def rotate_to_target(comeFrom, goTo):
if type(goTo) != Direction:
goTo = to_enum(goTo)
if type(comeFrom) != Direction:
comeFrom = to_enum(comeFrom)
#amount_of_turns = 0
if comeFrom == Direction.NORTH:
if goTo == Direction.NORTH:
amount_of_turns = 2
elif goTo == Direction.EAST:
amount_of_turns = 1
elif goTo == Direction.SOUTH:
amount_of_turns = 0
elif goTo == Direction.WEST:
amount_of_turns = -1
elif comeFrom == Direction.EAST:
if goTo == Direction.NORTH:
amount_of_turns = -1
elif goTo == Direction.EAST:
amount_of_turns = 2
elif goTo == Direction.SOUTH:
amount_of_turns = 1
elif goTo == Direction.WEST:
amount_of_turns = 0
elif comeFrom == Direction.SOUTH:
if goTo == Direction.NORTH:
amount_of_turns = 0
elif goTo == Direction.EAST:
amount_of_turns = -1
elif goTo == Direction.SOUTH:
amount_of_turns = 2
elif goTo == Direction.WEST:
amount_of_turns = 1
elif comeFrom == Direction.WEST:
if goTo == Direction.NORTH:
amount_of_turns = 1
elif goTo == Direction.EAST:
amount_of_turns = 0
elif goTo == Direction.SOUTH:
amount_of_turns = -1
elif goTo == Direction.WEST:
amount_of_turns = 2
else:
print("Some special case appeared!")
amount_of_turns = 0
print("Amount of turns: ", amount_of_turns)
return amount_of_turns
def read_path_unveiled(self, payload):
self.planet.add_path(((payload['startX'], payload['startY']),
to_enum(payload['startDirection'])),
((payload['endX'], payload['endY']),
to_enum(payload['endDirection'])),
payload['pathWeight'])
def run():
# DO NOT EDIT
# the deploy script uses this variable to stop the mqtt client after your program stops or crashes.
# your script isn't able to close the client after crashing.
global client
client = mqtt.Client(
client_id=str(
uuid.uuid4()), # client_id has to be unique among ALL users
clean_session=False,
protocol=mqtt.MQTTv31)
# the execution of all code shall be started from within this function
# ADD YOUR OWN IMPLEMENTATION HEREAFTER
global messageContent
messageContent = msc.MessageContent()
planet = p.Planet()
comm = communication.Communication(client, messageContent, planet)
# comm.send_test_planet_message() # testing purpose todo: remove at end
firstNodeFound = False
targetReached = False
mapExplored = False
lastNode = None
turnTo = None
isInShortestPath = False
while not targetReached or not mapExplored:
pid.follow_line()
node = None
if not firstNodeFound:
comm.send_deploy_message()
firstNodeFound = True
print("Found first node!")
node = planet.add_start_node(messageContent.getStartX(),
messageContent.getStartY())
print(">First node: ", node)
else:
comm.send_path_message()
#planet.nodes.add(p.Node(messageContent.getStartX(), messageContent.getStartY()))
print(">Path:", ((lastNode.x, lastNode.y), turnTo),
((messageContent.getEndX(),
messageContent.getEndY()), messageContent.getComeFrom()),
messageContent.getPathWeight())
node = planet.add_server_path(
((lastNode.x, lastNode.y), turnTo),
((messageContent.getEndX(), messageContent.getEndY()),
messageContent.getComeFrom()), messageContent.getPathWeight())
print(">End node:", node)
comeFrom = messageContent.getComeFrom()
if type(comeFrom) != Direction:
print("come from was no enum yet")
comeFrom = to_enum(comeFrom)
# unknown paths are in node after scan
abc.scan(node, comeFrom)
if node.has_unexplored_paths():
turnTo = node.get_unexplored_paths().pop()
else:
#turnTo = comeFrom
for n in planet.nodes:
if n.has_unexplored_paths() and n.is_visited:
print("=====================")
print(">Node: ", node, "\nn: ", n)
print("=====================")
#print(planet.get_paths())
#nextNode = find_next_node(node, planet)
#print(nextNode)
pathlist = planet.shortest_path((node.x, node.y),
(n.x, n.y))
messageContent.setTargetX(n.x)
messageContent.setTargetY(n.y)
if pathlist != None:
turnTo = pathlist[0][1]
print("The pathlist: ", pathlist)
print("Turn to next nearest node: ", turnTo)
else:
messageContent.setMessage(
"Planet" + messageContent.getPlanetName() +
" is now discovered property of group 106!")
print(messageContent.getMessage())
comm.send_exploration_completed_message()
mapExplored = True
# make shortest path, drive this list, continue
if type(turnTo) != Direction:
print("turnTo was no enum yet")
turnTo = to_enum(turnTo)
messageContent.setStartDirection(turnTo)
print("We come from: ", comeFrom)
print("We turn to: ", turnTo)
print("Node after scan: ", node)
messageContent.setPathX(node.x)
messageContent.setPathY(node.y)
comm.send_path_selection()
print("Comm sended path selection")
print("new Start: ", messageContent.getStartDirection())
print("new End: ", messageContent.getEndDirection())
turns = rc.rotate_to_target(comeFrom, turnTo)
if turns < 0:
movement_definitions.turn_90degree_right()
else:
for i in range(0, turns):
movement_definitions.turn_90degree_left()
node.set_path_to_explored(turnTo)
messageContent.setPathStatus("free")
messageContent.setStartX(messageContent.getEndX())
messageContent.setStartY(messageContent.getEndY())
lastNode = node
#print(node.unknownPaths)
# when finishing successfully
ev3.Sound.tone(15000, 1000).wait()
def getEndDirection(self):
return to_enum(self.endDirection)
def getStartDirection(self):
return to_enum(self.startDirection)
def getComeFrom(self):
return to_enum(self.comeFrom)