def sendDirections(self, receivedString):
splittedList = receivedString.split('-')
startPosition = Position(splittedList[1], splittedList[2])
endPosition = Position(splittedList[3], splittedList[4])
robotMap = Map(5)
robotMap.addObstacle(self.obstacleOnePosition)
robotMap.addObstacle(self.obstacleTwoPosition)
if self.cornerAPlaced == "A":
robotMap.addPuck("A")
elif self.cornerBPlaced == "B":
robotMap.addPuck("B")
elif self.cornerCPlaced == "C":
robotMap.addPuck("C")
elif self.cornerDPlaced == "D":
robotMap.addPuck("D")
planner = TrajectoryPlanner(robotMap, False)
returnedDirections, path = planner.getDirections(
startPosition, endPosition)
self.currentPath = path
self.gui.currentPathList = path
self.numberOfPath = self.numberOfPath + 1
self.robotQueue.put("UP")
if returnedDirections == "STARTNOTFREE":
self.baseStation.sendDataToRobot("DIRECTIONS-STARTNOTFREE")
elif returnedDirections == "NOTHINGTODO":
self.baseStation.sendDataToRobot("DIRECTIONS-NOTHING")
else:
stringToSend = "DIRECTIONS-" + str(returnedDirections)
self.baseStation.sendDataToRobot(stringToSend)
class PositionTest(unittest.TestCase):
def setUp(self):
self.aPosition = Position(A_POSITION_X, A_POSITION_Y)
def test_getPositionXShouldReturnGoodX(self):
self.assertTrue(self.aPosition.getX() == A_POSITION_X)
def test_getPositionXShouldReturnGoodY(self):
self.assertTrue(self.aPosition.getX() == A_POSITION_Y)
def processDataInQueue(self):
while self.robotQueue.qsize():
try:
msg = self.robotQueue.get(0)
print "The robot has received the following in his robotQueue : " + str(
msg)
if msg == "START":
self.game.start()
elif msg == "STOP":
self.game.stop()
elif msg == "RESET":
self.game.reset()
elif msg == "TURNALITTLE":
self.game.robot.rotateCounterClockwise(30)
elif "OBSTACLESPOSITION" in msg:
splittedList = msg.split('-')
p1 = Position(splittedList[1], splittedList[2])
p2 = Position(splittedList[3], splittedList[4])
self.game.robot.obstacleOnePosition = p1
self.game.robot.obstacleTwoPosition = p2
self.game.robot.obstaclesPositionFetched = True
elif msg[:17] == "REFRESHEDPOSITION":
splittedList = msg.split('-', 3)
if splittedList[1] == "None" or splittedList[
2] == "None" or splittedList[3] == "None":
pass
else:
refreshedPosition = Position(splittedList[1],
splittedList[2])
refreshedAngle = float(splittedList[3])
self.game.robot.setPosition(refreshedPosition)
self.game.robot.setAngle(refreshedAngle)
self.game.robot.numberOfUpdates = self.game.robot.numberOfUpdates + 1
elif msg[:14] == "REFRESHEDANGLE":
splittedList = msg.split('-', 1)
if splittedList[1] == "None":
pass
else:
refreshedAngle = float(splittedList[1])
self.game.robot.setAngle(refreshedAngle)
self.game.robot.numberOfUpdates = self.game.robot.numberOfUpdates + 1
elif msg[:10] == "DIRECTIONS":
splittedDirectionList = msg.split('-')
splittedDirectionList.remove("DIRECTIONS")
if "" in splittedDirectionList:
splittedDirectionList.remove("")
self.game.robot.listOfDirections = splittedDirectionList
self.game.robot.numberOfUpdates = self.game.robot.numberOfUpdates + 1
else:
if msg != "":
self.robotSocket.sendDataToBaseStation(msg)
except Queue.Empty:
pass
def __init__(self, queue):
self.robotQueue = queue
self.position = Position(0, 0)
self.angle = 0
self.numberOfUpdates = 0
self.map = Map(5)
self.trajectoryPlanner = TrajectoryPlanner(self.map, False)
self.obstaclesPositionFetched = False
self.obstacleOnePosition = Position(0, 0)
self.obstacleTwoPosition = Position(0, 0)
self.listOfDirections = ""
self.initHardwareDevices()
def runKinectThread(self):
mapUtil = Map(5)
self.ObstaclesPutOnMap = False
while True:
self.hasTurned = False
if self.kinect.isBusy(
) == False and self.kinect.awaitingToWork == False:
self.kinect.setToBusy()
pX, pY = self.kinect.getPosition()
if pX == None or pY == None:
pass
else:
robotI, robotJ = mapUtil.translatePositionXYToPositionIJ(
Position(pX, pY))
string = "R-" + str(robotI) + "-" + str(robotJ)
self.robotQueue.put(string)
self.kinect.setToNotBusy()
if self.obstaclesFound == True and self.ObstaclesPutOnMap == False:
obstacleI_1, obstacleJ_1 = mapUtil.translatePositionXYToPositionIJ(
self.obstacleOnePosition)
obstacleI_2, obstacleJ_2 = mapUtil.translatePositionXYToPositionIJ(
self.obstacleTwoPosition)
string = "O-" + str(obstacleI_1) + "-" + str(
obstacleJ_1) + "-" + str(obstacleI_2) + "-" + str(
obstacleJ_2)
self.robotQueue.put(string)
self.ObstaclesPutOnMap = True
time.sleep(1)
time.sleep(5)
def __init__(self, master):
self.robotQueue = Queue.Queue()
