class Controller:
"""
This class is the controller that relays messages to the Android.
"""
def __init__(self):
enable_print()
"""
Initialize the Controller class.
"""
self._filename = ''
print('Real run')
from Algo.real_robot import Robot
self._robot = Robot(exploration_status=[[0] * ROW_LENGTH for _ in range(COL_LENGTH)],
facing=EAST,
discovered_map=[[2] * ROW_LENGTH for _ in range(COL_LENGTH)])
self._explore_limit = COMPLETION_THRESHOLD
self._time_limit = TIME_LIMITE
# Initialize connention client thread
self._sender = Message_Handler(self._receive_handler)
self._auto_update = True
print('Init complete!')
self._sender.send_rpi("Hello from PC to RPi\n")
self._sender.send_arduino("Hello from PC to Arduino\n")
self._sender.send_android("Hello from PC to Android\n")
disable_print()
self.is_arrow_scan = IS_ARROW_SCAN
self._set_way_point('3,17')
def _receive_handler(self, msg):
"""
Parse and handle messages from the Android device.
:param msg: The message received from the Android device.
:return: N/A
"""
if msg[0:8] == ANDROID_WAYPOINT:
self._set_way_point(msg[8:])
elif msg == ANDROID_CALIBRATE:
thread = threading.Thread(target=self._calibrate)
thread.daemon = True
thread.start()
enable_print()
print('Start CALIBRATION')
disable_print()
elif msg == ANDROID_EXPLORE:
thread = threading.Thread(target=self._explore)
thread.daemon = True
thread.start()
enable_print()
print('Start EXPLORATION')
disable_print()
elif msg == ANDROID_MOVE_FAST_PATH:
thread = threading.Thread(target=self._move_fastest_path)
thread.daemon = True
thread.start()
enable_print()
print('Start FAST PATH')
disable_print()
elif msg == ANDROID_LOAD_EXPLORE_MAP:
thread = threading.Thread(target=self._load_explore_map)
thread.daemon = True
thread.start()
enable_print()
print('LOAD EXPLORE MAP')
disable_print()
elif msg == ANDROID_FORWARD:
self._sender.send_arduino(ARDUINO_FORWARD)
elif msg == ANDROID_TURN_LEFT:
self._sender.send_arduino(ARDUINO_TURN_LEFT)
elif msg == ANDROID_TURN_RIGHT:
self._sender.send_arduino(ARDUINO_TURN_RIGHT)
elif msg == ANDROID_TURN_TO_BACKWARD:
self._sender.send_arduino(ARDUINO_TURN_TO_BACKWARD)
elif msg == 'arrow_on':
self.is_arrow_scan = True
elif msg == 'arrow_off':
self.is_arrow_scan = False
elif msg == 'S':
self._sender.send_arduino(ARDUINO_SENSOR)
elif msg == ANDROID_BATTERY_DRAINER:
thread = threading.Thread(target=self._battery_drainer)
thread.daemon = True
thread.start()
enable_print()
print('START BATTERY DRAINER')
disable_print()
def _load_explore_map(self):
from Algo.real_robot import Robot
self._robot = Robot(exploration_status=EXPLORE_STATUS_MAP,
facing=NORTH,
discovered_map=EXPLORATION_OBSTACLE_MAP)
cells = [item for sublist in EXPLORATION_OBSTACLE_MAP for item in sublist]
updated_cells = {i+1: cells[i] for i in range(len(cells))}
self._update_android()
self._calibrate()
sleep(1)
self._calibrate_after_exploration()
sleep(1)
def _set_way_point(self, coordinate):
"""
Set the waypoint coordinates.
:param coordinate: The coordinates received from the Android device.
:return: N/A
"""
enable_print()
(col, row) = literal_eval(coordinate)
self._way_point = (19 - row, col)
print('Set Waypoint: {}'.format(self._way_point))
disable_print()
def _calibrate(self):
"""
Calibrate the robot.
:return: N/A
"""
for move in ['C', 'S', 'L', 'D', 'C', 'L', 'D', 'C']:
self._sender.send_arduino(move)
self._sender.wait_arduino(ARDUIMO_MOVED)
self._sender.send_android('calli_done')
enable_print()
print('Calibrating Done!')
disable_print()
def _battery_drainer(self):
for j in range(2):
for i in range(min(BATTERY_DRAINER_STEP_Y, 17)):
self._robot.move_robot(self._sender, FORWARD)
self._sender.send_arduino(BATTERY_DRAINER_TURN)
self._sender.wait_arduino(ARDUIMO_MOVED)
for i in range(min(BATTERY_DRAINER_STEP_X, 12)):
self._robot.move_robot(self._sender, FORWARD)
self._sender.send_arduino(BATTERY_DRAINER_TURN)
self._sender.wait_arduino(ARDUIMO_MOVED)
def _update_android(self):
"""
Send the latest updates to the Android device.
