def page_get():
req_data = request.json
if req_data is not None:
print req_data
if req_data['method'] == "set_obs":
obs_str = req_data['obs_grid']
obs_grid_new = decode_grid(obs_str)
app.arena_map.obs_grid = obs_grid_new
elif req_data['method'] == "step":
step_algorithm(app.arena_map)
elif req_data['method'] == "reset":
app.arena_map.__init__()
return json.dumps(
{
"map": app.arena_map.get_encoded_map(),
"obs": app.arena_map.get_encoded_obs(),
"w_number_grid": app.arena_map.w_number_grid,
"w_detail_grid": app.arena_map.w_detail_grid,
"robot": {
'x': app.arena_map.get_robot_coord()[0],
'y': app.arena_map.get_robot_coord()[1],
'degree': app.arena_map.get_robot_degree()
},
"state": app.arena_map.robot_state
})
def run_algo():
"""
This is the main algorithm driver that
1. wait for physical_robot.command_now to be CM_WAIT
2. run next command
"""
global g
g = g
""":type : GlobalState"""
if ( g.physical_robot.command_now is not CM_WAIT or # if robot is not in waiting
g.physical_robot.command_id != g.command_id ): # if previously given command not executed
return
step_algorithm(g.arena)
# after step_algorithm, g.command_algo may be set
if g.command_algo is not None:
g.command_id += 1
g.command_id %= 256
"""
def page_get():
req_data = request.json
if req_data is not None:
print req_data
if req_data['method'] == "set_obs":
obs_str = req_data['obs_grid']
obs_grid_new = decode_grid(obs_str)
app.arena.obs_grid = obs_grid_new
elif req_data['method'] == "step":
step_algorithm(app.arena)
elif req_data['method'] == "reset":
obs_preserved = app.arena.obs_grid
app.arena.__init__()
app.arena.obs_grid = obs_preserved
elif req_data['method'] == "set_max_time":
max_time = req_data['max_time']
if max_time is None:
max_time = 5 * 60
app.arena.time_max = max_time
elif req_data['method'] == "set_max_percentage":
max_percentage = req_data['max_percentage']
print max_percentage
if max_percentage is None:
max_percentage = 100
app.arena.max_exploration_percentage = max_percentage
return json.dumps(
{
"map": app.arena.get_encoded_map(),
"obs": app.arena.get_encoded_obs(),
"w_number_grid": app.arena.w_number_grid,
"w_detail_grid": app.arena.w_detail_grid,
"timing":{
"explore": app.arena.get_time_explore(),
"shortest": app.arena.get_time_shortest()
},
"robot": {
'x': app.arena.get_robot_coord()[0],
'y': app.arena.get_robot_coord()[1],
'degree': app.arena.get_robot_degree()
},
"state": app.arena.robot_state
})
