def execute_student_plan(self, warehouse, box_todo, max_distance, max_steering):
"""Execute student plan and store results in submission.
Args:
warehouse(list(list)): the warehouse map to test against.
box_todo(list): the order of boxes to deliver.
max_distance(float): the max distance the robot can travel in a single move.
max_steering(float): the max steering angle the robot can turn in a single move.
"""
self._reset()
state = State(warehouse, box_todo, max_distance, max_steering)
try:
student_planner = partB.DeliveryPlanner(copy.copy(warehouse), copy.copy(box_todo),
max_distance, max_steering)
action_list = student_planner.plan_delivery()
num_delivered = 0
next_box_to_deliver = num_delivered
for action in action_list:
if VERBOSE_FLAG:
state.print_to_console()
state.update_according_to(action)
# check if new box has been delivered
delivered = state.get_boxes_delivered()
if len(delivered) > num_delivered:
last_box_delivered = int(delivered[-1])
if last_box_delivered == next_box_to_deliver:
num_delivered += 1
if num_delivered < len(box_todo):
next_box_to_deliver = num_delivered
else:
# all boxes delivered: end test
break
else:
# wrong box delivered: kill test
raise Exception('wrong box delivered: {} instead of {}'.format(last_box_delivered,
next_box_to_deliver))
if num_delivered != len(box_todo):
raise Exception("Did not deliver all boxes. Only delivered: {}".format(num_delivered))
if VERBOSE_FLAG:
# print final state
print '\n\n'
print 'Final State: '
state.print_to_console()
self.submission_score.put(state.get_total_cost())
self.submission_boxes_delivered.put(state.get_boxes_delivered())
except Exception as exp:
self.submission_error.put(traceback.format_exc())
self.submission_score.put(float('inf'))
self.submission_boxes_delivered.put(state.get_boxes_delivered())
def execute_student_plan(warehouse, todo, max_distance, max_steering):
student_planner = partB.DeliveryPlanner(copy.copy(warehouse),
copy.copy(todo), max_distance,
max_steering)
action_list = student_planner.plan_delivery()
state = State(warehouse, todo, max_distance, max_steering)
num_delivered = 0
next_box_to_deliver = num_delivered
for action in action_list:
state.print_to_console()
state.update_according_to(action)
# check if new box has been delivered
delivered = state.get_boxes_delivered()
if len(delivered) > num_delivered:
last_box_delivered = int(delivered[-1])
if last_box_delivered == next_box_to_deliver:
num_delivered += 1
if num_delivered < len(todo):
next_box_to_deliver = num_delivered
else:
# all boxes delivered: end test
break
else:
# wrong box delivered: kill test
raise Exception('wrong box delivered: {} instead of {}'.format(
last_box_delivered, next_box_to_deliver))
if num_delivered != len(todo):
raise Exception("Did not deliver all boxes. Only delivered: {}".format(
num_delivered))
# print final state
print "\n\n"
print "Final State: "
state.print_to_console()
return state.get_total_cost(), state.get_boxes_delivered()
from Queue import Queue
from Queue import Empty as QueueEmptyError
from threading import Thread
from multiprocessing import TimeoutError
import unittest
import timeit
import partB
from math import *
warehouse = ['@.#...#', '#...#..']
todo = [(6.8, -1.8), (6.0, -1.2), (5.0, -0.8), (4.0, -0.2), (3.8, -1.2),
(2.8, -1.2), (1.8, -1.8), (1.2, -1.1), (1.1, -0.1)]
student_planner = partB.DeliveryPlanner(copy.copy(warehouse), copy.copy(todo),
0.29, pi / 5.7)
# print student_planner.centerof([0,0],3) #pass
# print student_planner.centerof([14,14],3) #pass
#print student_planner.best_areas((4.5, -.5),first_round=True)
# print student_planner.lift_areas([0.5, -1.0])
#print student_planner.best_areas([1.5,-0.5])
# b=student_planner.best_areas([1.5,-0.5])
# while b.size()>0:
# a=b.pop()
# print a
#print student_planner.accessible_neighbors([1, 7]) #pass
# cost=student_planner.cost([2,2],[1,0]) #pass
# print student_planner.heuristic([0.5, -1.0],student_planner.centerof([2, 0],discretized_by=3)) #pass
# print student_planner.threshold_dist(student_planner.centerof([2, 0],student_planner.discretized_by),student_planner.robot_R,[0.5, -1.0],student_planner.box_L)