:return: N/A
"""
msgs = []
# Send the latest MDF strings to the Android device.
msgs.append('"exploreMap":"%s"'%self._robot.get_explore_string())
msgs.append('"obstacleMap":"%s"'%self._robot.get_map_string())
y, x = get_matrix_coords(self._robot.center)
msgs.append('"robotPosition":"%s,%s,%s"' % (str(x), str(19 - y), str(self._robot.facing)))
# _mark_arrows
msgs.append('"imagePosition":"{}"'.format(';'.join(self._robot.arrows_arduino)))
self._sender.send_android('{' + ','.join(msgs) + '}')
class Window(Frame):
"""
This class is the main GUI window.
"""
_grid_size = 30 # size of one grid square in pixels
def __init__(self, master):
enable_print()
"""Initializes the GUI."""
Frame.__init__(self, master)
self._master = master
self._filename = ''
print("Init window starting")
self._init_window()
print("Init window completed")
"""
Initialize the Controller class.
"""
from Algo.real_robot import Robot
self._robot = Robot(exploration_status=[[0] * ROW_LENGTH for _ in range(COL_LENGTH)],
facing=NORTH,
discovered_map=[[2] * ROW_LENGTH for _ in range(COL_LENGTH)])
self._paint_map()
self._explore_limit = COMPLETION_THRESHOLD
self._time_limit = TIME_LIMITE
# Initialize connention client thread
self._sender = Message_Handler(self._receive_handler)
self._auto_update = True
print('Init complete!')
self._sender.send_rpi("Hello from PC to RPi\n")
self._sender.send_arduino("Hello from PC to Arduino\n")
self._sender.send_android("Hello from PC to Android\n")
self._facing = self._robot.facing
self._draw_robot(START, self._facing)
self.is_arrow_scan = IS_ARROW_SCAN
disable_print()
self._set_way_point('3,17')
def _init_window(self):
"""
Load all window elements.
"""
self._master.title("MDP Team 15 Robot Simulation")
self.pack(fill=BOTH, expand=1)
bg_frame = Frame(self)
bg_frame.pack(fill=X, padx=90)
self._explore_label = Label(bg_frame, text="Explore Completion:")
self._explore_label.grid(row=0, column=0)
self._completion_label = Label(bg_frame, text="0")
self._completion_label.grid(row=0, column=1)
self._time_limit_label = Label(bg_frame, text="Time Spent(seconds):")
self._time_limit_label.grid(row=1, column=0)
self._time_spent_label = Label(bg_frame, text="0.0s")
self._time_spent_label.grid(row=1, column=1)
self._canvas = Canvas(self, height=COL_LENGTH * self._grid_size + 1, width=ROW_LENGTH * self._grid_size + 1,
borderwidth=0, highlightthickness=0, background='#ffffff')
self._canvas.pack(padx=20, pady=20)
# Draw grid
self._draw_grid()
def _receive_handler(self, msg):
"""
Parse and handle messages from the Android device.
:param msg: The message received from the Android device.
:return: N/A
"""
if msg[0:8] == ANDROID_WAYPOINT:
self._set_way_point(msg[8:])
elif msg == ANDROID_CALIBRATE:
thread = threading.Thread(target=self._calibrate)
thread.daemon = True
thread.start()
enable_print()
print('Start CALIBRATION')
disable_print()
elif msg == ANDROID_EXPLORE:
thread = threading.Thread(target=self._explore)
thread.daemon = True
thread.start()
enable_print()
print('Start EXPLORATION')
disable_print()
elif msg == ANDROID_MOVE_FAST_PATH:
thread = threading.Thread(target=self._move_fastest_path)
thread.daemon = True
thread.start()
enable_print()
print('Start FAST PATH')
disable_print()
elif msg == ANDROID_LOAD_EXPLORE_MAP:
thread = threading.Thread(target=self._load_explore_map)
thread.daemon = True
thread.start()
enable_print()
print('LOAD EXPLORE MAP')
disable_print()
elif msg == ANDROID_FORWARD:
self._sender.send_arduino(ARDUINO_FORWARD)
elif msg == ANDROID_TURN_LEFT:
self._sender.send_arduino(ARDUINO_TURN_LEFT)
elif msg == ANDROID_TURN_RIGHT:
self._sender.send_arduino(ARDUINO_TURN_RIGHT)
elif msg == ANDROID_TURN_TO_BACKWARD:
self._sender.send_arduino(ARDUINO_TURN_TO_BACKWARD)
elif msg == 'arrow_on':
self.is_arrow_scan = True
elif msg == 'arrow_off':
self.is_arrow_scan = False
elif msg == 'S':
self._sender.send_arduino(ARDUINO_SENSOR)
elif msg == ANDROID_BATTERY_DRAINER:
thread = threading.Thread(target=self._battery_drainer)
thread.daemon = True
thread.start()
enable_print()
print('START BATTERY DRAINER')
disable_print()
def _load_explore_map(self):
from Algo.real_robot import Robot
self._robot = Robot(exploration_status=EXPLORE_STATUS_MAP,
facing=NORTH,
discovered_map=EXPLORATION_OBSTACLE_MAP)
cells = [item for sublist in EXPLORATION_OBSTACLE_MAP for item in sublist]
updated_cells = {i+1: cells[i] for i in range(len(cells))}
self._update_cells(updated_cells)
self._update_android()
self._calibrate()
sleep(1)
self._calibrate_after_exploration()
sleep(1)
def _set_way_point(self, coordinate):
"""
Set the waypoint coordinates.
