Add basic parsing of site json files to building map server

Signed-off-by: Luca Della Vedova <[email protected]>

rmf_building_map_tools/building_map_server/building_map_server.py

@@ -15,6 +15,8 @@
 from rclpy.qos import QoSReliabilityPolicy as Reliability
 from rclpy.node import Node
 
+from building_map_server.site import load_site_json
+
 from rmf_building_map_msgs.srv import GetBuildingMap
 from rmf_building_map_msgs.msg import BuildingMap
 from rmf_building_map_msgs.msg import Level
@@ -53,6 +55,9 @@ def __init__(self, map_path):
             self.load_geojson(map_path)
         elif map_path.endswith('.geojson.gz'):
             self.load_geojson(map_path, True)
+        elif map_path.endswith('.site.json'):
+            self.site_map_msg = SiteMap()
+            self.map_msg = load_site_json(map_path)
         else:
             self.get_logger().fatal('unknown filename suffix')
             sys.exit(1)

rmf_building_map_tools/building_map_server/site.py

@@ -0,0 +1,155 @@
+import json
+import math
+import os
+
+from rmf_building_map_msgs.msg import BuildingMap
+from rmf_building_map_msgs.msg import Level
+from rmf_building_map_msgs.msg import Graph
+from rmf_building_map_msgs.msg import GraphNode
+from rmf_building_map_msgs.msg import GraphEdge
+from rmf_building_map_msgs.msg import Place
+from rmf_building_map_msgs.msg import AffineImage
+from rmf_building_map_msgs.msg import Door
+from rmf_building_map_msgs.msg import Lift
+from rmf_building_map_msgs.msg import Param
+
+DEFAULT_CABIN_DOOR_THICKNESS = 0.05
+DEFAULT_CABIN_WALL_THICKNESS = 0.1
+DEFAULT_CABIN_GAP = 0.01
+
+def load_site_json(map_path):
+    map_msg = BuildingMap()
+    map_dir = os.path.dirname(map_path)  # for calculating image paths
+    with open(map_path, 'r') as f:
+        site = json.load(f)
+    map_msg.name = site["properties"]["name"]
+    for level_data in site["levels"].values():
+        map_msg.levels.append(parse_level(map_dir, level_data))
+    for lift_data in site.get("lifts", {}).values():
+        lift = parse_lift(lift_data, site)
+        if lift is not None:
+            map_msg.lifts.append(lift)
+    print(map_msg.lifts)
+    return map_msg
+
+def parse_angle(angle):
+    if "rad" in angle:
+        return angle["rad"]
+    else:
+        return math.pi * angle["deg"] / 180.0
+
+def parse_lift(data, site):
+    lift_msg = Lift()
+    props = data["properties"]
+    lift_msg.name = props["name"]
+    cabin = props["cabin"]["Rect"]
+    lift_msg.width = cabin["width"]
+    lift_msg.depth = cabin["depth"]
+    front_door_thickness = 0.0
+    if "front_door" in cabin:
+        # TODO(luca) use custom thickness
+        front_door_thickness = DEFAULT_CABIN_DOOR_THICKNESS
+    center_x = -cabin["depth"] / 2.0 - DEFAULT_CABIN_WALL_THICKNESS - DEFAULT_CABIN_GAP - front_door_thickness / 2.0
+    center_y = 0.0
+    left_anchor = site["anchors"].get(str(props["reference_anchors"][0]))
+    right_anchor = site["anchors"].get(str(props["reference_anchors"][1]))
+    if left_anchor is None or right_anchor is None:
+        # ERROR
+        return None
+    if "Translate2D" in left_anchor:
+        left_anchor = left_anchor["Translate2D"]
+    else:
+        return None
+    if "Translate2D" in right_anchor:
+        right_anchor = right_anchor["Translate2D"]
+    else:
+        return None
+    lift_msg.ref_yaw = math.atan2(left_anchor[1] - right_anchor[1], left_anchor[0] - right_anchor[0])
+    midpoint_x = (left_anchor[0] + right_anchor[0]) / 2.0
