def SaveMap(self):
mower = None
station = None
if self.isMowerPlaced:
mower = Point(self.posX, self.posY)
mower.borderId = 0
if self.isStationPlaced:
station = Point(self.stationPosX, self.stationPosY)
station.borderId = 0
self.lawn.SaveMap(mower, station)
def LoadMap(self):
self.shape = Shape()
self.shapes = []
self.loadState = 0
self.lawn = 'lawn'
self.obstacle = 'obstacle'
self.mower = 'mower'
self.station = 'station'
f = open(
"/home/pi/catkin_ws/src/intelli_mower/src/IntelliMowerAlgorithmRoS/src/map_one",
'r')
for line in f:
if line.strip() == str(self.lawn):
self.loadState = 3
elif line.strip() == str(self.obstacle):
self.loadState = 4
newShape = Shape()
self.shapes.append(newShape)
elif line.strip() == str(self.mower):
self.loadState = 1
elif line.strip() == str(self.station):
self.loadState = 2
else:
if self.loadState == 1:
cords = line.split()
self.mowerP = Point(float(cords[0]), float(cords[1]))
self.mowerP.borderId = int(cords[2])
elif self.loadState == 2:
cords = line.split()
self.stationP = Point(float(cords[0]), float(cords[1]))
self.stationP.borderId = int(cords[2])
# load outer border
elif self.loadState == 3:
cords = line.split()
p = Point(float(cords[0]), float(cords[1]))
p.borderId = int(cords[2])
self.shape.AddBorderPoint(p)
# load inner border
elif self.loadState == 4:
cords = line.split()
p = Point(float(cords[0]), float(cords[1]))
p.borderId = int(cords[2])
self.shapes[-1].AddBorderPoint(p)
f.close()
def Controller(self, x=0, y=0):
if self.state == 0:
return
# state 1 is in Set Lawn Boundary Mode
elif self.state == 1:
newLawnPoint = Point(x, y)
newLawnPoint.borderId = 0
self.lawn.outerBorder.AddBorderPoint(newLawnPoint)
# state 2 is in Set Obstacle Boundary Mode
elif self.state == 2:
newObstaclePoint = Point(x, y)
newObstaclePoint.borderId = len(self.lawn.innerBorders)
self.lawn.innerBorders[-1].AddBorderPoint(newObstaclePoint)
# state 3 place the mower with mouse click
elif self.state == 3:
self.PlaceMower(x, y)
# state 4 place the charging station with mouse click
elif self.state == 4:
self.PlaceStation(x, y)