:param coordinate: The coordinates received from the Android device.
:return: N/A
"""
enable_print()
(col, row) = literal_eval(coordinate)
self._way_point = (19 - row, col)
print('Set Waypoint: {}'.format(self._way_point))
self._mark_way_point(get_grid_index(19 - row, col))
disable_print()
def _calibrate(self):
"""
Calibrate the robot.
:return: N/A
"""
for move in ['C', 'S', 'L', 'D', 'C', 'L', 'D', 'C']:
self._sender.send_arduino(move)
self._sender.wait_arduino(ARDUIMO_MOVED)
enable_print()
print('Calibrating Done!')
disable_print()
def _battery_drainer(self):
for j in range(2):
for i in range(min(BATTERY_DRAINER_STEP_Y, 17)):
self._robot.move_robot(self._sender, FORWARD)
self._sender.send_arduino(BATTERY_DRAINER_TURN)
self._sender.wait_arduino(ARDUIMO_MOVED)
for i in range(min(BATTERY_DRAINER_STEP_X, 12)):
self._robot.move_robot(self._sender, FORWARD)
self._sender.send_arduino(BATTERY_DRAINER_TURN)
self._sender.wait_arduino(ARDUIMO_MOVED)
def _update_android(self):
"""
Send the latest updates to the Android device.
:return: N/A
"""
msgs = []
# Send the latest MDF strings to the Android device.
msgs.append('"exploreMap":"%s"'%self._robot.get_explore_string())
msgs.append('"obstacleMap":"%s"'%self._robot.get_map_string())
y, x = get_matrix_coords(self._robot.center)
msgs.append('"robotPosition":"%s,%s,%s"' % (str(x), str(19 - y), str(self._robot.facing)))
msgs.append('"arrowPosition":"{}"'.format(';'.join(self._robot.arrows_arduino)))
self._sender.send_android('{' + ','.join(msgs) + '}')
def _explore(self):
"""Start the exploration."""
start_time = time()
exploration = Exploration(self._robot, start_time, self.is_arrow_scan, self._explore_limit, self._time_limit)
run = exploration.start_real(self._sender)
initial_pos = next(run)
self._update_cells(initial_pos)
self._update_android()
while True:
try:
# Exploration until completion
while True:
print('=' * 100)
updated_cells = run.send(0)
print('-' * 50)
print('updated_cells (sensor_readings): {}'.format(updated_cells)) # sensor_reading
self._update_cells(updated_cells)
self._update_android()
direction, move_or_turn, updated_cells = run.send(0)
print('direction, move_or_turn, updated_cells (robot standing): {}'.format((MOVEMENTS[direction], MOVE_TURN[move_or_turn], updated_cells)))
self._time_spent_label.config(text="%.2f" % get_time_elapsed(start_time) + "s")
self._update_cells(updated_cells)
if move_or_turn == MOVE:
self._move_robot(direction)
elif move_or_turn == TURN:
self._turn_head(self._facing, direction)
self._update_android()
print_map_info(self._robot)
is_complete = run.send(0)
if is_complete:
self._update_android()
enable_print()
print_map_info(self._robot)
disable_print()
break
is_back_at_start = run.send(0)
if is_back_at_start:
enable_print()
print('Back to start......')
print_map_info(self._robot)
disable_print()
# Move to unexplored area
while True:
print('=' * 100)
updated_or_moved_or_turned, value, is_complete = run.send(0)
self._time_spent_label.config(text="%.2f" % get_time_elapsed(start_time) + "s")
print('-' * 50)
if updated_or_moved_or_turned == "updated":
self._update_cells(value)
self._update_android()
print('updated_cells: {}'.format(value)) # sensor_reading
elif updated_or_moved_or_turned == "moved":
self._move_robot(value)
self._update_android()
print('moved robot: {}'.format(MOVEMENTS[value])) # sensor_reading
elif updated_or_moved_or_turned == "turned":
self._turn_head(self._facing, value)
self._update_android()
print('turned robot: {}'.format(MOVEMENTS[value])) # sensor_reading
else:
# invalid (no path find)
break
if is_complete:
self._update_android()
enable_print()
print_map_info(self._robot)
disable_print()
break
print_map_info(self._robot)
break
# Returning to start after completion
enable_print()
print("Returning to Start...")
