def setSensorController(self, sensorController):
self.wallDetector = WallDetector(self, sensorController)
class Micromouse:
id = -1
x = -1
y = -1
mazeMap = None
taskLoader = None
commandTranslator = None
wallDetector = None
direction = 'UP'
def __init__(self, mazeMap):
self.initMap(mazeMap)
self.initTaskLoader()
self.initCommandTranslator()
self.initWallDetector()
def __init__(self, mazeMap, id):
self.id = id
self.initMap(mazeMap)
self.initTaskLoader()
self.initCommandTranslator()
self.initWallDetector()
def setInitPoint(self, x, y):
if x >= 0 and x < self.mazeMap.width:
self.x = x
else:
self.x = 0
if y >= 0 and y < self.mazeMap.height:
self.y = y
else:
self.y = 0
def setInitDirection(self, direction):
if direction in ['UP', 'DOWN', 'LEFT', 'RIGHT']:
self.direction = direction
def initMap(self, mazeMap):
self.mazeMap = mazeMap
def initCommandTranslator(self):
self.commandTranslator = CommandTranslator(self)
def initWallDetector(self):
self.wallDetector = WallDetector(self)
def setMotorController(self, motorController):
self.commandTranslator = CommandTranslator(self, motorController)
def setSensorController(self, sensorController):
self.wallDetector = WallDetector(self, sensorController)
def initTaskLoader(self):
self.taskLoader = TaskLoader()
def addTask(self, strategy):
if self.taskLoader != None:
self.taskLoader.addTask(Task(strategy))
def run(self):
if self.taskLoader != None:
self.taskLoader.start()
def isTowardingUp(self):
return self.direction == 'UP'
def isTowardingDown(self):
return self.direction == 'DOWN'
def isTowardingLeft(self):
return self.direction == 'LEFT'
def isTowardingRight(self):
return self.direction == 'RIGHT'
def getCurrentCell(self):
return self.mazeMap.getCell(self.x, self.y)
def canGoLeft(self):
return not self.mazeMap.getCellLeftWall(self.getCurrentCell())
def canGoRight(self):
return not self.mazeMap.getCellRightWall(self.getCurrentCell())
def canGoUp(self):
return not self.mazeMap.getCellUpWall(self.getCurrentCell())
def canGoDown(self):
return not self.mazeMap.getCellDownWall(self.getCurrentCell())
def goLeft(self):
self.commandTranslator.goLeft()
self.x = self.x - 1
self.direction = 'LEFT'
def goRight(self):
self.x = self.x + 1
self.commandTranslator.goRight()
self.direction = 'RIGHT'
def goUp(self):
self.y = self.y - 1
self.commandTranslator.goUp()
self.direction = 'UP'
def goDown(self):
self.y = self.y + 1
self.commandTranslator.goDown()
self.direction = 'DOWN'
def senseWalls(self):
cell = self.getCurrentCell()
self.wallDetector.detectLeftWall(cell)
self.wallDetector.detectRightWall(cell)
self.wallDetector.detectUpWall(cell)
self.wallDetector.detectDownWall(cell)
def initWallDetector(self):
self.wallDetector = WallDetector(self)