def __init__(self, propsfile):
self.canvas = Tk()
self.props = json.load(open(propsfile))
#self.worldMap = WorldMap(propsfile)
self.wg = WorldGrid(self.canvas, self.props, self.worldMap)
self.wg.registerCallBack(self.processEvent)
class WorldBuilder: def __init__(self,propsfile): self.canvas = Tk() self.props = json.load(open(propsfile)) #self.worldMap = WorldMap(propsfile) self.wg = WorldGrid(self.canvas,self.props,self.worldMap) self.wg.registerCallBack(self.processEvent)
def __init__(self, propsfile):
self.canvas = Tk()
self.props = json.load(open(propsfile))
self.worldMap = WorldMap(propsfile)
self.wg = WorldGrid(self.canvas, self.props, self.worldMap)
self.wg.registerCallBack(self.processEvent)
self.robot = Robot(self.props, self.worldMap)
self.robot.registerSenseCallBack(self.sense)
self.robot.registerMoveCallBack(self.move)
self.rRow = -1
self.rCol = -1
self.randomizeRobotPosition()
self.robot.sense()
self.shadeSquares()
def __init__(self,propsfile): self.canvas = Tk() self.props = json.load(open(propsfile)) self.worldMap = WorldMap(propsfile) self.wg = WorldGrid(self.canvas,self.props,self.worldMap) self.wg.registerCallBack(self.processEvent) self.robot = Robot(self.props,self.worldMap) self.robot.registerSenseCallBack(self.sense) self.robot.registerMoveCallBack(self.move) self.rRow = -1 self.rCol = -1 self.randomizeRobotPosition() self.robot.sense() self.shadeSquares()
class Simulation:
def __init__(self, propsfile):
self.canvas = Tk()
self.props = json.load(open(propsfile))
self.worldMap = WorldMap(propsfile)
self.wg = WorldGrid(self.canvas, self.props, self.worldMap)
self.wg.registerCallBack(self.processEvent)
self.robot = Robot(self.props, self.worldMap)
self.robot.registerSenseCallBack(self.sense)
self.robot.registerMoveCallBack(self.move)
self.rRow = -1
self.rCol = -1
self.randomizeRobotPosition()
self.robot.sense()
self.shadeSquares()
def randomizeRobotPosition(self):
# randomly select the starting robot location --
# do this until a valid square (i.e., not a wall) is
# selected
found = False
while (found == False):
row = random.randint(0, self.worldMap.nRows - 1)
col = random.randint(0, self.worldMap.nCols - 1)
if (self.worldMap.isValidSquare(row, col)):
found = True
self.rRow = row
self.rCol = col
def move(self, dirc):
row = self.rRow
col = self.rCol
if (dirc == 1): # NORTH
row -= 1
elif (dirc == 2): # EAST
col += 1
elif (dirc == 4): # SOUTH
row += 1
elif (dirc == 8): # WEST
col -= 1
else:
print "ERROR: Invalid move direction"
self.rRow = row
self.rCol = col
def sense(self):
# NORTH
meas = 0
if (self.worldMap.isValidSquare(self.rRow - 1, self.rCol)):
meas = meas | 1
# EAST
if (self.worldMap.isValidSquare(self.rRow, self.rCol + 1)):
meas = meas | 2
# SOUTH
if (self.worldMap.isValidSquare(self.rRow + 1, self.rCol)):
meas = meas | 4
# WEST
if (self.worldMap.isValidSquare(self.rRow, self.rCol - 1)):
meas = meas | 8
return meas
def run(self):
self.wg.draw()
self.shadeSquares()
self.wg.drawRobot(self.rRow, self.rCol)
self.canvas.geometry(self.props["windowDimensions"])
self.canvas.mainloop()
def shadeSquares(self):
probabilities = self.robot.mapProbabilities
for i in range(0, len(probabilities)):
for j in range(0, len(probabilities[i])):
if (self.worldMap.isWall(i, j) == False):
if (self.robot.mapProbabilities[i][j] > 0):
# 0 is black, 255 is white
c = 125 - math.floor(
self.robot.mapProbabilities[i][j] * 125.0)
#c = 255 - int(self.robot.mapProbabilities[i][j]*255.0)
cstr = "#%02x%02x%02x" % (0, c, 0)
self.wg.shadeSquare(i, j, cstr)
else:
cstr = "#%02x%02x%02x" % (255, 255, 255)
self.wg.shadeSquare(i, j, cstr)
def processEvent(self, event):
self.robot.move()
self.robot.sense()
self.shadeSquares()
self.wg.drawRobot(self.rRow, self.rCol)
class Simulation: def __init__(self,propsfile): self.canvas = Tk() self.props = json.load(open(propsfile)) self.worldMap = WorldMap(propsfile) self.wg = WorldGrid(self.canvas,self.props,self.worldMap) self.wg.registerCallBack(self.processEvent) self.robot = Robot(self.props,self.worldMap) self.robot.registerSenseCallBack(self.sense) self.robot.registerMoveCallBack(self.move) self.rRow = -1 self.rCol = -1 self.randomizeRobotPosition() self.robot.sense() self.shadeSquares() def randomizeRobotPosition(self): # randomly select the starting robot location -- # do this until a valid square (i.e., not a wall) is # selected found = False while (found == False): row = random.randint(0,self.worldMap.nRows-1) col = random.randint(0,self.worldMap.nCols-1) if(self.worldMap.isValidSquare(row,col)): found = True self.rRow = row self.rCol = col def move(self,dirc): row = self.rRow col = self.rCol if(dirc == 1): # NORTH row -= 1 elif(dirc == 2): # EAST col += 1 elif(dirc == 4): # SOUTH row += 1 elif(dirc == 8): # WEST col -= 1 else: print "ERROR: Invalid move direction" self.rRow = row self.rCol = col def sense(self): # NORTH meas = 0 if(self.worldMap.isValidSquare(self.rRow-1,self.rCol)): meas = meas | 1 # EAST if(self.worldMap.isValidSquare(self.rRow,self.rCol+1)): meas = meas | 2 # SOUTH if(self.worldMap.isValidSquare(self.rRow+1,self.rCol)): meas = meas | 4 # WEST if(self.worldMap.isValidSquare(self.rRow,self.rCol-1)): meas = meas | 8 return meas def run(self): self.wg.draw() self.shadeSquares() self.wg.drawRobot(self.rRow,self.rCol) self.canvas.geometry(self.props["windowDimensions"]) self.canvas.mainloop() def shadeSquares(self): probabilities = self.robot.mapProbabilities for i in range(0,len(probabilities)): for j in range(0,len(probabilities[i])): if(self.worldMap.isWall(i,j)==False): if(self.robot.mapProbabilities[i][j]>0): # 0 is black, 255 is white c = 125 - math.floor(self.robot.mapProbabilities[i][j]*125.0) #c = 255 - int(self.robot.mapProbabilities[i][j]*255.0) cstr = "#%02x%02x%02x" % (0,c,0) self.wg.shadeSquare(i,j,cstr) else: cstr = "#%02x%02x%02x" % (255,255,255) self.wg.shadeSquare(i,j,cstr) def processEvent(self,event): self.robot.move() self.robot.sense() self.shadeSquares() self.wg.drawRobot(self.rRow,self.rCol)