class AI:
room = Map([])
movement = Move()
sensor = Sensor()
botAngle = 0
botPos = [0,0]
turnAngle = 15 # the angle the bot will turn to sense
'''
def mapRoom(self):
if
while not room.isMapped():
sense()
route = room.nextRoute()
for i in route:
break
break
return
'''
def __init__(self, port = 13000, host = "localhost"):
"""
This function has two objects right now
move will control the movement of the pibot
com controls the communication.
Basically the AI gets information from the sensors (Maybe thats a class aswell?)
does its AI stuff, calls move to move the bot and calls com to update the laptop
"""
self.move = Move()
self.room = Map([[0,0]])
self.com = Com(port = port, host = host)
def sense(self):
"""
This function is a temp function it just takes in input from the user
The user can send a message to the laptop or update the map (the map right now is
just a X Y coordination)
This entire function will be replaced its just for testing
"""
points = list()
for i in range(360/self.turnAngle):
if self.botAngle ==0:
points.insert(0,[self.sensor.getDistance(),self.botAngle])
elif self.botAngle == 90:
points.insert(1,[self.sensor.getDistance(),self.botAngle])
elif self.botAngle == 180:
points.insert(2,[self.sensor.getDistance(),self.botAngle])
elif self.botAngle == 270:
points.insert(3,[self.sensor.getDistance(),self.botAngle])
else:
points.append([self.sensor.getDistance(),self.botAngle])
self.movement.turn(self.turnAngle)
self.botAngle = self.botAngle+self.turnAngle
time.sleep(1)
if self.botAngle >= 360:
self.botAngle = self.botAngle-360
#self.movement.turn(self.turnAngle)
#self.botAngle = self.botAngle+self.turnAngle
#break
#if self.botAngle == 0:
# break
return points
def mapRoom90(self):
self.turnAngle = 90
while(not self.room.isMapped()):
points = self.sense()
self.botPos = self.room.updateMap(points)
self.room.fillMap90()
nextDir = self.room.nextRoute90()
if nextDir=="U":
if self.botAngle!=0:
self.movement.turn(360-self.botAngle)
self.botAngle=0
self.movement.move(MAXVIEW-20)
self.botPos[0]=self.botPos[0]-MAXVIEW+20
self.room.updatePos(self.botPos)
elif nextDir=="D":
if self.botAngle!=180:
self.movement.turn(180-self.botAngle)
self.botAngle=180
self.movement.move(MAXVIEW-20)
self.botPos[0]=self.botPos[0]+MAXVIEW-20
self.room.updatePos(self.botPos)
elif nextDir=="R":
if self.botAngle!=90:
self.movement.turn(90-self.botAngle)
self.botAngle=90
self.movement.move(MAXVIEW-20)
self.botPos[1]=self.botPos[1]+MAXVIEW-20
self.room.updatePos(self.botPos)
elif nextDir=="L":
if self.botAngle!=270:
self.movement.turn(270-self.botAngle)
self.botAngle=270
self.movement.move(MAXVIEW-20)
self.botPos[1]=self.botPos[1]-MAXVIEW+20
self.room.updatePos(self.botPos)
elif nextDir == None:
self.room.showRoom()
self.com.sendMessage("data")
time.sleep(1)
u=0
d=0
l=0
r=0
m = self.room.getMap()
for i in range(len(m)):
if m[i][self.botPos[1]]==1 and i<self.botPos[0]:
u=i
break
for i in range(len(m)):
if m[i][self.botPos[1]]==1 and i>self.botPos[0]:
d=i
break
for i in range(len(m[0])):
if m[self.botPos[0]][i]==1 and i<self.botPos[1]:
l = i
break
for i in range(len(m[0])):
if m[self.botPos[0]][i]==1 and i>self.botPos[1]:
r = i
break
print u,d,l,r
self.com.updateMap((l,r,u,d))
#self.com.updateMap(self.room.getMap())
time.sleep(5)
self.com.sendMessage("bot")
time.sleep(1)
self.com.sendBotLocation((self.botPos[0],self.botPos[1],self.botAngle))
time.sleep(1)
self.com.sendMessage("mes")
time.sleep(1)
self.com.sendMessage("Mapping Complete!")
break
#complete
'''
self.com.sendMessage("data")
time.sleep(1)
self.com.updateMap(self.room.getMap())
time.sleep(5)
self.com.sendMessage("bot")
time.sleep(1)
self.com.sendBotLocation((self.botPos[0],self.botPos[1],self.botAngle))
time.sleep(1)
'''
#print "Location: " + str(self.move.location)
'''
