def loadMap(self, fileName):
tempSet = set()
with open(fileName, 'r') as fd:
lines = fd.readlines()
for m, line in enumerate(lines):
for n, char in enumerate(line):
v1 = Matrix._makeMatrix([[m / 3], [n / 3]])
if char == '+' or char == '^' or char == '<' or char == 'v' or char == '>':
if (n + 1) < len(line):
v2 = Matrix._makeMatrix([[0], [1]])
if line[n + 1] == '-':
tempSet.add(Connection(v1, v2))
elif line[n + 1] == '=':
tempSet.add(Connection(v1, v2, "R"))
if (m + 1) < len(lines):
v2 = Matrix._makeMatrix([[1], [0]])
if lines[m + 1][n] == '|':
tempSet.add(Connection(v1, v2))
elif lines[m + 1][n] == '=':
tempSet.add(Connection(v1, v2, "R"))
# check for connections
if not char == '+':
self.registerRobot(copy.deepcopy(v1), char)
self.connections = list(tempSet)
self.draw()
def registerRobot(self, position, orientationAscii):
rotLocToGlob = Matrix._makeMatrix([[1, 0], [0, 1]])
rotGlobToLoc = Matrix._makeMatrix([[1, 0], [0, 1]])
if orientationAscii == '^':
rotLocToGlob = Matrix._makeMatrix([[1, 0], [0, 1]])
rotGlobToLoc = Matrix._makeMatrix([[1, 0], [0, 1]])
elif orientationAscii == '<':
rotLocToGlob = Matrix._makeMatrix([[0, 1], [-1, 0]])
rotGlobToLoc = Matrix._makeMatrix([[0, -1], [1, 0]])
elif orientationAscii == 'v':
rotLocToGlob = Matrix._makeMatrix([[-1, 0], [0, -1]])
rotGlobToLoc = Matrix._makeMatrix([[-1, 0], [0, -1]])
elif orientationAscii == '>':
rotLocToGlob = Matrix._makeMatrix([[0, -1], [1, 0]])
rotGlobToLoc = Matrix._makeMatrix([[0, 1], [-1, 0]])
self.robots.append(
Robot.Robot(self, position, rotLocToGlob, rotGlobToLoc))
def __init__(self, start, direction, color="B"):
if direction[0][0] < 0 or direction[1][0] < 0:
self.start = start + direction
self.direction = Matrix._makeMatrix([[0], [0]])
self.direction[0][0] = -direction[0][0]
self.direction[1][0] = -direction[1][0]
else:
self.start = start
self.direction = direction
self.color = color
def driveDirections(self, direction):
logger.debug("Got drive Direction: %s" % (direction))
self.sendBusy()
v = Matrix._makeMatrix([[1], [0]])
if direction == "N":
v = Matrix._makeMatrix([[1], [0]])
elif direction == "E":
v = Matrix._makeMatrix([[0], [-1]])
elif direction == "S":
v = Matrix._makeMatrix([[-1], [0]])
elif direction == "W":
v = Matrix._makeMatrix([[0], [1]])
if self.moveLocal(v):
logger.info("moving %s" % (direction))
timer = threading.Timer(Robot.MOVING_TIME_S,
self.onDriveDirections)
timer.start()
else:
logger.warn("moving failed")
self.sendError("Not a valid direction: %s" % (direction))
if color:
v.append(["N", color])
color = self.map.getColor(
self.globalPosition,
self.rotateLocalToGlobal(Matrix.fromList([[0], [-1]])))
if color:
v.append(["E", color])
color = self.map.getColor(
self.globalPosition,
self.rotateLocalToGlobal(Matrix.fromList([[-1], [0]])))
if color:
v.append(["S", color])
color = self.map.getColor(
self.globalPosition,
self.rotateLocalToGlobal(Matrix.fromList([[0], [1]])))
if color:
v.append(["W", color])
return v
if __name__ == "__main__":
rotLocToGlob = Matrix._makeMatrix([[0, 1], [-1, 0]])
rotGlobToLoc = Matrix._makeMatrix([[0, -1], [1, 0]])
r = Robot(None, Matrix._makeMatrix([[0], [0]]), rotLocToGlob, rotGlobToLoc)
m = Matrix.fromList([[1], [0]])
print(r.rotateLocalToGlobal(m))
#print(r.makeAvailableDirectionsJson([["N","B"],["E","B"]]))
#print(r.makeAvailableDirectionsJson([]))
return ""
else:
return self.connections[index].color
def isConnection(self, fromGlobal, directionGlobal):
c = Connection(fromGlobal, directionGlobal)
if c in self.connections:
return True
return False
if __name__ == "__main__":
map = Map()
map.loadMap("default.map")
map.draw()
r = map.getRobots()[0]
#print(r.globalPosition)
#print(r.scan())
vlocal = Matrix._makeMatrix([[-1], [0]])
r.moveLocal(vlocal)
#print(r.globalPosition)
#print(r.scan())
r.moveLocal(vlocal)
#print(r.globalPosition)
#print(r.scan())
