def deliver_packages(nodes_set, current_position, d):
while (len(nodes_set) != 0):
nearest_node = nodes_set[0][0]
k = 0
nearest_node_len = len(shortest_path(current_position,
nodes_set[0][0]))
for i in range(len(nodes_set)):
length = len(shortest_path(current_position, nodes_set[i][0]))
if length < nearest_node_len:
nearest_node_len = length
k = i
nearest_node = nodes_set[k][0]
path = shortest_path(current_position, nearest_node)
d = bot_movement(path, d)
package_client.Message(nodes_set[k][1])
nodes_set[k:k + 1] = []
current_position = path[len(path) - 1]
return current_position, d
def deliver_packages(nodes_set, current_position, d):
print 'original', nodes_set
while (len(nodes_set) != 0):
nearest_node = nodes_set[0][0]
k = 0
nearest_node_len = len(shortest_path(current_position,
nodes_set[0][0]))
for i in range(len(nodes_set)):
length = len(shortest_path(current_position, nodes_set[i][0]))
if length < nearest_node_len:
nearest_node_len = length
k = i
nearest_node = nodes_set[k][0]
path = shortest_path(current_position, nearest_node)
print nodes_set[k][1]
print 'traversal_path', path
d = bot_movement(path, d)
package_client.Message(nodes_set[k][1])
nodes_set[k:k + 1] = []
print
print 'nodes_set', nodes_set
current_position = path[len(path) - 1]
return current_position, d
print
# #####################################################
# #package collection from the warehouse
path = shortest_path((8, 770), input_array[0][0])
d = bot_movement(path, d)
next_counter = 1
previous_counter = 0
current_position = input_array[0][0]
for i in range(len(input_array)):
delivery_nodes = []
package_client.Message(input_array[i][2])
if next_counter == 4 or next_counter == 8 or next_counter == 12 or next_counter == len(
input_array):
######################################################################################################
## Logic for traversal once 4 nodes are collected
for j in xrange(previous_counter, next_counter):
delivery_nodes.append((input_array[j][1], input_array[j][3]))
previous_counter = next_counter
current_position, d = deliver_packages(delivery_nodes,
current_position, d)
######################################################################################################
## Going back to the warehouse zone after deliery
d = forward_detect_green() # ##################################################### # #package collection from the warehouse path = shortest_path((8,770),input_array[0][0]) d = bot_movement(path,d) next_counter = 1 previous_counter = 0 current_position = input_array[0][0] for i in range(len(input_array)): delivery_nodes = [] package_client.Message(input_array[i][2]) if next_counter == 4 or next_counter == 8 or next_counter == 12 or next_counter == len(input_array): ###################################################################################################### ## Logic for traversal once 4 nodes are collected for j in xrange(previous_counter, next_counter): delivery_nodes.append((input_array[j][1], input_array[j][3])) previous_counter = next_counter current_position,d = deliver_packages(delivery_nodes,current_position,d) ###################################################################################################### ## Going back to the warehouse zone after deliery if i < len(input_array)-1: path = shortest_path(current_position, input_array[i][0])
d = forward_detect_green()
# #####################################################
# #package collection from the warehouse
path = shortest_path((8,770),input_array[0][0])
display_label(path)
d = bot_movement(path,d)
next_counter = 1
previous_counter = 0
current_position = input_array[0][0]
for i in range(len(input_array)):
delivery_nodes = []
package_client.Message(input_array[i][2])
if next_counter == 4 or next_counter == 8 or next_counter == 12 or next_counter == len(input_array):
######################################################################################################
## Logic for traversal once 4 nodes are collected
for j in xrange(previous_counter, next_counter):
delivery_nodes.append((input_array[j][1], input_array[j][3]))
previous_counter = next_counter
current_position,d = deliver_packages(delivery_nodes,current_position,d)
######################################################################################################
## Going back to the warehouse zone after deliery
if i < len(input_array)-1:
path = shortest_path(current_position, input_array[i][0])
def direction(a):
# i: the index of the array a
# status: the current direction of the robot is stored in this variable
i=0
status='up'
while i<len(a)-1:
j=i+1
if type(a[j])==str:
package_client.Message(a[j])
if type(a[j])==int and type(a[i])==str:
if type(a[i-1])==int:
a[i]=a[i-1]
else:
a[i]=a[i-2]
if type(a[j])==int and type(a[i])==int:
p=a[j]-a[i]
if status=='right':
if p==1:
path_following()
status='right'
elif p==7:
turn(3)
path_following()
status='down'
elif p==-7:
turn(4)
path_following()
status='up'
elif p==-1:
turn(3)
turn(3)
path_following()
status='left'
elif status=='left':
if p==-1:
path_following()
status='left'
elif p==7:
turn(4)
path_following()
status='down'
elif p==-7:
turn(3)
path_following()
status='up'
elif p==1:
turn(3)
turn(3)
path_following()
status='right'
elif status=='up':
if p==1:
turn(3)
path_following()
status='right'
elif p==7:
turn(3)
turn(3)
path_following()
status='down'
elif p==-7:
path_following()
status='up'
elif p==-1:
turn(4)
path_following()
status='left'
elif status=='down':
if p==1:
turn(4)
path_following()
status='right'
elif p==-7:
turn(3)
turn(3)
path_following()
status='up'
elif p==7:
path_following()
status='down'
elif p==-1:
turn(3)
path_following()
status='left'
i=j