disable_print()
while True:
direction = run.send(0)
self._move_robot(direction)
self._update_android()
except StopIteration:
print_map_info(self._robot)
break
enable_print()
print('Exploration Done')
disable_print()
self._calibrate()
sleep(1)
self._calibrate_after_exploration()
sleep(1)
if self.is_arrow_scan:
if self._robot.arrows:
for y, x, facing in self._robot.arrows:
self._draw_arrow(get_grid_index(y, x), facing)
self._update_android()
enable_print()
print_map_info(self._robot)
disable_print()
def _calibrate_after_exploration(self):
"""
Post-exploration calibration to prepare the robot for the fastest path.
:return: N/A
"""
enable_print()
print('Calibrating for fast path...')
disable_print()
self._fastest_path = self._find_fastest_path()
if self._fastest_path[0] != FORWARD:
print('Turning Robot')
self._robot.turn_robot(self._sender, self._fastest_path[0], self.is_arrow_scan)
print('Robot Turned')
self._turn_head(self._facing, self._fastest_path[0])
self._fastest_path[0] = FORWARD
self._update_android()
enable_print()
print('Calibrating Done!')
disable_print()
def _find_fastest_path(self):
"""Calculate and return the set of moves required for the fastest path."""
from Algo.sim_robot import Robot
clone_robot = Robot(exploration_status=self._robot.exploration_status,
facing=self._robot.facing,
discovered_map=self._robot.discovered_map,
real_map=[[0] * ROW_LENGTH for _ in range(COL_LENGTH)])
fastest_path_start_way_point = get_shortest_path_moves(clone_robot,
start=(1, 1),
goal=self._way_point)
if fastest_path_start_way_point:
for move in fastest_path_start_way_point:
clone_robot.move_robot(move)
before_way_point = previous_cell(clone_robot.center, clone_robot.facing)
fastest_path_way_point_goal = get_shortest_path_moves(clone_robot,
start=self._way_point,
goal=(18, 13),
before_start_point=before_way_point)
return fastest_path_start_way_point + fastest_path_way_point_goal
def _move_fastest_path(self):
"""Move the robot along the fastest path."""
if self._fastest_path:
self._robot.is_fast_path = True
self._moves_arduino = get_fastest_path_moves(self._fastest_path)
moves_ardiono_with_calibration = add_calibration_to_arduino_moves(self._moves_arduino, self._robot)
thread = threading.Thread(target=self._update_android_fast_path)
thread.daemon = True
thread.start()
self._sender.send_arduino(''.join(moves_ardiono_with_calibration))
# for moves in moves_ardiono_with_calibration:
# self._sender.send_arduino(moves)
# self._sender.wait_arduino(ARDUIMO_MOVED)
enable_print()
print('Reached GOAL!')
disable_print()
else:
enable_print()
print("No valid path")
disable_print()
def _update_android_fast_path(self):
for move in ''.join(self._moves_arduino):
sleep(ANDROID_FAST_PATH_SLEEP_SEC)
self._robot.move_robot_algo(convert_arduino_cmd_to_direction(move))
if convert_arduino_cmd_to_direction(move) == FORWARD:
self._move_robot(convert_arduino_cmd_to_direction(move))
else:
self._turn_head(self._facing, convert_arduino_cmd_to_direction(move))
self._update_android()
def _draw_grid(self):
"""Draw the virtual maze."""
self._grid_squares = []
for y in range(COL_LENGTH):
temp_row = []
for x in range(ROW_LENGTH):
temp_square = self._canvas.create_rectangle(x * self._grid_size, (COL_LENGTH - 1 - y) * self._grid_size,
(x + 1) * self._grid_size,
(COL_LENGTH - y) * self._grid_size, width=3)
temp_row.append(temp_square)
self._grid_squares.append(temp_row)
def _draw_robot(self, location, facing):
"""Draw the robot in a given location with a given facing."""
if location in BORDERS[NORTH] or location in BORDERS[SOUTH] \
or location in BORDERS[EAST] or location in BORDERS[WEST]:
print("invalid location")
return
top_left_grid = self._canvas.coords(location + ROW_LENGTH - 1)
x = top_left_grid[0]
y = top_left_grid[1]
self._robot_graphic = self._canvas.create_oval(x, y, x + (3 * self._grid_size), y + (3 * self._grid_size),
width=2, fill="#354458", outline="#252a33")
self._draw_head(location, facing)
def _draw_head(self, location, facing):
"""Draw the head of the robot based on the robot's location and facing."""
