Implement Land Obstacles - 278

.devcontainer/base-dev/base-dev.Dockerfile

@@ -374,4 +374,4 @@ ENV DEBIAN_FRONTEND=
 # install dev python3 dependencies
 RUN pip3 install \
     # for juypter notebooks
-    ipykernel
+    ipykernel \

.github/workflows/tests.yml

@@ -16,6 +16,15 @@ jobs:
     - name: Checkout workspace
       uses: actions/checkout@v4
 
+    - name: Set up Python
+      uses: actions/setup-python@v3
+      with:
+        python-version: '3.x'
+
+    - name: show installed python dependencies
+      run: |
+        pip3 list
+
     - name: Test
       uses: ./.github/actions/
       with:

src/local_pathfinding/land/generate_land_data.py

@@ -0,0 +1,70 @@
+import csv
+import os
+import pickle
+from os.path import normpath
+from typing import Any
+
+import geopandas as gpd
+import pyproj
+from shapely.geometry import LineString, MultiPolygon, Polygon
+from shapely.ops import split
+
+
+def dump_pkl(object: Any, file_path: str):
+    os.makedirs(os.path.dirname(file_path), exist_ok=True)
+    with open(file_path, "wb") as f:
+        pickle.dump(object, f, protocol=pickle.HIGHEST_PROTOCOL)
+
+
+def load_pkl(file_path: str) -> Any:
+    with open(file_path, "rb") as f:
+        return pickle.load(f)
+
+
+def pickle_land():
+
+    WGS84 = pyproj.CRS("EPSG:4326")
+    MERCATOR = pyproj.CRS("EPSG:3857")
+    INLAND_POLYGON = normpath(
+        "/workspaces/sailbot_workspace/src/local_pathfinding/land/csv/map_sel.csv"
+    )
+    BUFFER_AMOUNT = 5000  # meters
+
+    gdf = gpd.read_file(
+        "/workspaces/sailbot_workspace/src/local_pathfinding/land/territorial_waters.geojson"
+    )
+
+    # the only useful data is in the id and geometry columns and in the first two rows
+    gdf = gdf[["id", "geometry"]]
+    gdf = gdf.head(2)
+    geoms = list(gdf.iloc[0]["geometry"].geoms) + list(gdf.iloc[1]["geometry"].geoms)
+
+    # convert to MultiPolygon for easier geometric manipulation
+    multi_poly = MultiPolygon(geoms)
+    multi_poly = multi_poly.buffer(0)  # repairs invalid geometry
+    # this is to prevent geometry the crosses -180 longitude from being distorted by transforms
+    with open(INLAND_POLYGON, "r") as f:
+        reader = csv.reader(f)
+        reader.__next__()
+        map_sel = Polygon([[float(row[1]), float(row[0])] for row in reader])
+    IDL = LineString([(-179.5, 90), (-179.5, -90)])
+    map_sel_east = split(map_sel, IDL).geoms[0]
+    multi_poly_clipped = multi_poly.intersection(map_sel_east)
+
+    # back to gdf for easier coordinate system transformation
+    gdf_clipped = gpd.GeoDataFrame(geometry=[multi_poly_clipped], crs=WGS84)
+    gdf_clipped.to_crs(MERCATOR, inplace=True)
+    gdf_clipped["geometry"] = gdf_clipped.buffer(BUFFER_AMOUNT)
+    gdf_clipped.to_crs(WGS84, inplace=True)
+
+    # Land class will deal with Multipolygon
+    multi_poly_clipped_buffered = MultiPolygon(list(gdf_clipped.iloc[0]["geometry"].geoms))
+
+    dump_pkl(
+        multi_poly_clipped_buffered,
+        "/workspaces/sailbot_workspace/src/local_pathfinding/land/pkl/land.pkl",
+    )
+
+
+if __name__ == "__main__":
+    pickle_land()