def UpdateWaypoints(robotId, waypoints):
"""
Update specified robot's waypoints
"""
if robotId is None:
return BuildJsonResponse(False, 'No robot ID detected')
if not isinstance(waypoints, list):
return BuildJsonResponse(False, 'Waypoints must be formatted as a list')
for waypoint in waypoints:
if not isinstance(waypoint, list) or not len(waypoint) == 2:
return BuildJsonResponse(False, 'Waypoints must be formatted as [xPos, yPos]')
Waypoint.objects.filter(robotId = robotId, realWaypoint = False).delete()
result = GetSpecificRobot(robotId)
if not IsOperationSuccess(result):
return result
for waypoint in waypoints:
newWaypoint = Waypoint(robotId = result['robot'], realWaypoint = False, x = int(waypoint[0]), y = int(waypoint[1]))
newWaypoint.save()
return BuildJsonResponse(True, 'Saved waypoints successfully')
def RobotAction(params, body, method):
"""
Performs actions required by robot
"""
robotId = GetRobotId(params)
if method == "POST":
# Parse input
result = ParseRobotRequest(robotId, body)
if not IsOperationSuccess(result):
return result
robotRequest = result['result']
# Update cells in map if specified
if 'cells' in robotRequest:
if not CheckMap():
return BuildJsonResponse(False, 'Map has not been built yet')
for cell in robotRequest['cells']:
if cell.ValidatePopulated():
mapData = Map.objects.get(x = cell.coordinate.x, y = cell.coordinate.y)
mapData.state = cell.state
mapData.save()
# Create or update robot data in DB if specified
if 'robot' in robotRequest:
robotUpdates = robotRequest['robot']
if robotId is not None:
result = GetSpecificRobot(robotId)
if not IsOperationSuccess(result):
return result
robotDB = result['robot']
if robotUpdates.PositionExists():
robotDB.xPos = robotUpdates.position.x
robotDB.yPos = robotUpdates.position.y
if robotUpdates.ExactPositionExists():
robotDB.xExactPos = robotUpdates.exactPosition.x
robotDB.yExactPos = robotUpdates.exactPosition.y
newWaypoint = Waypoint(robotId = robotDB, realWaypoint = True, x = robotUpdates.exactPosition.x, y = robotUpdates.exactPosition.y)
newWaypoint.save()
robotDB.save()
elif not robotUpdates.PositionExists() or not robotUpdates.ExactPositionExists():
return BuildJsonResponse(False, 'On creation, a robot must have an estimated position and exact position')
else:
robotDB = Robot(xPos = robotUpdates.position.x,
yPos = robotUpdates.position.y,
xExactPos = robotUpdates.exactPosition.x,
yExactPos = robotUpdates.exactPosition.y)
robotDB.save()
newWaypoint = Waypoint(robotId = robotDB, realWaypoint = True, x = robotUpdates.exactPosition.x, y = robotUpdates.exactPosition.y)
newWaypoint.save()
robotId = robotDB.pk
if robotUpdates.WaypointsExist():
result = UpdateWaypoints(robotId, robotUpdates.waypoints)
if not IsOperationSuccess(result):
result['robotId'] = robotId
return result
# Create a response message
response = BuildJsonResponse(True, 'Successfully updated database')
if 'robot' in robotRequest:
response['robotId'] = robotId
elif robotId is None:
response = BuildJsonResponse(False, 'GET or DELETE requests must have a robot ID')
elif method == "GET":
# Access robot from DB
result = GetSpecificRobot(robotId)
if not IsOperationSuccess(result):
return result
waypoints = Waypoint.objects.filter(robotId = robotId, realWaypoint = False)
robot = MapRobotDBToRobotObj(result['robot'], waypoints)
response = BuildJsonResponse(True, 'Successfully got robot data')
response['robot'] = robot.Dictify()
elif method == "DELETE":
# Find action to perform (Preserve original behaviour)
result = TextToJson(body)
if not IsOperationSuccess(result):
return ClearRobot(robotId)
rawData = result['rawData']
if 'data' not in rawData:
return BuildJsonResponse(False, 'Must specify what sort of thing to delete')
robotId = GetRobotId(params)
if rawData['data'] == 'instruction':
response = ResetInstruction(robotId)
elif rawData['data'] == 'robot':
response = ClearRobot(robotId)
else:
response = BuildJsonResponse(False, 'Specify instruction or robot in data field')
else:
response = BuildJsonResponse(False, 'Must use GET, POST, or DELETE')
return response