if facing == NORTH:
corner = self._canvas.coords(location + ROW_LENGTH)
elif facing == SOUTH:
corner = self._canvas.coords(location - ROW_LENGTH)
elif facing == EAST:
corner = self._canvas.coords(location + 1)
else:
corner = self._canvas.coords(location - 1)
x, y = corner[0], corner[1]
self._head = self._canvas.create_oval(x + (self._grid_size // 3), y + (self._grid_size // 3),
x + (2 * (self._grid_size // 3)) + 1,
y + (2 * (self._grid_size // 3)) + 1,
width=0, fill="#7acdc8")
def _turn_head(self, facing, direction):
"""Move the graphical head of the robot in a certain direction."""
if facing == NORTH:
if direction == LEFT:
self._canvas.move(self._head, -self._grid_size, self._grid_size)
self._facing = WEST
elif direction == RIGHT:
self._canvas.move(self._head, self._grid_size, self._grid_size)
self._facing = EAST
elif direction == BACKWARD:
self._canvas.move(self._head, 0, self._grid_size * 2)
self._facing = SOUTH
elif facing == SOUTH:
if direction == LEFT:
self._canvas.move(self._head, self._grid_size, -self._grid_size)
self._facing = EAST
elif direction == RIGHT:
self._canvas.move(self._head, -self._grid_size, -self._grid_size)
self._facing = WEST
elif direction == BACKWARD:
self._canvas.move(self._head, 0, -self._grid_size * 2)
self._facing = NORTH
elif facing == EAST:
if direction == LEFT:
self._canvas.move(self._head, -self._grid_size, -self._grid_size)
self._facing = NORTH
elif direction == RIGHT:
self._canvas.move(self._head, -self._grid_size, self._grid_size)
self._facing = SOUTH
elif direction == BACKWARD:
self._canvas.move(self._head, -self._grid_size * 2, 0)
self._facing = WEST
else:
if direction == LEFT:
self._canvas.move(self._head, self._grid_size, self._grid_size)
self._facing = SOUTH
elif direction == RIGHT:
self._canvas.move(self._head, self._grid_size, -self._grid_size)
self._facing = NORTH
elif direction == BACKWARD:
self._canvas.move(self._head, self._grid_size * 2, 0)
self._facing = EAST
self.update()
def _move_robot(self, direction):
"""Move the graphical robot in a certain direction."""
switcher = {
NORTH: self._north_facing_move,
SOUTH: self._south_facing_move,
EAST: self._east_facing_move,
WEST: self._west_facing_move
}
f = switcher.get(self._facing)
if direction == BACKWARD:
self._turn_head(self._facing, RIGHT)
self._turn_head(self._facing, RIGHT)
elif direction != FORWARD:
self._turn_head(self._facing, direction)
f(direction)
def _north_facing_move(self, direction):
"""Move the graphical robot as it is facing north."""
switcher = {
FORWARD: self._move_up,
LEFT: self._move_left,
RIGHT: self._move_right,
BACKWARD: self._move_down
}
f = switcher.get(direction)
f()
def _south_facing_move(self, direction):
"""Move the graphical robot as it is facing south."""
switcher = {
FORWARD: self._move_down,
LEFT: self._move_right,
RIGHT: self._move_left,
BACKWARD: self._move_up
}
f = switcher.get(direction)
f()
def _east_facing_move(self, direction):
"""Move the graphical robot as it is facing east."""
switcher = {
FORWARD: self._move_right,
LEFT: self._move_up,
RIGHT: self._move_down,
BACKWARD: self._move_left
}
f = switcher.get(direction)
f()
def _west_facing_move(self, direction):
"""Move the graphical robot as it is facing west."""
switcher = {
FORWARD: self._move_left,
LEFT: self._move_down,
RIGHT: self._move_up,
BACKWARD: self._move_right
}
f = switcher.get(direction)
f()
def _move_up(self):
"""Move the graphical robot toward the top of the maze regardless of its facing."""
self._canvas.move(self._robot_graphic, 0, -self._grid_size)
self._canvas.move(self._head, 0, -self._grid_size)
self.update()
def _move_left(self):
"""Move the graphical robot toward the left of the maze regardless of its facing."""
self._canvas.move(self._robot_graphic, -self._grid_size, 0)
self._canvas.move(self._head, -self._grid_size, 0)
self.update()
def _move_right(self):
"""Move the graphical robot toward the right of the maze regardless of its facing."""
self._canvas.move(self._robot_graphic, self._grid_size, 0)
self._canvas.move(self._head, self._grid_size, 0)
self.update()
def _move_down(self):
"""Move the graphical robot toward the right of the maze regardless of its facing."""
self._canvas.move(self._robot_graphic, 0, self._grid_size)
self._canvas.move(self._head, 0, self._grid_size)
self.update()
def _update_cells(self, updated_cells):
"""Repaint the cells that have been updated."""
