def strafe_to_block(x, y):
if map_data.is_valid_loc(x, y):
x_diff = x - map_data.getX()
y_diff = y - map_data.getY()
#x movement
distance = 0
dir = map_data.RIGHT
if x_diff > 0:
distance = blocklength * x_diff
dir = map_data.RIGHT
elif x_diff < 0:
distance = blocklength * x_diff * -1
dir = map_data.LEFT
move(distance, dir)
map_data.setX(x)
time.sleep(.4)
#y movement
distance = 0
if y_diff < 0:
dir = map_data.UP
distance = blocklength * y_diff * -1
elif y_diff > 0:
dir = map_data.DOWN
distance = blocklength * y_diff
move(distance, dir)
map_data.setY(y)
def move_to_block(x, y):
if map_data.is_valid_loc(x, y):
x_diff = x - map_data.getX()
y_diff = y - map_data.getY()
#x movement
turn_angle = 0
distance = 0
if x_diff > 0:
turn_angle = -1 * current_direction
distance = blocklength * x_diff
elif x_diff < 0:
turn_angle = -1 * (current_direction - 180)
distance = blocklength * x_diff * -1
if (turn_angle == 270) or (turn_angle == -270):
turn_angle = turn_angle * (-1 / 3)
turn(turn_angle)
move(distance, 1)
map_data.setX(x)
#y movement
turn_angle = 0
distance = 0
if y_diff > 0:
turn_angle = -1 * (current_direction - 90)
distance = blocklength * y_diff
elif y_diff < 0:
turn_angle = -1 * (current_direction - 270)
distance = blocklength * y_diff * -1
if (turn_angle == 270) or (turn_angle == -270):
turn_angle = turn_angle * (-1 / 3)
turn(turn_angle)
move(distance, 1)
map_data.setY(y)
def checkAndMapObstacles(direction):
# check for obstacles above
map_data.set_obstacle_at(pos_x - 1, pos_y, IR_north.check())
# do that for all other directions
if not direction:
return
x, y = map_data.coordsFor(map_data.getX(), map_data.getY(), direction)
return map_data.has_obstacle_for_loc(x, y)
def avoidObstacle(dir):
obstacleBlock = []
obstacleBlock = coordsFor(map_data.getX(), map_data.getY(), dir)
rightOfMoveDir = []
rightOfMoveDir = coordsFor(map_data.getX(), map_data.getY(), dir - 1)
#default go right (relative to dir) since we are usually going clockwise
#check the block to the right
is_valid = False #this is true when the desired block is safe to move to
if map_data.has_been_explored(rightOfMoveDir[0], rightOfMoveDir[1]):
is_valid = not map_data.has_obstacle_for_loc(rightOfMoveDir[0],
rightOfMoveDir[1])
else:
map_data.set_obstacle_at(rightOfMoveDir[0], rightOfMoveDir[1], IRSTUFF)
if is_valid_loc:
movement_wrapper.strafe_one_block(dir - 1)
else:
tryleft
def find_live_tunnel_perimeter():
# we start at the bottom left, start exploring north
moveDirection = map_data.UP
exploring = True
checkAndMapObstacles()
while exploring:
if checkAndMapObstacles(moveDirection):
# try going around the obstacle
avoiding = True
destX, destY = map_data.coordsFor(map_data.getX(), map_data.getY(),
moveDirection)
lastDirection = moveDirection
circleAround = 1
while avoiding:
for naiveDest in range(lastDirection + 1, lastDirection +
3): # will loop through all directions
naiveDest = naiveDest + 4 + (circleAround * 4)
direction = naiveDest % 4
if not map_data.has_obstacle_for_loc(direction):
lastDirection = direction
circleAround *= -1
break # out of the different directions
movement_wrapper.strafe_one_block(lastDirection % 4)
if map_data.getX() is destX and map_data.getY() is Y:
avoiding = False
break # out of this exploration round
movement_wrapper.strafe_one_block(moveDirection)
pos_x = map_data.getX()
pos_y = map_data.getY()
if is_infrastructure_below():
wireEnds.append([pos_x, pos_y])
analyzeCache() # it's beneath us!
exploring = False # we are done
checkAndMapObstacles()
# [TODO]: don't move into an obstacle
if pos_x == 0 and pos_y == 0: # top left
moveDirection = map_data.RIGHT
elif pos_x == 6 and pos_y == 0: # top right
moveDirection = map_data.DOWN
elif pos_x == 6 and pos_y == 6: # bottom right
moveDirection = map_data.LEFT
elif pos_x == 0 and pos_y == 6: # back at bottom left
exploring = False
return moveDirection
def mapOut(lastDirection):
#lastDirection = map_data.UP # let's just start moving upwards
if map_data.getY() is 0: # uh, if we're at the top, let's not
lastDirection = map_data.DOWN
exploring = True
while exploring:
if not wireBelowBlockIn(
lastDirection): # try the preferred direction first
for direction in range(0, 3): # will loop through all directions
if direction is not lastDirection: # we don't want to waste time
if wireBelowBlockIn(direction):
lastDirection = direction # the wire probably moves towards this direction
break # skip trying other directions
else: # no wire :(
# flip the direction
if direction > 1:
direction -= 2
else:
direction += 2
# move back to the previous block
movement_wrapper.strafe_one_block(direction)
if map_data.getX() is 0 or map_data.getY() is 0:
# we're at an edge, so we're back on the other side
exploring = False
def strafe_one_block(direction):
x = map_data.getX()
y = map_data.getY()
if direction == map_data.RIGHT:
x = x + 1
elif direction == map_data.UP:
y = y - 1
elif direction == map_data.LEFT:
x = x - 1
elif direction == map_data.DOWN:
y = y + 1
if map_data.is_valid_loc(x, y):
map_data.setX(x)
map_data.setY(y)
move(blocklength, direction)
print "moved to (%s, %s)" % (map_data.loc[0], map_data.loc[1])
else:
#error in movement algorithm
print "invalid location (%s, %s)" % (x, y)
def wireBelowBlockIn(direction):
x, y = map_data.coordsFor(map_data.getX(), map_data.getY(), direction)
if map_data.has_not_been_explored(x, y):
movement_wrapper.strafe_one_block(direction)
return is_infrastructure_below()