self.kinect = Kinect()
# Set up the GUI part
self.gui = Gui(master, self.robotQueue)
self.master = master
self.obstaclesFound = False
self.currentPath = []
self.numberOfPath = 0
# Start the connection
self.baseStation = BaseStationSocket()
self.baseStation.startConnection(EnterIPWindow().serverAddress)
# Set up the thread for the connection with the robot
self.connectionThread = threading.Thread(
target=self.runConnectionThread)
self.connectionThread.daemon = True
self.connectionThread.start()
# Set up the thread for the kinect to calculate the robot position in real time
self.kinectThread = threading.Thread(target=self.runKinectThread)
self.kinectThread.daemon = True
self.kinectThread.start()
self.gameInProcess = False
self.guiRunning = True
self.obstacleOnePosition = Position(0, 0)
self.obstacleTwoPosition = Position(0, 0)
self.cornerAPlaced = False
self.cornerBPlaced = False
self.cornerCPlaced = False
self.cornerDPlaced = False
self.gui.ourBaseStationInterface.mainWindow.gameBoard.addPiece(
"robot", self.gui.ourBaseStationInterface.mainWindow.robotIcon,
-11, -11)
# Start the periodic call in the GUI to check if the robotQueue contains
# anything
self.periodicCallToCheckGui()
def sendObtaclesPositions(self):
self.kinect.setToBusy()
listPositions = self.kinect.getTower()
numberOfTrys = 0
while listPositions == None and numberOfTrys < 10:
numberOfTrys = numberOfTrys + 1
listPositions = self.kinect.getTower()
if listPositions == None:
time.sleep(20)
else:
message = "OBSTACLESPOSITION-" + str(listPositions[0]) + "-" + str(
listPositions[1]) + "-" + str(listPositions[2]) + "-" + str(
listPositions[3])
p1 = Position(listPositions[0], listPositions[1])
p2 = Position(listPositions[2], listPositions[3])
self.obstacleOnePosition = p1
self.obstacleTwoPosition = p2
self.baseStation.sendDataToRobot(message)
self.obstaclesFound = True
self.kinect.setToNotBusy()
def addPuck(self, corner):
positionXCorner = 0
positionYCorner = 0
if corner == "A":
positionXCorner, positionYCorner = 87, 87
elif corner == "B":
positionXCorner, positionYCorner = 87, 24
elif corner == "C":
positionXCorner, positionYCorner = 24, 24
elif corner == "D":
positionXCorner, positionYCorner = 24, 87
puckCornerPosition = Position(positionXCorner, positionYCorner)
puckCorner_I, puckCorner_J = self.translatePositionXYToPositionIJ(puckCornerPosition)
self.expandPuck(puckCorner_I, puckCorner_J)
def test_ifWallExpandPositionNotNearWallShouldBeFree(self):
self.aMap.expandWalls()
self.assertTrue(self.aMap.isPositionXYFree(Position(20, 20)))
def test_ifWallExpandPositionNearWallShouldNotBeFree(self):
self.aMap.expandWalls()
self.assertFalse(self.aMap.isPositionXYFree(Position(0, 0)))
def test_ifPuckAtAPositionCellShouldNotBeFree(self):
self.aMap.addPuck(Position(15, 15))
self.assertFalse(self.aMap.isPositionXYFree(Position(15, 15)))
def test_ifObstacleAtAPositionCellShouldNotBeFree(self):
self.aMap.addObstacle(Position(3, 3))
self.assertFalse(self.aMap.isPositionXYFree(Position(3, 3)))
#!/usr/bin/env python
# -*- coding: utf-8 -*-
from main.states.GameState import GameState
from main.states.NearResistanceState import NearResistanceState
from main.model.Position import Position
POSITION_TO_GO_FOR_RESISTANCE_TRAY_ = Position(30,30)
class NoResistanceValueState(GameState):
def doAction(self):
print self.nameMyself()
self.goNextToResistanceTray()
def goNextToResistanceTray(self):
self.game.robot.refreshPositionAndAngle()
self.game.robot.rotateToAngle(0)
self.game.robot.rotateToAngle(0)
xDifference = self.game.robot.position.getX() - 23
yDifference = self.game.robot.position.getY() - 8
self.game.robot.moveBackward(xDifference)
self.game.robot.moveRight(yDifference)
self.game.currentState = NearResistanceState(self.game)
def nameMyself(self):
return "NoResistanceValueState"
def setUp(self):
self.aPosition = Position(A_POSITION_X, A_POSITION_Y)
#For connection
PORT_NUMBER = 9998
#Positions and angles used in states
ANGLE_FOR_CARDINAL = {
'S': 0,
'SE': 45,
'E': 90,
'NE': 135,
'N': 180,
'NO': 225,
'O': 270,
'SO': 315
}
STARTING_ANGLE_FACING_PUCKS = 85
POSITION_TO_GO_MID_PUCKS = Position(173, 55.75)
POSITION_FACING_LETTER_BOARD = Position(173, 64)
POSITION_TO_GO_MID_SQUARE = Position(55, 55)
POSITION_TO_GO_FOR_RESISTANCE_TRAY = Position(30, 30)
#For GUI
COLOR_OF_PUCKS = [
"BLACK", "BROWN", "RED", "ORANGE", "YELLOW", "GREEN", "BLUE", "PURPLE",
"GREY", "WHITE"
]
ORIENTATION_POSITION_FOR_GUI = {
1: "742-270",
2: "814-260",
3: "875-260",