Merge branch 'main' into emartinena/ci_fix

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

rmf_building_map_tools/building_map/building.py

@@ -352,6 +352,8 @@ def generate_nav_graphs(self):
             g = {}
             g['building_name'] = self.name
             g['levels'] = {}
+            g['lifts'] = {}
+            g['doors'] = {}
 
             if self.coordinate_system == CoordinateSystem.web_mercator:
                 g['crs_name'] = self.global_transform.crs_name
@@ -372,6 +374,22 @@ def generate_nav_graphs(self):
                 g['levels'][level_name] = level_graph
                 if level_graph['lanes']:
                     empty = False
+
+                for door_edge in level.doors:
+                    door_edge.calc_statistics(level.transformed_vertices)
+                    g['doors'][door_edge.params['name'].value] = {
+                        'endpoints': [
+                            [door_edge.x1, door_edge.y1],
+                            [door_edge.x2, door_edge.y2]
+                        ],
+                        'map': level_name
+                    }
+
+            for lift_name, lift in self.lifts.items():
+                g['lifts'][lift_name] = {
+                    'position': [lift.x, lift.y, lift.yaw],
+                    'dims': [lift.width, lift.depth]
+                }
             if not empty:
                 nav_graphs[f'{i}'] = g
         return nav_graphs

rmf_building_map_tools/building_map/floor.py

@@ -141,7 +141,7 @@ def triangulate_polygon(self, polygon, triangles):
                 # to be clipped to lie within the original floor polygon
                 # for example, if a long triangle crossed a concave region
                 # and you end up with >=1 polygons and >=1 points or edges.
-                for item in geom:
+                for item in geom.geoms:
                     if item.geom_type == 'Polygon':
                         self.triangulate_polygon(item, triangles)
 

rmf_building_map_tools/building_map/level.py

@@ -211,6 +211,10 @@ def add_edge_from_coords(self, edge_type, p1, p2, props):
                 ParamValue.DOUBLE,
                 props.get('speed_limit', 0.0)
             ])
+            edge.params['mutex'] = ParamValue([
+                ParamValue.STRING,
+                props.get('mutex', "")
+            ])
             self.lanes.append(edge)
         else:
             raise ValueError('unknown edge type!')
@@ -486,6 +490,10 @@ def generate_nav_graph(self, graph_idx, always_unidirectional=True):
                     l.params['speed_limit'].value > 0.0:
                 p['speed_limit'] = l.params['speed_limit'].value
 
+            if 'mutex' in l.params and \
+                    l.params['mutex'].value:
+                p['mutex'] = l.params['mutex'].value
+
             if 'demo_mock_floor_name' in l.params and \
                     l.params['demo_mock_floor_name'].value:
                 p['demo_mock_floor_name'] = \
@@ -503,9 +511,6 @@ def generate_nav_graph(self, graph_idx, always_unidirectional=True):
             if 'dock_name' in v1.params:  # lane segment begins at dock
                 beginning_dock = v1.params['dock_name'].value
 
-            if 'speed_limit' in l.params:
-                p['speed_limit'] = l.params['speed_limit'].value
-
             if always_unidirectional and l.is_bidirectional():
                 # now flip things around and make the second link
                 forward_params = copy.deepcopy(p)

rmf_building_map_tools/building_map_model_downloader/building_map_model_downloader.py

@@ -49,9 +49,9 @@ def __call__(self, parser, namespace, values, option_string=None):
 parser.add_argument("-c", "--cache", type=str,
                     default="~/.pit_crew/model_cache.json",
                     help="Path to pit_crew model cache")
-parser.add_argument("-f", "--fuel-tools", action=HTTPDownloadDeprecated,
+parser.add_argument("-f", "--fuel-tools", action='store_true',
                     help="Use ignition fuel tools to download models instead "
-                         "of http", nargs=0)
+                         "of http")
 parser.add_argument("-i", "--include", type=str, default=None,
                     help="Search this directory first for models.")
 parser.add_argument("-e", "--export-path", type=str, default=None,
@@ -92,6 +92,7 @@ def download_models(
         input_yaml,
         cache=None,
         include=None,
+        fuel_tools=True,
         export_path=None):
     """Download models for a given input building yaml."""
     # Construct model set
@@ -119,15 +120,25 @@ def download_models(
             else:
                 model_set.add(model.model_name)
 
-    missing_models = pit_crew.get_missing_models(
-        model_set,
-        model_path=IGN_FUEL_MODEL_PATH,
-        cache_file_path=cache,
-        lower=True,
-        priority_dir=include,
-        ign=True,
-        use_dir_as_name=True
-    )
+    if fuel_tools:
+        missing_models = pit_crew.get_missing_models(
+            model_set,
+            model_path=IGN_FUEL_MODEL_PATH,
+            cache_file_path=cache,
+            lower=True,
+            priority_dir=include,
+            ign=True,
+            use_dir_as_name=True
+        )
+    else:
+        missing_models = pit_crew.get_missing_models(
+            model_set,
+            cache_file_path=cache,
+            lower=False,
+            priority_dir=include,
+            ign=False,
+            use_dir_as_name=True
+        )
 
     logger.info("\n== REQUESTED MODEL REPORT ==")
     pprint(missing_models)
@@ -158,9 +169,14 @@ def download_models(
 
         model_downloaded = False
         for i in range(5):
-            model_downloaded = pit_crew.download_model_fuel_tools(
-                model_name, author_name,
-                sync_names=True, export_path=export_path)
+            model_downloaded = False
+            if fuel_tools:
+                model_downloaded = pit_crew.download_model_fuel_tools(
+                    model_name, author_name,
+                    sync_names=True, export_path=export_path)
+            else:
+                model_downloaded = pit_crew.download_model(
+                    model_name, author_name, sync_names=True)
             if model_downloaded:
                 break
             else:
@@ -202,6 +218,7 @@ def main():
         args.INPUT_YAML,
         args.cache,
         args.include,
+        args.fuel_tools,
         args.export_path)
 
 

rmf_building_map_tools/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rmf_building_map_tools</name>
-  <version>1.6.0</version>
+  <version>1.8.2</version>
   <description>RMF Building map tools</description>
   <maintainer email="[email protected]">Morgan Quigley</maintainer>
   <maintainer email="[email protected]">Marco A. Gutiérrez</maintainer>

rmf_building_map_tools/setup.py

@@ -5,7 +5,7 @@
 
 setup(
     name=package_name,
-    version='1.6.0',
+    version='1.8.1',
     packages=[
         'building_crowdsim',
         'building_crowdsim.navmesh',