Add function for markers path

FieldRobotEvent · Jan 18, 2024 · 622d540 · 622d540
1 parent 70dc12f
commit 622d540
Showing 1 changed file with 17 additions and 2 deletions.
diff --git a/src/virtual_maize_field/__init__.py b/src/virtual_maize_field/__init__.py
@@ -10,10 +10,12 @@ class NoWorldGeneratedException(FileNotFoundError):
     pass
 
 
+_cache_dir = environ.get("ROS_HOME", str(Path.home() / ".ros"))
+
+
 def get_driving_pattern() -> str:
-    cache_dir = environ.get("ROS_HOME", str(Path.home() / ".ros"))
     driving_pattern_path = (
-        Path(cache_dir) / "virtual_maize_field" / "driving_pattern.txt"
+        Path(_cache_dir) / "virtual_maize_field" / "driving_pattern.txt"
     )
 
     if not driving_pattern_path.is_file():
@@ -24,3 +26,16 @@ def get_driving_pattern() -> str:
         )
 
     return str(driving_pattern_path)
+
+
+def get_markers() -> str:
+    markers_path = Path(_cache_dir) / "virtual_maize_field" / "markers.csv"
+
+    if not markers_path.is_file():
+        raise NoWorldGeneratedException(
+            "No markers file is generated! First generate marker file by"
+            " 'rosrun virtual_maize_field generate_world.py fre21_task_3'"
+            " (for example)."
+        )
+
+    return str(markers_path)