start_cells = get_robot_cells(START)
goal_cells = get_robot_cells(GOAL)
for cell, value in updated_cells.items():
if cell in start_cells:
self.mark_cell(cell, START_AREA)
elif cell in goal_cells:
self.mark_cell(cell, GOAL_AREA)
elif not value:
self.mark_cell(cell, EXPLORED)
else:
self.mark_cell(cell, OBSTACLE)
if self.is_arrow_scan:
for y, x, facing in self._robot.arrows:
self._draw_arrow(get_grid_index(y, x), facing)
self._completion_label.config(text=(str(self._robot.get_completion_count())))
def _load_map(self):
"""
Load a map descriptor text file.
:return: True if the file exists and is able to be successfully parsed, false otherwise.
"""
self._filename = askopenfilename(title="Select Map Descriptor", filetypes=[("Text Files (*.txt)", "*.txt")])
if self._filename:
print(self._filename)
if self._parse_map(self._filename):
self._paint_map()
return True
print("File %s cannot be parsed" % self._filename)
return False
print("File %s does not exist" % self._filename)
return False
def _mark_way_point(self, grid_num):
"""
Mark a grid as obstructed
:param grid_num: ID of the grid to be marked
:return: N/A
"""
self._canvas.itemconfig(grid_num, fill="#ffc700")
self.update()
def _parse_map(self, filename):
"""
Parse a map descriptor text file
:param filename: The name of the map descriptor file
:return: True if the file is able to be successfully parsed, false otherwise.
"""
file = open(filename, mode="r")
map_str = file.read()
match = re.fullmatch("[012345\n]*", map_str)
if match:
self._grid_map = []
row_strings = map_str.split("\n")
for row_string in row_strings[:NUM_ROWS]:
grid_row = []
for char in row_string:
bit = int(char)
grid_row.append(bit)
self._grid_map.append(grid_row)
return True
return False
def _paint_map(self):
"""Paint the unexplored map on the grid."""
for i in range(NUM_ROWS):
for j in range(NUM_COLS):
grid_num = i * ROW_LENGTH + j + 1
self.mark_cell(grid_num, UNEXPLORED)
def mark_cell(self, cell_index, cell_type):
"""Mark a cell as a certain type."""
self._canvas.itemconfig(cell_index, fill=cell_type)
self.update()
def _draw_arrow(self, location, facing):
top_left_grid = self._canvas.coords(location)
x, y = top_left_grid[0], top_left_grid[1]
if facing == NORTH:
points = [x, y + self._grid_size, x + self._grid_size, y + self._grid_size, x + self._grid_size/2, y]
elif facing == SOUTH:
points = [x, y, x + self._grid_size, y, x + self._grid_size/2, y + self._grid_size]
elif facing == EAST:
points = [x, y, x, y + self._grid_size, x + self._grid_size, y + self._grid_size/2]
else:
points = [x + self._grid_size, y, x + self._grid_size, y + self._grid_size, x, y + self._grid_size/2]
self._canvas.create_polygon(points, fill='gold', width=3)
class Controller:
"""
This class is the controller that relays messages to the Android.
"""
def __init__(self):
enable_print()
"""
Initialize the Controller class.
"""
self._filename = ''
print('Real run')
from Algo.real_robot import Robot
self._robot = Robot(exploration_status=[[0] * ROW_LENGTH for _ in range(COL_LENGTH)],
facing=NORTH,
discovered_map=[[2] * ROW_LENGTH for _ in range(COL_LENGTH)])
self._explore_limit = COMPLETION_THRESHOLD
self._time_limit = TIME_LIMITE
# Initialize connention client thread
self._sender = Message_Handler(self._receive_handler)
self._auto_update = True
print('Init complete!')
self._sender.send_rpi("Hello from PC to RPi\n")
self._sender.send_arduino("Hello from PC to Arduino\n")
self._sender.send_android("Hello from PC to Android\n")
disable_print()
self.is_arrow_scan = IS_ARROW_SCAN
self._set_way_point('3,17')
def _receive_handler(self, msg):
"""
Parse and handle messages from the Android device.
:param msg: The message received from the Android device.
