class DemoAgent():
def __init__(self):
# Initialise globals
self.robot = GRobot("demoAgent", colour="yellow")
worldPath = "./../Maps/MazeExtra.map" # this must be the same as that used in RobotGridWorld.pyw (and any other agents operating together)
# import world
newworld = pickle.load(open(worldPath, 'rb'))
self.mapsize = len(newworld) - 2
self.world = [[None] * (self.mapsize + 3)
for i in range(self.mapsize + 3)] # World map
# take out the buffer walls
for i in range(self.mapsize):
for j in range(self.mapsize):
self.world[i][j] = newworld[i + 1][j + 1]
# Erase hazards from memory
# TODO: We will need to modify this to remove random rewards as well
for i in range(0, self.mapsize):
for j in range(0, self.mapsize):
if self.world[i][j] == "Hazard":
self.world[i][j] = None
def run(self):
try:
while True:
char = screen.getch()
if char == 'q' or char == 'Q':
break
elif char == curses.KEY_RIGHT:
result = self.robot.right()
elif char == curses.KEY_LEFT:
result = self.robot.left()
elif char == curses.KEY_UP:
result = self.robot.forward()
result = self.robot.look()
# pull out values from world based on result coords
cells = []
for cell in result:
x = cell[1]
y = cell[2]
cells.append(self.cellVal(x, y))
# print out values from look and from world (note they are the same)
screen.erase()
screen.addstr(0, 0, str(result))
screen.addstr(1, 0, str(cells))
finally:
# shut down cleanly
curses.nocbreak()
screen.keypad(0)
curses.echo()
curses.endwin()
exit()
def cellVal(self, x, y):
if x < 0 or x >= self.mapsize:
return ("Wall", x, y)
elif y < 0 or y >= self.mapsize:
return ("Wall", x, y)
else:
return (self.world[x][y], x, y)
class HumanAgent():
def __init__(self):
# Initialise globals
self.robot = GRobot("HumanAgent", colour="yellow")
self.heading = 90 #0=forward, 90 = right, 180 = down, 270 = left
self.path = []
worldPath = "./../Maps/MazeExtra.map" # this must be the same as that used in RobotGridWorld.pyw (and any other agents operating together)
# import world
newworld = pickle.load(open(worldPath, 'rb'))
self.mapsize = len(newworld) - 2
self.world = [[None] * (self.mapsize + 3)
for i in range(self.mapsize + 3)] # World map
# take out the buffer walls
for i in range(self.mapsize):
for j in range(self.mapsize):
self.world[i][j] = newworld[i + 1][j + 1]
# Erase hazards from memory
# TODO: We will need to modify this to remove random rewards as well
for i in range(0, self.mapsize):
for j in range(0, self.mapsize):
if self.world[i][j] == "Hazard":
self.world[i][j] = None
def run(self):
self.plan()
self.move()
def plan(self):
#path plan with a*
G = Graph(self.mapsize, self.world)
start = G.get_vertex(1 + self.mapsize * 0)
print("Start: ", start.get_xy(self.mapsize))
goal = G.get_vertex(1 + self.mapsize * 15) #goal pos for MazeExtra.map
print("Goal: ", goal.get_xy(self.mapsize))
t = a_star(G, start, goal)
self.path = reversed(t)
def move(self):
for coord in self.path:
(i, j) = coord
(x, y) = (i, j)
direction = (x - self.robot.posx, y - self.robot.posy)
print((x, y), (self.robot.posx, self.robot.posy))
if direction == (1, 0): #right
if self.heading == 0:
self.robot.forward()
else:
for i in range(int(self.heading / 90)):
self.robot.right()
self.robot.forward()
self.heading = 0
self.robot.posx += 1
elif direction == (0, 1): #up
if self.heading == 90:
self.robot.forward()
elif self.heading > 90:
for i in range(int((self.heading - 90) / 90)):
self.robot.right()
self.robot.forward()
self.heading = 90
else: #facing right
self.robot.left()
self.robot.forward()
self.heading = 90
self.robot.posy += 1
elif direction == (-1, 0): #left
if self.heading == 180:
self.robot.forward()
elif self.heading < 180:
for i in range(int((180 - self.heading) / 90)):
self.robot.left()
self.robot.forward()
self.heading = 180
else: # facing down = 270
self.robot.right()
self.robot.forward()
self.heading = 180
self.robot.posx -= 1
elif direction == (0, -1): #down
if self.heading == 270:
self.robot.forward()
else:
for i in range(int((270 - self.heading) / 90)):
self.robot.left()
self.robot.forward()
self.heading = 270
self.robot.posy -= 1
