class RoverSim():
def __init__(self, roverID, blockInfo):
self.roverID = roverID
self.blockInfo = blockInfo
self.posY = 0
self.nextY = 0
if roverID == 0:
self.posX = 0
self.nextX = 0
else:
self.posX = -1
self.nextX = -1
# Declare test client and parser
self.clientConnection = TestClient()
self.parser = MessageParser(roverID)
# Connect signals and slots
self.clientConnection.messageFromServer.connect(self.parser.parse)
self.parser.parsedMessageSignal.connect(self.messageFromServer)
self.parser.constructedMessageSignal.connect(
self.clientConnection.sendMessageToServer)
def ack(self, command):
self.parser.constructMessage(commandDefs.flags["COMMAND_RECEIVED"] +
' ' + command)
def finish(self, command):
time.sleep(0.5) # Pause for command to complete
self.parser.constructMessage(commandDefs.flags["COMMAND_FINISHED"] +
' ' + command)
def eventAlert(self):
self.parser.constructMessage(commandDefs.flags["EVENT_ALERT"])
# Handler for server commands
def messageFromServer(self, message):
# Acknowledge message
self.ack(message)
messageFields = message.split(' ')
# Compute new position if necessary
if messageFields[0] == commandDefs.commands[
"MOVE_COMMAND"] or messageFields[0] == commandDefs.commands[
"PICKUP_COMMAND"]:
if messageFields[1] == commandDefs.specifiers["NORTH_MOVE"]:
self.nextX = self.posX
self.nextY = self.posY + 1
self.executeMove(message)
elif messageFields[1] == commandDefs.specifiers["EAST_MOVE"]:
self.nextX = self.posX + 1
self.nextY = self.posY
self.executeMove(message)
elif messageFields[1] == commandDefs.specifiers["SOUTH_MOVE"]:
self.nextX = self.posX
self.nextY = self.posY - 1
self.executeMove(message)
elif messageFields[1] == commandDefs.specifiers["WEST_MOVE"]:
self.nextX = self.posX - 1
self.nextY = self.posY
self.executeMove(message)
# Send reading for a read command
elif messageFields[0] == commandDefs.commands["READ_COMMAND"]:
self.parser.constructMessage(
commandDefs.flags["EVENT_ALERT"] + ' ' +
self.blockInfo[8 - self.nextY][self.nextX])
self.finish(message)
# Finish any other command
else:
self.finish(message)
def blockAtPos(self, x, y):
if self.blockInfo[8 - y][x] != 'N':
return self.blockInfo[8 - y][x]
else:
return None
def updatePos(self):
self.posX = self.nextX
self.posY = self.nextY
print("New positiion: ", self.posX, ', ', self.posY)
def executeMove(self, message):
if self.roverID == 0:
if not self.blockAtPos(self.nextX,
self.nextY): # if no block is in the way
self.updatePos() # update position and finish command
self.finish(message)
else: # if a block is in the way
self.eventAlert() # send an event alert
else:
self.updatePos() # Moves always succeed for rover1
self.finish(message)
def run(self):
app = QApplication(sys.argv)
self.clientConnection.begin.emit()
sys.exit(app.exec())
