def handle(self, dmap, a):
min_d = 2
center_blocked = ac.central_dist(dmap) == min_d
next_left = ac.column_min_dist(dmap, 0) > min_d
next_right = ac.column_min_dist(dmap, -1) > min_d
# save visual data
self.map.see_offset((0, 1), blocked=center_blocked)
if next_left:
self.map.see_offset((-1, 1))
if next_right:
self.map.see_offset((1, 1))
self.map.print_current()
print self.map.get_view((-1, 1)), self.map.get_view((1, 1)), next_left, next_right, self.map.yaw
# turn to the next unobserved point
angle = 0
current_offset = (0, 1)
for i in range(4):
current_offset = mp.MapTracker.compensate_yaw(current_offset, 90)
angle += 90
if self.map.get_view(current_offset) == mp.MapTracker.Unknown:
self.move = ac.turn_left(ac.empty(), arg=angle)
return
self.finished = True
self.move = ac.empty()
def handle(self, dmap, a):
if self.delay_loop > 0:
return
if self.state == 0:
pass
elif self.state == 1:
dist = int(ac.central_dist(dmap))
self.width = dist
print('DIST:', dist)
elif self.state == 2:
print('second d', ac.central_dist(dmap))
self.width += ac.central_dist(dmap)
self.position = ac.central_dist(dmap)
else:
self.direction = self.direction if self.position != self.width and self.position != 0 else not self.direction
if self.state < 3:
self.state += 1
def handle(self, dmap, a):
if not self.direction_selected:
dist = ac.central_dist(dmap)
if dist < self.min_dist:
self.min_dist = dist
self.min_angle = self.directions_checked
else:
self.finished = self.turn >= TOTAL
if self.turn >= TOTAL:
exit(0)
def handle(self, dmap, a):
if not self.direction_selected:
dist = ac.central_dist(dmap)
if dist < self.min_dist:
self.min_dist = dist
self.min_angle = self.angle