:return: N/A
"""
if msg[0:8] == ANDROID_WAYPOINT:
self._set_way_point(msg[8:])
elif msg == ANDROID_CALIBRATE:
thread = threading.Thread(target=self._calibrate)
thread.daemon = True
thread.start()
enable_print()
print('Start CALIBRATION')
disable_print()
elif msg == ANDROID_EXPLORE:
thread = threading.Thread(target=self._explore)
thread.daemon = True
thread.start()
enable_print()
print('Start EXPLORATION')
disable_print()
elif msg == ANDROID_MOVE_FAST_PATH:
thread = threading.Thread(target=self._move_fastest_path)
thread.daemon = True
thread.start()
enable_print()
print('Start FAST PATH')
disable_print()
elif msg == ANDROID_LOAD_EXPLORE_MAP:
thread = threading.Thread(target=self._load_explore_map)
thread.daemon = True
thread.start()
enable_print()
print('LOAD EXPLORE MAP')
disable_print()
elif msg == ANDROID_FORWARD:
self._sender.send_arduino(ARDUINO_FORWARD)
elif msg == ANDROID_TURN_LEFT:
self._sender.send_arduino(ARDUINO_TURN_LEFT)
elif msg == ANDROID_TURN_RIGHT:
self._sender.send_arduino(ARDUINO_TURN_RIGHT)
elif msg == ANDROID_TURN_TO_BACKWARD:
self._sender.send_arduino(ARDUINO_TURN_TO_BACKWARD)
elif msg == 'arrow_on':
self.is_arrow_scan = True
elif msg == 'arrow_off':
self.is_arrow_scan = False
elif msg == 'S':
self._sender.send_arduino(ARDUINO_SENSOR)
elif msg == ANDROID_BATTERY_DRAINER:
thread = threading.Thread(target=self._battery_drainer)
thread.daemon = True
thread.start()
enable_print()
print('START BATTERY DRAINER')
disable_print()
def _load_explore_map(self):
from Algo.real_robot import Robot
self._robot = Robot(exploration_status=EXPLORE_STATUS_MAP,
facing=NORTH,
discovered_map=EXPLORATION_OBSTACLE_MAP)
cells = [item for sublist in EXPLORATION_OBSTACLE_MAP for item in sublist]
updated_cells = {i+1: cells[i] for i in range(len(cells))}
self._update_android()
self._calibrate()
sleep(1)
self._calibrate_after_exploration()
sleep(1)
def _set_way_point(self, coordinate):
"""
Set the waypoint coordinates.
:param coordinate: The coordinates received from the Android device.
:return: N/A
"""
enable_print()
(col, row) = literal_eval(coordinate)
self._way_point = (19 - row, col)
print('Set Waypoint: {}'.format(self._way_point))
disable_print()
def _calibrate(self):
"""
Calibrate the robot.
:return: N/A
"""
for move in ['C', 'S', 'L', 'D', 'C', 'L', 'D', 'C']:
self._sender.send_arduino(move)
self._sender.wait_arduino(ARDUIMO_MOVED)
enable_print()
print('Calibrating Done!')
disable_print()
def _battery_drainer(self):
for j in range(2):
for i in range(min(BATTERY_DRAINER_STEP_Y, 17)):
self._robot.move_robot(self._sender, FORWARD)
self._sender.send_arduino(BATTERY_DRAINER_TURN)
self._sender.wait_arduino(ARDUIMO_MOVED)
for i in range(min(BATTERY_DRAINER_STEP_X, 12)):
self._robot.move_robot(self._sender, FORWARD)
self._sender.send_arduino(BATTERY_DRAINER_TURN)
self._sender.wait_arduino(ARDUIMO_MOVED)
def _update_android(self):
"""
Send the latest updates to the Android device.
:return: N/A
"""
msgs = []
# Send the latest MDF strings to the Android device.
msgs.append('"exploreMap":"%s"'%self._robot.get_explore_string())
msgs.append('"obstacleMap":"%s"'%self._robot.get_map_string())
y, x = get_matrix_coords(self._robot.center)
msgs.append('"robotPosition":"%s,%s,%s"' % (str(x), str(19 - y), str(self._robot.facing)))
msgs.append('"arrowPosition":"{}"'.format(';'.join(self._robot.arrows_arduino)))
self._sender.send_android('{' + ','.join(msgs) + '}')
def _explore(self):
"""Start the exploration."""
start_time = time()
exploration = Exploration(self._robot, start_time, self.is_arrow_scan, self._explore_limit, self._time_limit)
run = exploration.start_real(self._sender)
initial_pos = next(run)
self._update_android()
while True:
try:
# Exploration until completion
while True:
print('=' * 100)
updated_cells = run.send(0)
print('-' * 50)
print('updated_cells (sensor_readings): {}'.format(updated_cells)) # sensor_reading
self._update_android()
direction, move_or_turn, updated_cells = run.send(0)
print('direction, move_or_turn, updated_cells (robot standing): {}'.format((MOVEMENTS[direction], MOVE_TURN[move_or_turn], updated_cells)))
self._update_android()
print_map_info(self._robot)
is_complete = run.send(0)
if is_complete:
self._update_android()
enable_print()
print_map_info(self._robot)
disable_print()
break
is_back_at_start = run.send(0)
if is_back_at_start:
enable_print()
print('Back to start......')
