A python implementation of bee-map.c for lab 1 in CS8803: STR.

bee-map.py

from __future__ import print_function
import os, sys
import numpy as np

# Author: Zackory Erickson

class Map:
    mapsize_x = 0
    mapsize_y = 0
    resolution = 0
    offset_x = 0
    offset_y = 0
    prob = None
    min_x = float('inf')
    max_x = 0
    min_y = float('inf')
    max_y = 0

def read_beesoft_map(mapName):
    if not os.path.isfile(mapName):
        print('Could not open file:', mapName)
        return None
    print('Reading map:', mapName)

    m = Map()

    x = 0
    with open(mapName, 'r') as f:
        for line in f:
            # Remove trailing '\n' and collapse excess spaces
            line = (' '.join(line.strip().split())).split()
            if 'robot_specifications->global_mapsize_x' in line:
                continue
            elif 'robot_specifications->global_mapsize_y' in line:
                continue
            elif 'robot_specifications->resolution' in line:
                m.resolution = int(line[-1])
                print('Map resolution: %d cm' % m.resolution)
            elif 'robot_specifications->autoshifted_x' in line:
                m.offset_x = int(line[-1])
                print('Map offsetX: %d cm' % m.offset_x)
            elif 'robot_specifications->autoshifted_y' in line:
                m.offset_y = int(line[-1])
                print('Map offsetY: %d cm' % m.offset_y)
            elif 'global_map[0]:' in line:
                m.mapsize_x = int(line[-2])
                m.mapsize_y = int(line[-1])
                m.prob = -np.ones((m.mapsize_x, m.mapsize_y))
                print('Map size:', m.mapsize_x, m.mapsize_y)
            else:
                if line and m.prob is None:
                    print('Unable to parse file %s\nIs it properly formatted?' % mapName)
                    return None
                elif not line:
                    continue
                # Insert probabilities into our map
                for y, value in enumerate([float(v) for v in line]):
                    if value >= 0:
                        m.prob[x, y] = 1 - value
                        if x < m.min_x: m.min_x = x
                        elif x > m.max_x: m.max_x = x
                        if y < m.min_y: m.min_y = y
                        elif y > m.max_y: m.max_y = y
                x += 1
    return m

if __name__ == '__main__':
    read_beesoft_map(sys.argv[1])