def check_rotation(environmentdata):
global status
threshold = 15
if environmentdata['rotation'] <= data_storage.get_wanted_rotation(
) - threshold:
tasks.add('Adjust more')
pass
elif environmentdata['rotation'] >= data_storage.get_wanted_rotation(
) + threshold:
tasks.add('Adjust less')
pass
status = 1
def run(map, tasks, wallsdata, victimsdata, environmentdata, motorsdata,
coords, last_drive):
status = 0
while status == 0:
status = 1
wanted_rotation = data_storage.get_wanted_rotation()
actual_rotation = environmentdata['rotation']
threshold = 25
if wanted_rotation > actual_rotation:
difference = abs(wanted_rotation) - abs(actual_rotation)
if difference <= threshold:
m_ser.send(('adjust' + str(difference) + '#'))
answer = m_ser.receive()
if answer == 'adjusted':
status = 0
continue
elif difference > threshold:
# todo enter PANIC MODE
pass
elif wanted_rotation < actual_rotation:
difference = abs(actual_rotation) - abs(wanted_rotation)
if difference <= threshold:
m_ser.send(('adjust' + str(difference * -1) + '#'))
answer = m_ser.receive()
if answer == 'adjusted':
status = 0
continue
elif difference > threshold:
# todo enter PANIC MODE
pass
floor = environmentdata['floor']
if floor == 'black':
current_room = map.get_room(coords)
current_room.set_type('black')
map.set_room(coords, current_room)
tasks.add(last_drive)
continue
ramp_status = environmentdata['tilt']
if ramp_status == 'ramp_up':
tasks.add('ramp_up')
continue
current_room = map.get_room(coords)
coords_left = coords
coords_left[0] -= 1
room_left = map.get_room(coords_left)
if room_left == 0:
if current_room.get_left == 'unknown':
wall_left = environmentdata['left']
if wall_left == 0:
map.add_room(coords_left)
tasks.add(coords)
current_room.set_left('open')
map.set_room(coords, current_room)
elif wall_left == 1:
current_room.set_left('wall')
map.set_room(coords, current_room)
coords_bot = coords
coords_bot[1] -= 1
room_bot = map.get_room(coords_bot)
if room_bot == 0:
if current_room.get_bot == 'unknown':
wall_bot = environmentdata['back']
if wall_bot == 0:
map.add_room(coords_bot)
tasks.add(coords)
current_room.set_bot('open')
map.set_room(coords, current_room)
elif wall_bot == 1:
current_room.set_bot('wall')
map.set_room(coords, current_room)
coords_right = coords
coords_right[0] += 1
room_right = map.get_room(coords_right)
if room_right == 0:
if current_room.get_right == 'unknown':
wall_right = environmentdata['right']
if wall_right == 0:
map.add_room(coords_right)
tasks.add(coords)
current_room.set_right('open')
map.set_room(coords, current_room)
elif wall_right == 1:
current_room.set_right('wall')
map.set_room(coords, current_room)
coords_top = coords
coords_top[1] += 1
room_top = map.get_room(coords_top)
if room_top == 0:
if current_room.get_top == 'unknown':
wall_top = environmentdata['front']
if wall_top == 0:
map.add_room(coords_top)
tasks.add(coords)
current_room.set_top('open')
map.set_room(coords, current_room)
elif wall_top == 1:
current_room.set_top('wall')
map.set_room(coords, current_room)
# todo check for victims
# todo update on map
# todo calculate amount of rescue kits
# todo dispense rescue kits
floor = environmentdata['floor']
if floor == 'checkpoint':
data_storage.set_last_checkpoint_x(coords[0])
data_storage.set_last_checkpoint_y(coords[1])
data_storage.set_last_checkpoint_z(coords[2])
return map, tasks
def update_wanted_rotation(rotation):
wanted_rotation = data_storage.get_wanted_rotation()
wanted_rotation += rotation
if wanted_rotation >= 360:
wanted_rotation -= 360
data_storage.set_wanted_rotation(wanted_rotation)