def simulateMovement(self, x, y, nextAngle, direction):
ligne = Ligne("", self.x, self.y, x, y, "purple")
# simulate movement
movingAngle = self.normalizeAngle(ligne.getAngle() +
(180 if direction < 0 else 0))
x = 0
y = 0
for p in range(0, (int)(ligne.getlongeur())):
ratio = (1.0 / ligne.getlongeur()) * p
ratioDest = 1 - ratio
x = ligne.x1 * ratioDest + ligne.x2 * ratio
y = ligne.y1 * ratioDest + ligne.y2 * ratio
self.setPosition(x, y, movingAngle, direction)
if webInterface.instance and webInterface.instance.runningState == RunningState.STOP:
return False
if type(self.collisionDetected) != bool:
collisionX, collisionY = self.collisionDetected
print "\t \t Obstacle, stopping robot"
errorObstacle = True
break
elif self.collisionDetected:
print "\t \t Obstacle, stopping robot"
errorObstacle = True
break
time.sleep(self.simulationSpeed)
self.setPosition(x, y, nextAngle, 0)
def simulateMovement(self, x, y, nextAngle, direction):
ligne = Ligne("", self.x, self.y, x, y, "purple")
# simulate movement
movingAngle = self.normalizeAngle(ligne.getAngle() +
(180 if direction < 0 else 0))
for p in range(0, (int)(ligne.getlongeur())):
ratio = (1.0 / ligne.getlongeur()) * p
ratioDest = 1 - ratio
self.setPosition(ligne.x1 * ratioDest + ligne.x2 * ratio,
ligne.y1 * ratioDest + ligne.y2 * ratio,
movingAngle)
if webInterface.instance and webInterface.instance.runningState == RunningState.STOP:
return False
time.sleep(self.simulationSpeed)
self.setPosition(ligne.x2, ligne.y2, nextAngle)
def eviterObstacle(self, absoluteObstacleAngle, direction=1):
print("\t \tEscape from A=" + str(absoluteObstacleAngle))
#Get opposed angle
if absoluteObstacleAngle > 0:
newAngle = absoluteObstacleAngle - 180
else:
newAngle = absoluteObstacleAngle + 180
#newAngle = absoluteObstacleAngle
xprev = self.x
yprev = self.y
newx = xprev + 300 * math.cos(newAngle * 0.0174532925) #rad
newy = yprev + 300 * math.sin(newAngle * 0.0174532925) #rad
ligne = Ligne("", xprev, yprev, newx, newy, "purple")
distance = -1 * direction * ligne.getlongeur()
#self.aveugler()
time.sleep(0.2)
self.seDeplacerDistanceAngle(distance, 0, 0.4, 0)
time.sleep(0.2)
#self.rendreVue()
time.sleep(0.2)
return True
#search for a free opposed movment
"""escapePointInteretList = list(self.listPointInteret)
escapeObstacles = self.chercher.pointContenuListe(xprev, yprev, escapePointInteretList)
for elem in escapeObstacles:
escapePointInteretList.remove(elem)
for size in [400, 300, 250]:
for a in range(0, 41, 10):
for side in [-1, 1]:
lineTest = Ligne("", xprev, yprev, newx, newy, "purple")
lineTest.resize(size)
testAngle = lineTest.getAngle()+a*side
lineTest.rotate(lineTest.getAngle()+a*side)
if not self.chercher.enCollisionCarte(lineTest, escapePointInteretList):
print("\t \tFound collision escape")
print("\t \tEscape angle=" + str(lineTest.getAngle()))
distance = -1*direction*lineTest.getlongeur()
angleToDo = self.getAngleToDo(lineTest.getAngle())
if angleToDo>0:
angleToDo-=180
else:
angleToDo+=180
self.seDeplacerDistanceAngle(distance, angleToDo, 0.2, 0)
return True
elif (self.fenetre):
lineTest.dessiner(self.fenetre)
self.fenetre.win.redraw()"""
return False
def extendLinePoint(self, forme, x, y):
ligne = Ligne("", forme.x, forme.y, x, y)
ligne.resize(ligne.getlongeur() + 30)
point = {"x": ligne.x2, "y": ligne.y2}
return point
