def process_sensor_data(self, percept_data):
# feed agent percepts
print('\n\nprocessing percepts')
if self.q_size == 0:
robot_info = self.agent.get_expected_robot_info()
elif self.q_size == 1:
ri_old = self.agent.get_robot_info()
ri_new = self.agent.get_expected_robot_info()
robot_info = RobotInfo(
ri_old.get_coord(),
ri_new.get_orientation()
if ri_new else ri_old.get_orientation())
elif self.q_size < 0:
raise Exception(
f'move q-size: {self.q_size}\nreceived extra move done before sensor data!'
)
else:
raise Exception(
f'move q-size: {self.q_size}\n2 last moves were not executed yet! \
Is there desync between bot and algo?')
if percept_data:
obstacle_coord_list, no_obs_coord_list = SensorParser.main_sensor_parser(
percept_data, robot_info)
else:
obstacle_coord_list, no_obs_coord_list = [], []
print('obstacle list: ')
obstacle_str = ''
for coord, distance in obstacle_coord_list:
obstacle_str += f'({coord.get_x()}, {coord.get_y()}), {distance}, '
print(obstacle_str)
return obstacle_coord_list, no_obs_coord_list
def parse_init_data(self, init_data):
assert (init_data['type'] == 'init')
# arena string
mdf_string = init_data['data']['arena'][
'P2'] # p1 string ignored since always FFFF..
arena_string = self.convert_mdf_to_binary(
mdf_string) if init_data['data']['task'] == 'FP' else None
# robot info
robot_info = RobotInfo(START_COORD, START_ORIENTATION)
# agent task
if init_data['data']['task'] == 'FP':
agent_task = AgentTask.FAST
elif init_data['data']['task'] == 'EX':
agent_task = AgentTask.EXPLORE
elif init_data['data']['task'] == 'IR':
agent_task = AgentTask.IMAGEREC
else:
raise Exception('Invalid agent task: ' + init_data['data']['task'])
# end_coord
end_coord = END_COORD
return arena_string, robot_info, agent_task, end_coord
def calculate_move(self, current_coord, target_coord) -> MoveCommand:
displacement = target_coord.subtract(current_coord)
target_orientation = OT.displacement_to_orientation(displacement)
turn_angle = OT.calc_degree_of_turn(self.robot_info.get_orientation(),
target_orientation)
# update expected robot info
self.expected_robot_info = RobotInfo(target_coord, target_orientation)
return MoveCommand(turn_angle, displacement.manhattan_distance())
def init(self, agent_task: AgentTask, arena_string: str, waypoint: Coord):
self.robot_info = RobotInfo(START_COORD, Orientation.NORTH)
self.sim_display = SimulationDisplay(self.robot_info)
self.arena = ArenaStringParser.parse_arena_string(arena_string)
# send copies of arena and robot info so that simulator and agent do not modify a mutual copy
empty_arena_string = open(
"./algorithms/src/simulator/empty_arena_string.txt", "r").read()
self.agent = Agent(empty_arena_string, self.robot_info.copy(),
agent_task, END_COORD, waypoint)
def init(self, agent_task: AgentTask, arena_string: str, waypoint: Coord):
self.robot_info = RobotInfo(START_COORD, Orientation.NORTH)
self.sim_display = SimulationDisplay(self.robot_info)
self.arena = ArenaStringParser.parse_arena_string(arena_string) #used in line 34 and 100
# self.update_display()
# arena and robot info are separate so that simulator and agent do not modify a mutual copy
if agent_task == AgentTask.FAST:
self.agent = Agent(arena_string, self.robot_info.copy(), agent_task, END_COORD, waypoint)
else:
empty_arena_string = open("./algorithms/src/simulator/empty_arena_string.txt", "r").read()
self.agent = Agent(empty_arena_string, self.robot_info.copy(), agent_task, END_COORD, waypoint)
def get_agent_output_list(self) -> list:
# Calculate fastest path of coords
coords_list = []
cl_to_waypoint = self.algo.get_next_step(self.arena,
self.robot_info,
self.end_coord,
self.waypoint_coord,
full_path=True)
last_displacement = cl_to_waypoint[-1].subtract(cl_to_waypoint[-2])
last_orientation = OT.displacement_to_orientation(last_displacement)
robot_info_at_waypoint = RobotInfo(cl_to_waypoint[-1],
last_orientation)
cl_to_end = self.algo.get_next_step(self.arena,
robot_info_at_waypoint,
self.end_coord,
None,
full_path=True)
coords_list.extend(cl_to_waypoint)
coords_list.extend(cl_to_end)
return self.calc_agent_output_full_path(coords_list)