def exploration(exp):
global started
if not started:
return False
global sensors
cur = exp.getRealTimeMap(sensors, robot.explored_map)
if not cur[1]:
robot.action(cur[0])
print(robot.current)
sensors = robot.get_sensors()
delay_call(exploration, exp)
else:
inform("Exploration done!")
inform(robot.descriptor_one())
inform(robot.descriptor_two())
sp = ShortestPath(robot.explored_map, robot.direction, robot.current,
robot.start)
sp_list = sp.shortest_path(-1)
sp_sequence = sp_list['trim_seq']
sp_sequence.reverse() # will pop from the back
inform(sp_sequence)
# call sp to start
delay_call(sp_to_start, sp_sequence)
def exploration(exp):
global started
if not started:
return False
global sensors
cur = exp.getRealTimeMap(sensors, robot.explored_map)
if not cur[1]:
robot.action(cur[0])
print(robot.current)
sensors = robot.get_sensors()
delay_call(exploration, exp)
else:
inform("Exploration done!")
inform(robot.descriptor_one())
inform(robot.descriptor_two())
sp = ShortestPath(robot.explored_map, robot.direction, robot.current, robot.start)
sp_list = sp.shortest_path(-1)
sp_sequence = sp_list['trim_seq']
sp_sequence.reverse() # will pop from the back
inform(sp_sequence)
# call sp to start
delay_call(sp_to_start, sp_sequence)
def start_sp_to_goal():
global robot
## Don't "started" so the map won't update
#global started
global sp_to_goal_started
if sp_to_goal_started:
return
sp_to_goal_started = True
# # TESTING
# exp_done = True
# started = True
# for i in range(robot.MAX_ROW):
# for j in range(robot.MAX_COL):
# robot.explored_map[i][j] = 1
# for i in range(6):
# robot.explored_map[13][i] = 2
# robot.explored_map[0][8] = 2
# robot.direction = NORTH
# send_cmd(REQ_SENSOR)
# # END TESTING
if not exp_done:
return False
#started = True
inform("ShortestPath started!")
sp = ShortestPath(robot.explored_map, robot.direction, robot.current,
robot.goal)
sp_list = sp.shortest_path()
sp_sequence = sp_list['trim_seq']
sp_sequence.reverse()
inform(sp_sequence)
gevent.joinall([gevent.spawn(sp_to_goal, sp_sequence)])
def start_sp_to_goal():
global robot
## Don't "started" so the map won't update
#global started
global sp_to_goal_started
if sp_to_goal_started:
return
sp_to_goal_started = True
# # TESTING
# exp_done = True
# started = True
# for i in range(robot.MAX_ROW):
# for j in range(robot.MAX_COL):
# robot.explored_map[i][j] = 1
# for i in range(6):
# robot.explored_map[13][i] = 2
# robot.explored_map[0][8] = 2
# robot.direction = NORTH
# send_cmd(REQ_SENSOR)
# # END TESTING
if not exp_done:
return False
#started = True
inform("ShortestPath started!")
sp = ShortestPath(robot.explored_map, robot.direction, robot.current, robot.goal)
sp_list = sp.shortest_path()
sp_sequence = sp_list['trim_seq']
sp_sequence.reverse()
inform(sp_sequence)
gevent.joinall([
gevent.spawn(sp_to_goal, sp_sequence)
])
def start_sp_to_goal():
global robot
if not exp_done:
return False
sp = ShortestPath(robot.explored_map, robot.direction, robot.current, robot.goal)
sp_list = sp.shortest_path()
sp_sequence = sp_list['trim_seq']
sp_sequence.reverse() # will pop from the back
inform(sp_sequence)
delay_call(sp_to_goal, sp_sequence)
inform("ShortestPath started!")
def start_sp_to_goal():
global robot
if not exp_done:
return False
sp = ShortestPath(robot.explored_map, robot.direction, robot.current,
robot.goal)
sp_list = sp.shortest_path()
sp_sequence = sp_list['trim_seq']
sp_sequence.reverse() # will pop from the back
inform(sp_sequence)
delay_call(sp_to_goal, sp_sequence)
inform("ShortestPath started!")
def done_exploration():
global started
inform("Exploration done!")
started = False
inform(robot.descriptor_one())
inform(robot.descriptor_two())
# inform(robot.msg_for_android())
sp = ShortestPath(robot.explored_map, robot.direction, robot.current,
robot.start)
sp_list = sp.shortest_path(-1)
sp_sequence = sp_list['trim_seq']
sp_sequence.reverse()
inform(sp_sequence)
# call sp to start
gevent.joinall([gevent.spawn(sp_to_start, sp_sequence)])
def done_exploration():
global started
inform("Exploration done!")
started = False
inform(robot.descriptor_one())
inform(robot.descriptor_two())
# inform(robot.msg_for_android())
sp = ShortestPath(robot.explored_map, robot.direction, robot.current, robot.start)
sp_list = sp.shortest_path(-1)
sp_sequence = sp_list['trim_seq']
sp_sequence.reverse()
inform(sp_sequence)
# call sp to start
gevent.joinall([
gevent.spawn(sp_to_start, sp_sequence)
])
