def one_player_main():
ser = serial.Serial('/dev/ttyS0', 9600);
#coms_ser = serial.Serial('/dev/ttyUSB0', 115200);
print ("serial successful");
t = jenga_logic.create_tower();
currentxyz =[];
while(jenga_logic.current_state(t)): #while tower is still up
#t_full = vision_main.get_tower_from_vision();
"""if (t_full[0] != t):
print("tower seen is different from tower stored");
print(t);
print('tower seen is');
print(t_full[0]);
t_full[0] = t;"""
next_move = jenga_logic.make_best_move(t);
print(next_move);
in_str = str(next_move[0]) + ' ';
in_str += str(next_move[1]) + ' ';
in_str += str(next_move[2]) + ' ';
in_str += str(next_move[3]) + ' 0 >waypoints.txt';
in_str = './motorpath '+ in_str;
os.system(in_str);
vision_mode = 'take'
way_point_file = open('./waypoints.txt');
for line in way_point_file:
print (line);
print("line was printed");
inpt = line;
if (line[0] == 'P'):
"""if (currentxyz == []):
assert(False);
startr, startc, endr, endc = next_move;
if (vision_mode == 'take'):
r_goal = startr;
c_goal = startc;
else:
r_goal = endr;
c_goal = endc;
error = vision_main.distance_from_goal(r_goal, c_goal, t_full);
print('error is');
print(error);"""
i = raw_input("correct for error")
if (i != ''):
if (i[0] == 'M'):
print("fixing error");
lin = i;
print(lin);
"""new_goal = [];
for i in range(3):
new_goal.append(current_xyz[i] + error[i]);
lin = [];
for i in range(3):
st = str(new_goal[i]).zfill(5);
lin.append(theta_servo);
lin = ','.join(lin);
lin = 'M,' + lin + '\n';
print('lin is now');
print(lin);
i = raw_input('testing error correction');"""
elif (line[0] == 'M'):
lin = line;
"""inpt = inpt[2::];#get rid of the M,
inpt = inpt.split(',');
theta_goal = int(float(inpt[-1])); #save the theta goal
inpt = inpt[:-1];
inpt = ' '.join(inpt);
cmd_str = "./jenga_test "+inpt;
lin = commands.getoutput(cmd_str);
lin = lin.split(',');
xyz_temp = lin[:-1];
currentxyz = map(int, xyz_temp);
theta_ee = int(float(lin[-1]));
lin = lin[:-1];
theta_servo = theta_goal - theta_ee;
theta_servo = theta_servo + 100;#should be 90
theta_servo = str(theta_servo).zfill(4);
#print(theta_ee);
lin.append(theta_servo);
lin = ','.join(lin);
lin = lin.replace(' ', '');
lin = 'M,' + lin + '\n';"""
else:
lin = line;
print (lin)
print("lin was printed");
time.sleep(1)
ser.setDTR(level=0)
time.sleep(.1)
temp = ser.write(lin);
result = ser.readline();
print result;
print('move was')
print(next_move);
print("tower_is");
way_point_file.close();
jenga_logic.make_full_move(t, next_move[0], next_move[1], next_move[2], next_move[3]);
#coms_test.send_move_ser(coms_ser, next_move);
print (t);
ser.close()
return;