Mow path coordinates over api

EinEinfach · Sep 2, 2024 · a5ec4d9 · a5ec4d9
1 parent d5deae9
commit a5ec4d9
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Showing 4 changed files with 27 additions and 4 deletions.
diff --git a/CaSSAndRA/app.py b/CaSSAndRA/app.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-#Version:0.124.0 mapId and previewId inside of coords topic
+#Version:0.125.0 Mow path coordinates over api
 # package imports
 import os
 import sys

diff --git a/CaSSAndRA/src/backend/comm/api.py b/CaSSAndRA/src/backend/comm/api.py
@@ -44,6 +44,7 @@ def create_robot_payload(self) -> None:
         self.robotstate['position'] = dict(x=robot.position_x, y=robot.position_y)
         self.robotstate['target'] = dict(x=robot.target_x, y=robot.target_y) 
         self.robotstate['angle'] = robot.position_delta
+        self.robotstate['mowPointIdx'] = int(robot.position_mow_point_index)
         self.robotstate_json = json.dumps(self.robotstate)
 
     def create_maps_payload(self) -> None:
@@ -82,6 +83,7 @@ def create_mow_parameters_payload(self) -> None:
     def create_map_payload(self) -> None:
         self.mapstate['mapId'] = current_map.map_id
         self.mapstate['previewId'] = current_map.previewId
+        self.mapstate['mowPathId'] = current_map.mowpathId
         self.mapstate['mowprogressIdxPercent'] = current_map.idx_perc
         self.mapstate['mowprogressDistancePercent'] = current_map.distance_perc
         self.mapstate_json = json.dumps(self.mapstate)
@@ -93,6 +95,10 @@ def create_current_map_coords_payload(self) -> None:
     def create_preview_coords_payload(self) -> None:
         self.coordsstate = current_map.preview_to_geojson()
         self.coordsstate_json = json.dumps(self.coordsstate)
+
+    def create_mowpath_coords_payload(self) -> None:
+        self.coordsstate = current_map.mowpath_to_gejson()
+        self.coordsstate_json = json.dumps(self.coordsstate)
 
     def update_payload(self) -> None:
         self.create_api_payload()
@@ -416,8 +422,9 @@ def perform_coords_cmd(self, buffer) -> None:
                 if value == 'preview':
                     self.create_preview_coords_payload()
                     self.publish('coords', self.coordsstate_json)
-                if value == 'mowPaht':
-                    pass
+                if value == 'mowPath':
+                    self.create_mowpath_coords_payload()
+                    self.publish('coords', self.coordsstate_json)
 
 
 cassandra_api = API()
diff --git a/CaSSAndRA/src/backend/data/appdata.py b/CaSSAndRA/src/backend/data/appdata.py
@@ -1,4 +1,4 @@
 import logging
 logger = logging.getLogger(__name__)
 
-version = '0.124.0'
+version = '0.125.0'
diff --git a/CaSSAndRA/src/backend/data/mapdata.py b/CaSSAndRA/src/backend/data/mapdata.py
@@ -366,6 +366,22 @@ def preview_to_geojson(self) -> dict:
             logger.error('Could not export preview route to gejson')
             logger.debug(f'{e}')
             return dict()
+
+    def mowpath_to_gejson(self) -> dict:
+        try:
+            mowpath_for_export = self.mowpath
+            geojson = dict(type="FeatureCollection", features=[])
+            geojson['features'].append(dict(type='Feature', properties=dict(name='current mow path', id=self.mowpathId)))
+            if not mowpath_for_export.empty:
+                value = dict(type="Feature", properties=dict(name="mow path"), geometry=dict(dict(type="LineString", coordinates=[mowpath_for_export[['X', 'Y']].values.tolist()])))
+            else:
+                value = dict(type="Feature", properties=dict(name="mow path"), geometry=dict(dict(type="LineString", coordinates=[])))
+            geojson['features'].append(value)
+            return geojson
+        except Exception as e:
+            logger.error('Could not export mow path to geojson')
+            logger.debug(f'{e}')
+            return dict()
 
 @dataclass
 class Perimeters: