class BaseStationDispatcher():
def __init__(self, worldVision):
self.world = worldVision
self.pathfinder = None
self.path = None
def initialiseWorldData(self):
self.world.initializeRound()
image, map = self.world.getCurrentImage()
self.pathfinder = Pathfinder(map)
mapCoordinatesAdjuster = MapCoordinatesAjuster(map)
convertedPoint = mapCoordinatesAdjuster.convertPoint(map.robot.center)
self.sequencer = seq(self.pathfinder)
return convertedPoint, map.robot.orientation
def handleCurrentSequencerState(self):
image, map = self.world.getCurrentImage()
self.path, signal, angleToRotateTo = self.sequencer.handleCurrentState(map)
return self.path, signal, angleToRotateTo
def getCurrentWorldInformation(self):
image, map = self.world.getCurrentImage()
if(self.pathfinder != None):
self.pathfinder.drawPath(image)
cv2.resize(image, (320,240))
convertedImage = cv2.imencode('.png',image)[1]
base64ConvertedImage = base64.encodestring(convertedImage)
mapCoordinatesAdjuster = MapCoordinatesAjuster(map)
convertedPoint = mapCoordinatesAdjuster.convertPoint(map.robot.center)
if map.target != None:
informationToSend = {"robotPosition":convertedPoint,
"robotOrientation":map.robot.orientation,
"encodedImage":base64ConvertedImage,
"targetColor":map.target.color.getName()}
else:
informationToSend = {"robotPosition":convertedPoint,
"robotOrientation":map.robot.orientation,
"encodedImage":base64ConvertedImage}
return informationToSend
def startFromBegining(self):
self.sequencer.setState(SendingBotToChargingStationState())
def startFromTreasure(self):
self.sequencer.setState(DetectTreasureState())
def startFromTarget(self):
self.sequencer.setState(SendingBotToTargetState())
def setTargetOnMap(self, jsonTarget):
targetFactory = TargetFactory()
target = targetFactory.constructTarget(jsonTarget)
self.world.setTarget(target)
def setTreasuresOnMap(self, data):
self.world.setTreasures(data)
def setTimer(self, function,seconds):
if self.timer != None:
self.timer.cancel()
def func_wrapper():
self.setTimer(function, seconds)
function()
self.timer = threading.Timer(seconds, func_wrapper)
self.timer.start()
return self.timer
#debug section
def setSequencerStateToSendChargingStation(self):
self.sequencer.setState(SendingBotToChargingStationState())
def setSequencerStateToDetectTreasures(self):
self.sequencer.setState(DetectTreasureState())
def setSequencerStateToSendToTreasure(self):
self.sequencer.setState(SendingBotToTreasureState())
def setSequencerStateToSendToTarget(self):
self.sequencer.setState(SendingBotToTargetState())
