def __init__(self, my_map):
def is_robot(region):
return isinstance(region, robot)
self.my_map = my_map
for region in my_map.get_regions_with_predicate(is_robot):
base = region.base
self.robot_location = base
self.robot = region
if not hasattr(self, 'robot'):
raise Exception("Couldn't find a robot")
self.last_sense = read_sonar(self.my_map, self.robot, self.robot_location)
def move(self, displacement, direction):
senses = []
move_direction = directions[direction]
print 'move_direction =', move_direction
for i in range(displacement):
new_location = pairwise_add(self.robot_location, move_direction)
regions = region_list_to_set(self.my_map.regions_between( \
self.robot_location, new_location, 0.5))
for base, region in regions:
if isinstance(region, solid):
raise WallException
self.robot_location = new_location
self.robot.base = self.robot_location
senses.append(read_sonar(self.my_map, self.robot, self.robot_location))
self.last_sense = senses[-1]
return senses
from input_to_map import read_file, print_map
from map.region.robot_regions import *
from basics.utility import pairwise_add, pairwise_mul, pairwise_sub
from sensing.process_sense_data import read_sonar
from simulation.simulation_classes import SimulatedRobotIO
from map.map import *
from simulation.instantiate_map import *
m = read_file(open('input.txt'))
robot_region = instantiate_robot(m)
robot_io = SimulatedRobotIO(m)
print print_map(m)
walls = read_sonar(m, robot_region)
print walls
print robot_io.move(1, 'south')
print print_map(m)
