def __init__(self, end_point):
"""
"""
self.grid = grid.Grid(tile_num_height, tile_num_width, tile_size)
self.client = Client()
self.sensor_state = SensorState()
#Visualization
self.master: Tk = Tk()
self.canvas: Canvas = None
#TODO: update heading
self.heading = 0
self.prev_draw_c1c0_ids = [None, None]
self.tile_dict: Dict[grid.Tile, int] = None
# Generates random enviroment on the grid
generator = RandomObjects(self.grid)
generator.create_env(22, 0, 0, 22, 9)
self.sensor_generator = GenerateSensorData(self.grid)
self.create_widgets()
# starting location for middle
self.curr_tile = self.grid.grid[int(tile_num_width / 2)][int(
tile_num_height / 2)]
self.client.send_data({'end_point': end_point})
print("sent")
self.main_loop()
self.master.mainloop()
def __init__(self, master, fullMap, emptyMap, path):
"""A class to represent a GUI with a map
Arguments:
master {Tk} -- Tkinter GUI generator
inputMap {grid} -- The grid to draw on
path {tile list} -- the path of grid tiles visited
FIELDS:
master {Tk} -- Tkinter GUI generator
tile_dict {dict} -- a dictionary that maps tiles to rectangles
canvas {Canvas} -- the canvas the GUI is made on
path {Tile list} -- the list of tiles visited by robot on path
pathSet {Tile Set} -- set of tiles that have already been drawn (So GUI
does not draw over the tiles)
pathIndex {int} -- the index of the path the GUI is at in anumation
curr_tile {Tile} -- the current tile the robot is at in animation
grid {Grid} -- the Grid object that the simulation was run on
"""
# Tinker master, used to create GUI
self.master = master
self.tile_dict = None
self.canvas = None
self.path = path
self.pathSet = set()
self.pathIndex = len(path) - 1
self.curr_tile = None
self.gridFull = fullMap
self.gridEmpty = emptyMap
self.create_widgets()
self.generate_sensor = GenerateSensorData(self.gridFull)
def __init__(self, master, fullMap, emptyMap, path, endPoint, squareList,
state):
"""A class to represent a GUI with a map
Arguments:
master {Tk} -- Tkinter GUI generator
inputMap {grid} -- The grid to draw on
path {tile list} -- the path of grid tiles visited
squareList -- the list of all the square objects
FIELDS:
master {Tk} -- Tkinter GUI generator
tile_dict {dict} -- a dictionary that maps tiles to rectangles
canvas {Canvas} -- the canvas the GUI is made on
path {Tile list} -- the list of tiles visited by robot on path
pathSet {Tile Set} -- set of tiles that have already been drawn (So GUI
does not draw over the tiles)
pathIndex {int} -- the index of the path the GUI is at in anumation
curr_tile {Tile} -- the current tile the robot is at in animation
grid {Grid} -- the Grid object that the simulation was run on
squareList -- the list of all the square objects
"""
# Tinker master, used to create GUI
super().__init__(master, fullMap, emptyMap, path, squareList, 0)
self.initPhase = True
self.brokenPath = None
self.brokenPathIndex = 0
self.visitedSet = set()
for i in self.path:
self.pathSet.add(i)
self.recalc_count = recalc_wait
self.recalc_cond = False
self.stepsSinceRecalc = 0
self.create_widgets(True)
self.generate_sensor = GenerateSensorData(self.gridFull)
self.endPoint = endPoint
self.next_tile = None
self.obstacleState = state
# set of tiles that were marked as available path in simulation's previous iteration
self.last_iter_seen = set()
# TODO: This is a buggggg..... we must fix the entire coordinate system? change init heading to 0
self.heading = 180
# TODO: change to custom type or enum
self.output_state = "stopped"
self.desired_heading = None
self.angle_trace = None
self.des_angle_trace = None
def __init__(self, master, fullMap, emptyMap, path, endPoint):
"""A class to represent a GUI with a map
Arguments:
master {Tk} -- Tkinter GUI generator
inputMap {grid} -- The grid to draw on
path {tile list} -- the path of grid tiles visited
FIELDS:
master {Tk} -- Tkinter GUI generator
tile_dict {dict} -- a dictionary that maps tiles to rectangles
canvas {Canvas} -- the canvas the GUI is made on
path {Tile list} -- the list of tiles visited by robot on path
pathSet {Tile Set} -- set of tiles that have already been drawn (So GUI
does not draw over the tiles)
pathIndex {int} -- the index of the path the GUI is at in anumation
curr_tile {Tile} -- the current tile the robot is at in animation
grid {Grid} -- the Grid object that the simulation was run on
"""
# Tinker master, used to create GUI
self.master = master
self.tile_dict = None
self.canvas = None
self.path = path
self.brokenPath = None
self.brokenPathIndex = 0
self.visitedSet = set()
self.pathSet = set()
for i in self.path:
self.pathSet.add(i)
self.pathIndex = 0
self.curr_tile = None
self.prev_tile = None
self.gridFull = fullMap
self.gridEmpty = emptyMap
self.recalc = False
self.create_widgets()
self.generate_sensor = GenerateSensorData(self.gridFull)
self.endPoint = endPoint
self.next_tile = None
self.prev_vector = None
self.recalc_count = recalc_wait
self.recalc_cond = False
self.way_point = None
self.last_iter_seen = set(
) # set of tiles that were marked as available path in simulation's previous iteration
# TODO: This is a buggggg..... we must fix the entire coordinate system? change init heading to 0
self.heading = 180
# TODO: change to custom type or enum
self.output_state = "stopped"
self.desired_heading = None
self.angle_trace = None
self.des_angle_trace = None
self.oldError = 0
self.errorHistory = 0
self.mean = random.randint(-1, 1) / 12.0
self.standard_deviation = random.randint(0, 1.0) / 10.0
self.pid = None
self.counter = 0
self.prev_draw_c1c0_ids = [
None, None
] # previous IDs representing drawing of C1C0 on screen
def __init__(self, master, inputMap, path, squareList):
super().__init__(master, inputMap, None, path, squareList, len(path) - 1)
self.create_widgets(False)
self.generate_sensor = GenerateSensorData(self.gridFull)