def load_elements_from_file(self, robot_init_filename, block_init_filename):
map = Map((int(self.cfg['MAP']['grid_row_dimension']), int(self.cfg['MAP']['grid_column_dimension'])))
for x, y in map.get_blocks_init_place(block_init_filename):
if not map.is_location_in_environment(x, y, (
int(self.cfg['MAP']['grid_row_dimension']), int(self.cfg['MAP']['grid_column_dimension']))):
raise OutsideBoundryError('init block (x, y) not in map!')
map.grid[x][y] = BLOCK_AREA
map.blocks.append((x, y))
for x, y in map.get_robot_init_place(robot_init_filename):
if not map.is_location_in_environment(x, y, (
int(self.cfg['MAP']['grid_row_dimension']), int(self.cfg['MAP']['grid_column_dimension']))):
raise OutsideBoundryError('init robot (x, y) not in map!')
map.grid[x][y] = ROBOT_AREA
map.robots.append(Robot(x, y)) # add robots
return map
def judge_side_white(self, x, y):
if x < 0 or y < 0 or x >= self.grid_dimension[
0] or y >= self.grid_dimension[1]:
raise OutsideBoundryError('(x, y) not in map!')
if self.is_location_in_environment(
x - 1, y,
self.grid_dimension) and self.grid[x -
1][y] == EXPLORATED_AREA:
return True
elif self.is_location_in_environment(
x + 1, y,
self.grid_dimension) and self.grid[x +
1][y] == EXPLORATED_AREA:
return True
elif self.is_location_in_environment(
x, y + 1,
self.grid_dimension) and self.grid[x][y +
1] == EXPLORATED_AREA:
return True
elif self.is_location_in_environment(
x, y - 1,
self.grid_dimension) and self.grid[x][y -
1] == EXPLORATED_AREA:
return True
else:
return False
def load_elements_by_click(self, robots_sequences, blocks_sequences):
map = Map((int(self.cfg['MAP']['grid_row_dimension']), int(self.cfg['MAP']['grid_column_dimension'])))
for x, y in blocks_sequences:
if not map.is_location_in_environment(x, y, (
int(self.cfg['MAP']['grid_row_dimension']), int(self.cfg['MAP']['grid_column_dimension']))):
raise OutsideBoundryError('init block (x, y) not in map!')
map.grid[x][y] = BLOCK_AREA
map.blocks.append((x, y))
for x, y in robots_sequences:
if not map.is_location_in_environment(x, y, (
int(self.cfg['MAP']['grid_row_dimension']), int(self.cfg['MAP']['grid_column_dimension']))):
raise OutsideBoundryError('init robot (x, y) not in map!')
map.grid[x][y] = ROBOT_AREA
map.robots.append(Robot(x, y)) # add robots
return map