def explore(self):
start = time.time()
while True:
# Only update the UPDATED GRIDS, based on the sensor reading
updatedGrids = self.robot.readSensors(self.completeMap)
for n in updatedGrids:
x, y = n[0], n[1]
self.ui.drawGrid(x, y)
# This checking must be done here because if not, there will be one extra ROBOT drawing (including one moveForward())
# If the checking is done in ui.drawRobot(), the moveForward() cannot be prevented although the robot should have stopped already before moving forward
if self.ui.checkTimeout() == False or self.ui.setMapPercentage() == False:
break
initialState = State(copy.deepcopy(self.robot))
actions = Algorithm.A_star(initialState)
for action in actions:
r = self.robot.do(action)
if r == False:
break
self.ui.drawRobot()
# Only update the UPDATED GRIDS, based on the sensor reading
updatedGrids = self.robot.readSensors(self.completeMap)
for n in updatedGrids:
x, y = n[0], n[1]
self.ui.drawGrid(x, y)
end = time.time()
print("RUNNING TIME:", end - start)
