode/ShinyApp/Data
+CollectedPNGImagesDir = /RAVCollectedData/PNGImages
+RAVRecordedGPSWaypoints = /RAVCollectedData/GPSCoords
+RAVPlannedWaypointsFile = /gridPoints.csv
+UIImagesDir = /RCode/ShinyApp/Data/Images
+MostRecentProcessImageFileLoc = /mostRecentImageProcessed.jpg
+MostRecentImageRawFileLoc = /mostRecentImageProcessed.jpg
+PlannedAgentRoutesDir = /RAVPlannedRoutes

PythonCode/Routing/AirSimPythonClient/AirSimClient.py

@@ -11,8 +11,8 @@
 import re
 
 sys.path.append("./GPSMappings")
-from GPSMappings.GPSCoordinate import GPSCoordinate
-from GPSMappings.GPS import GPSToUnreal
+from GPS.GPSCoordinate import GPSCoordinate
+from GPS.GPSToUnreal import GPSToUnreal
 
 
 class MsgpackMixin:

PythonCode/Routing/AirSimPythonClient/GPS/GPSToUnreal.py

@@ -1,4 +1,4 @@
-from GPSCoordinate import GPSCoordinate
+from .GPSCoordinate import GPSCoordinate
 
 class GPSToUnreal:
     # this is taken as origin (0,0)

PythonCode/Routing/AirSimPythonClient/GPS/__init__.py

@@ -1,2 +1 @@
-from GPSCoordinate import GPSCoordinate
 __all__ = ['RAVGPSMapper', 'GPSCoordinate']

PythonCode/Routing/RouteGeneration/generateRoutesForUnreal.py

@@ -7,8 +7,13 @@
 def get_config() -> configparser.ConfigParser:
 	config = configparser.ConfigParser()
 	#read the global default config
-	config.read(os.getcwd().replace("\\", "/") + '/../../../Config/config.ini')
+	config.read(os.getcwd().replace("\\", "/") + '/../../../../Config/config.ini')
+	print("Read config file from here: {}".format(os.getcwd().replace("\\", "/") + '/../../../../Config/config.ini'))
 	return config
+
+def create_folders_if_dont_exist():
+	'''If default folders don't exist, create them'''
+	pass
 
 
 def main(no_ravs, no_cameras = 1, rav_velocity = 4, rav_altitude = 35, RAV_route_execution_dir = "", RAV_recorded_GPS_waypoints="", saved_images_dir=""):
@@ -17,7 +22,7 @@ def main(no_ravs, no_cameras = 1, rav_velocity = 4, rav_altitude = 35, RAV_route
 	print("Generating routes for ", no_ravs, " ravs")
 	base_dir = os.path.abspath(__file__).split('PythonCode')[0].replace('\\', '/')
 	#READ DEFAULTS
-	RAVGPSRoutesDir = base_dir + config["DATA"]["RAVGPSRoutesDir"]
+	RAVGPSRoutesDir = base_dir + config["DATA"]["PlannedAgentRoutesDir"]
 	if saved_images_dir == "":
 			#saved_images_dir = base_dir + "/PythonCode/PythonClientGPSMapping/GPSMappings/Images"
 			saved_images_dir = base_dir + config["DATA"]["CollectedPNGImagesDir"]
@@ -40,15 +45,28 @@ def main(no_ravs, no_cameras = 1, rav_velocity = 4, rav_altitude = 35, RAV_route
 		print('Directory {} does not exist, creating in default location'.format(saved_images_dir))
 		os.makedirs(RAV_recorded_GPS_waypoints)
 
-	if not os.path.exists(RAV_recorded_GPS_waypoints):
+	if not os.path.isdir(RAV_recorded_GPS_waypoints):
 		print('Directory {} does not exist, creating in default location'.format(RAV_recorded_GPS_waypoints))
 		os.makedirs(RAV_recorded_GPS_waypoints)
+
+	#create images directory
+	for rav_no in range(int(no_ravs)):
+		if not os.path.isdir(saved_images_dir + '/ImagesRAV%d' % (rav_no + 1)):
+			os.makedirs(saved_images_dir + '/ImagesRAV%d' % (rav_no + 1))
+		for camera_no in range(int(no_cameras)):
+			if not os.path.isdir(saved_images_dir + '/ImagesRAV%d' % (rav_no + 1) + '/Camera{}'.format(camera_no+1)):
+				print('Directory {} does not exist, creating in default location'.format(saved_images_dir + '/ImagesRAV%d' % (rav_no + 1) + '/Camera{}'.format(camera_no+1)))
+				os.makedirs(saved_images_dir + '/ImagesRAV%d' % (rav_no + 1) + '/Camera{}'.format(camera_no+1))
 
 	for rav_no in range(int(no_ravs)):
-		if not os.path.exists(saved_images_dir + 'ImagesRAV%d/' % (rav_no + 1)):
-			os.makedirs(saved_images_dir + '/ImagesRAV%d/' % (rav_no + 1))
-		#set default directories if not provided. Assume that directory layout is that specified in IJCAIDemoCode			
-		python_code = generate_route_text(rav_no+1, open(RAVGPSRoutesDir+"Agent{}.csv".format(rav_no+1)).read()[15:], RAV_recorded_GPS_waypoints, saved_images_dir, no_cameras, rav_velocity=rav_velocity, rav_altitude = rav_altitude, images=True, sleep_time = 2, gps_locations=True)
+
+		#set default directories if not provided. Assume that directory layout is that specified in IJCAIDemoCode		
+		#[15:] due to lat, long, alt header
+		assert ''.join(open(RAVGPSRoutesDir+"/Agent{}.csv".format(rav_no+1)).readlines()[1:]) == open(RAVGPSRoutesDir+"/Agent{}.csv".format(rav_no+1)).read()[15:]
+		#drone_number, gps_coords, gps_coords_file_dir, saved_images_dir, no_cameras = 1, rav_velocity = 5, rav_altitude = 35, sleep_time = 0.5, images: #bool = True, gps_locations: bool=True
+		python_code = generate_route_text(rav_no+1, ''.join(open(RAVGPSRoutesDir+"/Agent{}.csv".format(rav_no+1)).readlines()[1:]), RAV_recorded_GPS_waypoints,saved_images_dir, no_cameras, rav_velocity = rav_velocity, rav_altitude=rav_altitude, sleep_time=2, images=True, gps_locations=True)
+
+		#python_code = generate_route_text(rav_no+1, open(RAVGPSRoutesDir+"/Agent{}.csv".format(rav_no+1)).read()[15:], RAV_recorded_GPS_waypoints, saved_images_dir, no_cameras, #rav_velocity, rav_altitude, images=True, sleep_time = 2, gps_locations=True)
 		#assume that directory layout is that specified in IJCAIDemoCode
 		rav_no_dict={1:'zero', 2:'one', 3: 'two', 4: 'three'}
 		save_python_to_file(python_code, RAV_route_execution_dir + "/rav_{}_mapper.py".format(rav_no_dict[rav_no+1]))

PythonCode/Routing/RouteGeneration/generateRoutesForUnrealUtils.py

@@ -14,6 +14,10 @@ def generate_route_text(drone_number, gps_coords, gps_coords_file_dir, saved_ima
 	return_txt = '''import io
 	import time
 	import os
+	import sys
+	#append folder level up to import AirSimClient
+	sys.path.append('..')
+	sys.path.append('../GPSMappings')
 	from PIL import Image
 	from AirSimClient import *
 	'''