def main():
# Process CLI arguments.
try:
execname, host, port = sys.argv
except ValueError:
execname = sys.argv[0]
print >> sys.stderr, '%s: incorrect number of arguments' % execname
print >> sys.stderr, 'usage: %s hostname port' % sys.argv[0]
sys.exit(-1)
# Connect.
# bzrc = BZRC(host, int(port), debug=True)
bzrc = BZRC(host, int(port))
agent = GraphAgent(bzrc)
# print "Tank located at ({0}, {1})".format(agent.tank.x, agent.tank.y)
t0 = time.time()
prior = 0.5
worldsize = int(agent.constants['worldsize'])
true_pos, true_neg = float(agent.constants['truepositive']), float(agent.constants['truenegative'])
prob_occupied = np.ones([worldsize, worldsize]) * prior
seen = np.zeros([worldsize, worldsize], dtype=int)
# print 'True Positive: ', true_pos
# print 'True Negative: ', true_neg
cur_goal, cur_point = None, None
iters_total = 0
# break the world up into a grid
gridsize = 16
waypoints = np.zeros([ gridsize, gridsize ], dtype=bool)
try:
last_known, iters_here = None, 0
while True:
# pick a new goal randomly if we got stuck
location = (agent.tank.x, agent.tank.y)
if location == last_known:
iters_here += 1
if iters_here > 10:
print "Got stuck, selecting new goal"
iters_here = 0
cur_goal = cur_point = None
last_known = location
if cur_goal is None or agent.reached_goal(cur_point):
# mark waypoint as visited
if cur_goal != None:
print "Reached waypoint: {0}".format(cur_goal)
waypoints[cur_goal] = True
wp_nearest = nearest_waypoint(waypoints, location, gridsize, worldsize)
if wp_nearest == None:
print "Reached all waypoints"
command = Command(agent.tank.index, 0, 0, False)
results = agent.bzrc.do_commands([ command ])
break
else:
cur_goal, cur_point = wp_nearest, Point('waypoint', waypoint_coord(wp_nearest, gridsize, worldsize))
print "Selected new waypoint: {0}".format(wp_nearest)
agent.set_goal(cur_point, False)
time_diff = time.time() - t0
agent.tick(time_diff)
# print "Tank located at ({0}, {1})".format(agent.tank.x, agent.tank.y)
# update probabilities
pos, occ = bzrc.get_occgrid(agent.tank.index)
update_occ(prob_occupied, seen, worldsize, (true_pos, true_neg), (pos, occ))
# maybe save image
if iters_total % 200 == 0:
snapshot = np.rot90(prob_occupied * 255, 1)
image.imsave("snapshots/iteration-{0}.png".format(iters_total), snapshot, cmap='gray')
iters_total += 1
except KeyboardInterrupt:
print "Exiting due to keyboard interrupt."
bzrc.close()
# save thresholded map
print "Saving map..."
snapshot = np.rot90(prob_occupied * 255, 1) > 1
image.imsave("snapshots/final.png".format(iters_total), snapshot, cmap='gray')
print "Done in {0} iterations and {1:.1f}s".format(iters_total, time.time() - t0)
class Grid():
def __init__(self, port):
self.bzrc = BZRC("localhost", int(port))
self.grid = self.bzrc.get_occgrid(0)
#print self.grid
self.height = len(self.grid[1])
self.width = len(self.grid[1][3])
self.bottom = int(self.grid[0][0])
self.top = self.bottom + self.height
self.left = int(self.grid[0][0])
self.right = self.left + self.width
# print "Left: " , self.left
# print 'Right: ', self.right
# print 'Top: ', self.top
# print 'Bottom: ', self.bottom
#print self.height, self.width
self.number_grid = self.grid[1:][0]
#print self.number_grid
self.grid = []
self.goal = (int(self.bzrc.get_flags()[2].x), int(self.bzrc.get_flags()[2].y))
# print "Goal: ", self.goal
self.start = (int(self.bzrc.get_mytanks()[0].x), int(self.bzrc.get_mytanks()[0].y))
# print "START: " , self.start
'''
@param goal: tuple(x, y)
@returns grid of cell objects
'''
def get_grid(self):
xList = []
for x in range(self.height):
#g = raw_input(self.number_grid[y])
yList = []
for y in range(self.width):
reachable = True
if self.number_grid[x][y] == 1:
reachable = False
else:
reachable = True
#print "reachable at: " + str(x) + " : " + str(y)
cell = Cell(self.left + x, self.bottom + y, reachable, self.distance(self.left + x, self.right + y, self.goal))
if (self.left + x, self.top + y) == self.goal:
cell.end = True
#s = raw_input("Goal Location: " + str(x + self.left) + " : " + str(y + self.bottom) + " : " + str(self.number_grid[y][x]))
yList.append(cell)
xList.append(yList)
#print len(yList), len(xList)
self.grid = xList
return y
def distance(self, x, y, goal):
return math.sqrt((abs(x - goal[0])**2 + (abs(y - goal[1])**2)))
def get_cell(self, x, y):
x = int(x + self.right)
y = int(y + self.top)
#print "Get Cell: ", x, y
try:
return self.grid[x][y]
except(IndexError):
print "Max is: " + str(len(self.grid)) + ", " + str(len(self.grid[0]))
print "Error on: Index: " + str(x) + ", " + str(y)
sys.exit(0)
def get_cell_tuple(self, xy):
x = int(xy[0] + self.right)
y = int(xy[1] + self.top)
return self.grid[x][y]
def get_cell_by_cell(self, c):
return self.grid[int(c[0])][int(c[1])]
import sys
import math
import time
from bzrc import BZRC, Command
port = raw_input("Port?")
print port
bzrc = BZRC('127.0.0.1', int(port))
f = open("grid.txt", 'w')
grid = bzrc.get_occgrid(0)
f.write(str(grid[0][1] + grid[0][2]))
for line in grid[1]:
l = ''
for s in line:
l += str(s)
f.write(l + "\n")
#f.write(bzrc.get_occgrid(0))