print_map_info(self._robot)
disable_print()
# Move to unexplored area
while True:
print('=' * 100)
updated_or_moved_or_turned, value, is_complete = run.send(0)
print('-' * 50)
if updated_or_moved_or_turned == "updated":
self._update_android()
print('updated_cells: {}'.format(value)) # sensor_reading
elif updated_or_moved_or_turned == "moved":
self._update_android()
print('moved robot: {}'.format(MOVEMENTS[value])) # sensor_reading
elif updated_or_moved_or_turned == "turned":
self._update_android()
print('turned robot: {}'.format(MOVEMENTS[value])) # sensor_reading
else:
# invalid (no path find)
break
if is_complete:
self._update_android()
enable_print()
print_map_info(self._robot)
disable_print()
break
print_map_info(self._robot)
break
# Returning to start after completion
enable_print()
print("Returning to Start...")
disable_print()
while True:
direction = run.send(0)
self._update_android()
except StopIteration:
print_map_info(self._robot)
break
enable_print()
print('Exploration Done')
disable_print()
self._calibrate()
sleep(1)
self._calibrate_after_exploration()
sleep(1)
self._update_android()
enable_print()
print_map_info(self._robot)
disable_print()
def _calibrate_after_exploration(self):
"""
Post-exploration calibration to prepare the robot for the fastest path.
:return: N/A
"""
enable_print()
print('Calibrating for fast path...')
disable_print()
self._fastest_path = self._find_fastest_path()
if self._fastest_path[0] != FORWARD:
print('Turning Robot')
self._robot.turn_robot(self._sender, self._fastest_path[0], self.is_arrow_scan)
print('Robot Turned')
self._fastest_path[0] = FORWARD
self._update_android()
enable_print()
print('Calibrating Done!')
disable_print()
def _find_fastest_path(self):
"""Calculate and return the set of moves required for the fastest path."""
from Algo.sim_robot import Robot
clone_robot = Robot(exploration_status=self._robot.exploration_status,
facing=self._robot.facing,
discovered_map=self._robot.discovered_map,
real_map=[[0] * ROW_LENGTH for _ in range(COL_LENGTH)])
fastest_path_start_way_point = get_shortest_path_moves(clone_robot,
start=(1, 1),
goal=self._way_point)
if fastest_path_start_way_point:
for move in fastest_path_start_way_point:
clone_robot.move_robot(move)
before_way_point = previous_cell(clone_robot.center, clone_robot.facing)
fastest_path_way_point_goal = get_shortest_path_moves(clone_robot,
start=self._way_point,
goal=(18, 13),
before_start_point=before_way_point)
return fastest_path_start_way_point + fastest_path_way_point_goal
def _move_fastest_path(self):
"""Move the robot along the fastest path."""
if self._fastest_path:
self._robot.is_fast_path = True
self._moves_arduino = get_fastest_path_moves(self._fastest_path)
moves_ardiono_with_calibration = add_calibration_to_arduino_moves(self._moves_arduino, self._robot)
thread = threading.Thread(target=self._update_android_fast_path)
thread.daemon = True
thread.start()
# self._sender.send_arduino(''.join(moves_ardiono_with_calibration))
self._sender.send_arduino(''.join([s for s in moves_ardiono_with_calibration if s !='C']))
# for moves in moves_ardiono_with_calibration:
# self._sender.send_arduino(moves)
# self._sender.wait_arduino(ARDUIMO_MOVED)
enable_print()
print('Reached GOAL!')
disable_print()
else:
enable_print()
print("No valid path")
disable_print()
def _update_android_fast_path(self):
for move in ''.join(self._moves_arduino):
sleep(ANDROID_FAST_PATH_SLEEP_SEC)
self._robot.move_robot_algo(convert_arduino_cmd_to_direction(move))
self._update_android()
def _load_map(self):
"""
Load a map descriptor text file.
:return: True if the file exists and is able to be successfully parsed, false otherwise.
"""
self._filename = askopenfilename(title="Select Map Descriptor", filetypes=[("Text Files (*.txt)", "*.txt")])
if self._filename:
print(self._filename)
if self._parse_map(self._filename):
self._paint_map()
return True
print("File %s cannot be parsed" % self._filename)
return False
print("File %s does not exist" % self._filename)
return False
def _parse_map(self, filename):
"""
Parse a map descriptor text file
:param filename: The name of the map descriptor file
:return: True if the file is able to be successfully parsed, false otherwise.
"""
file = open(filename, mode="r")
map_str = file.read()
match = re.fullmatch("[012345\n]*", map_str)
if match:
self._grid_map = []
row_strings = map_str.split("\n")
for row_string in row_strings[:NUM_ROWS]:
grid_row = []
for char in row_string:
bit = int(char)
grid_row.append(bit)
self._grid_map.append(grid_row)
return True
return False