Exemple #1
0
    def loadMap(self, fileName):
        tempSet = set()
        with open(fileName, 'r') as fd:
            lines = fd.readlines()
            for m, line in enumerate(lines):
                for n, char in enumerate(line):
                    v1 = Matrix._makeMatrix([[m / 3], [n / 3]])
                    if char == '+' or char == '^' or char == '<' or char == 'v' or char == '>':
                        if (n + 1) < len(line):
                            v2 = Matrix._makeMatrix([[0], [1]])
                            if line[n + 1] == '-':
                                tempSet.add(Connection(v1, v2))
                            elif line[n + 1] == '=':
                                tempSet.add(Connection(v1, v2, "R"))
                        if (m + 1) < len(lines):
                            v2 = Matrix._makeMatrix([[1], [0]])
                            if lines[m + 1][n] == '|':
                                tempSet.add(Connection(v1, v2))
                            elif lines[m + 1][n] == '=':
                                tempSet.add(Connection(v1, v2, "R"))

                        # check for connections
                        if not char == '+':
                            self.registerRobot(copy.deepcopy(v1), char)
        self.connections = list(tempSet)
        self.draw()
Exemple #2
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    def registerRobot(self, position, orientationAscii):
        rotLocToGlob = Matrix._makeMatrix([[1, 0], [0, 1]])
        rotGlobToLoc = Matrix._makeMatrix([[1, 0], [0, 1]])
        if orientationAscii == '^':
            rotLocToGlob = Matrix._makeMatrix([[1, 0], [0, 1]])
            rotGlobToLoc = Matrix._makeMatrix([[1, 0], [0, 1]])
        elif orientationAscii == '<':
            rotLocToGlob = Matrix._makeMatrix([[0, 1], [-1, 0]])
            rotGlobToLoc = Matrix._makeMatrix([[0, -1], [1, 0]])

        elif orientationAscii == 'v':
            rotLocToGlob = Matrix._makeMatrix([[-1, 0], [0, -1]])
            rotGlobToLoc = Matrix._makeMatrix([[-1, 0], [0, -1]])
        elif orientationAscii == '>':
            rotLocToGlob = Matrix._makeMatrix([[0, -1], [1, 0]])
            rotGlobToLoc = Matrix._makeMatrix([[0, 1], [-1, 0]])

        self.robots.append(
            Robot.Robot(self, position, rotLocToGlob, rotGlobToLoc))
Exemple #3
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 def __init__(self, start, direction, color="B"):
     if direction[0][0] < 0 or direction[1][0] < 0:
         self.start = start + direction
         self.direction = Matrix._makeMatrix([[0], [0]])
         self.direction[0][0] = -direction[0][0]
         self.direction[1][0] = -direction[1][0]
     else:
         self.start = start
         self.direction = direction
     self.color = color
Exemple #4
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    def driveDirections(self, direction):
        logger.debug("Got drive Direction: %s" % (direction))
        self.sendBusy()
        v = Matrix._makeMatrix([[1], [0]])
        if direction == "N":
            v = Matrix._makeMatrix([[1], [0]])
        elif direction == "E":
            v = Matrix._makeMatrix([[0], [-1]])
        elif direction == "S":
            v = Matrix._makeMatrix([[-1], [0]])
        elif direction == "W":
            v = Matrix._makeMatrix([[0], [1]])

        if self.moveLocal(v):
            logger.info("moving %s" % (direction))
            timer = threading.Timer(Robot.MOVING_TIME_S,
                                    self.onDriveDirections)
            timer.start()
        else:
            logger.warn("moving failed")
            self.sendError("Not a valid direction: %s" % (direction))
Exemple #5
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        if color:
            v.append(["N", color])
        color = self.map.getColor(
            self.globalPosition,
            self.rotateLocalToGlobal(Matrix.fromList([[0], [-1]])))
        if color:
            v.append(["E", color])
        color = self.map.getColor(
            self.globalPosition,
            self.rotateLocalToGlobal(Matrix.fromList([[-1], [0]])))
        if color:
            v.append(["S", color])
        color = self.map.getColor(
            self.globalPosition,
            self.rotateLocalToGlobal(Matrix.fromList([[0], [1]])))
        if color:
            v.append(["W", color])

        return v


if __name__ == "__main__":
    rotLocToGlob = Matrix._makeMatrix([[0, 1], [-1, 0]])
    rotGlobToLoc = Matrix._makeMatrix([[0, -1], [1, 0]])
    r = Robot(None, Matrix._makeMatrix([[0], [0]]), rotLocToGlob, rotGlobToLoc)
    m = Matrix.fromList([[1], [0]])
    print(r.rotateLocalToGlobal(m))

    #print(r.makeAvailableDirectionsJson([["N","B"],["E","B"]]))
    #print(r.makeAvailableDirectionsJson([]))
Exemple #6
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            return ""
        else:
            return self.connections[index].color

    def isConnection(self, fromGlobal, directionGlobal):
        c = Connection(fromGlobal, directionGlobal)

        if c in self.connections:
            return True
        return False


if __name__ == "__main__":
    map = Map()
    map.loadMap("default.map")
    map.draw()
    r = map.getRobots()[0]

    #print(r.globalPosition)
    #print(r.scan())
    vlocal = Matrix._makeMatrix([[-1], [0]])

    r.moveLocal(vlocal)

    #print(r.globalPosition)
    #print(r.scan())
    r.moveLocal(vlocal)

    #print(r.globalPosition)
    #print(r.scan())