class RobotController(object):
"""
This is the base class for all robot controllers. You must override next_move and initialize self.planner in
a sub-class.
"""
def __init__(self, maze_dim, dump_mazes=False):
self.location = Position(0, 0)
self.heading = Direction(0)
self.maze_map = MazeMap(maze_dim)
self.timestep = 0
self.run_number = 0
self.found_goal = False
self.dump_mazes = dump_mazes
self.planner = Planner(self.maze_map) # planner needs to be set by sub-class
def next_move(self, sensors):
"""
This is the main method to implement for a controller. Make sure that the move the controller returns is a valid
move (it doesn't try to go through walls). If it does, the location and heading class members will be incorrect.
:param sensors: The distance in squares to the next wall for the left, middle and right sensors.
:return: The sub-class should return the next move as a (int, int). The first is the rotation
(could be -90, 0 or 90), the second is the number of squares to move (from -3 to 3).
"""
raise NotImplemented("Implement by overriding in sub-class.")
def update(self, sensors):
"""
Convenience function for updating the maze, re-planning (if the maze was updated), and dumping the maze for
debugging.
:param sensors:
:return: True if maze was updated
"""
self.timestep += 1
maze_updated = self.maze_map.update(self.location, self.heading, sensors)
if maze_updated:
self.planner.replan(self.location, self.heading)
if self.dump_mazes:
self.maze_map.dump_to_file(os.path.join(os.curdir, "known_maze.txt"))
return maze_updated
def move(self, rotation, movement):
"""
Update the current location and heading for the class. This should be called in the sub-class after choosing
a move.
:type rotation: int
:type movement: int
:param rotation: The rotation to perform
:param movement: The number of squares to move
:return: None
"""
self.heading = self.heading.rotate(rotation)
direction_of_movement = self.heading if movement > 0 else self.heading.flip()
for i in range(abs(movement)):
self.location = self.location.add(direction_of_movement)
if self.maze_map.at_goal(self.location):
self.found_goal = True
def reset(self):
"""
Move the robot back to 0,0 and facing north. Also changes the run_number to 1. Call this when you are ready to
start the second run.
:return: Returns the reset string for convenience.
"""
self.location = Position(0, 0)
self.heading = Direction(0)
self.run_number = 1
print "Number of moves in first run: {}".format(self.timestep)
print "Exploration efficiency: {}".format(self.get_exploration_efficiency())
self.planner.replan(self.location, self.heading)
return "Reset", "Reset"
def show_current_policy_and_map(self):
"""
For visualization of the maze and policy when using the A* planner.
:return: None
"""
vis = Visualizer(self.maze_map.dim)
vis.draw_maze(Maze('known_maze.txt'))
vis.draw_policy(reversed(self.planner.policy), self.location, self.heading)
vis.show_window()
def get_exploration_efficiency(self):
return self.maze_map.get_num_known_walls() / float(self.timestep)