+    midpoint_y = (left_anchor[1] + right_anchor[1]) / 2.0
+    lift_msg.ref_x = center_x + midpoint_x
+    lift_msg.ref_y = center_y + midpoint_y
+    # TODO(luca) cabin doors
+    return lift_msg
+
+def parse_level(map_dir, data):
+    level_msg = Level()
+    level_msg.name = data["properties"]["name"]
+    level_msg.elevation = data["properties"]["elevation"]
+
+    for drawing in data.get("drawings", {}).values():
+        image = AffineImage()
+        props = drawing["properties"]
+        image_filename = props["name"]
+        if "Local" not in props["source"]:
+            # Warn that non local is not supported
+            continue
+        image_filename = props["source"]["Local"]
+        image_path = os.path.join(map_dir, image_filename)
+
+        if os.path.exists(image_path):
+            #self.get_logger().info(f'opening: {image_path}')
+            with open(image_path, 'rb') as image_file:
+                image.data = image_file.read()
+            #self.get_logger().info(f'read {len(image.data)} byte image')
+            image.name = image_filename.split('.')[0]
+            image.encoding = image_filename.split('.')[-1]
+            image.scale = 1.0 / props["pixels_per_meter"]
+            image.x_offset = props["pose"]["trans"][0]
+            image.y_offset = props["pose"]["trans"][1]
+            if "yaw" in props["pose"]["rot"]:
+                yaw = parse_angle(props["pose"]["rot"]["yaw"])
+            level_msg.images.append(image)
+        else:
+            pass
+            #self.get_logger().error(f'unable to open image: {image_path}')
+
+    for door in data.get("doors", {}).values():
+        door_msg = Door()
+        door_msg.name = door["name"]
+
+        v1 = data["anchors"].get(str(door["anchors"][0]))
+        v2 = data["anchors"].get(str(door["anchors"][1]))
+        if "Translate2D" in v1:
+            v1 = v1["Translate2D"]
+        else:
+            # LOG ERROR
+            continue
+        if "Translate2D" in v2:
+            v2 = v2["Translate2D"]
+        else:
+            # LOG ERROR
+            continue
+        # TODO(luca) Change this based on pivot side
+        door_msg.v1_x = v1[0]
+        door_msg.v1_y = v1[1]
+        door_msg.v2_x = v2[0]
+        door_msg.v2_y = v2[1]
+
+        if "DoubleSwing" in door["kind"]:
+            door_msg.door_type = door_msg.DOOR_TYPE_DOUBLE_SWING
+            swing = door["kind"]["DoubleSwing"]["swing"]
+            # TODO(luca) implement forward and backward
+            door_msg.motion_range = parse_angle(next(iter(swing.values())))
+            door_msg.motion_direction = 1 if "Backward" in swing else -1
+        elif "SingleSwing" in door["kind"]:
+            door_msg.door_type = door_msg.DOOR_TYPE_SINGLE_SWING
+            swing = door["kind"]["SingleSwing"]["swing"]
+            # TODO(luca) implement forward and backward
+            door_msg.motion_range = parse_angle(next(iter(swing.values())))
+            door_msg.motion_direction = 1 if "Backward" in swing else -1
+        if "DoubleSliding" in door["kind"]:
+            door_msg.door_type = door_msg.DOOR_TYPE_DOUBLE_SLIDING
+        elif "SingleSliding" in door["kind"]:
+            door_msg.door_type = door_msg.DOOR_TYPE_SINGLE_SLIDING
+        else:
+            # WARN not supported
+            pass
+        level_msg.doors.append(door_msg)
+
+    # TODO(luca), needed for rmf-web frontend, populate
+    for wall in data.get("walls", {}).values():
+        pass
+
+
+    return level_msg