def action(self):
self.similar_frames = self.similar_frames + 1 if not collector.image_changed else 0
time_for_action = self.similar_frames >= WAIT_NO_CHANGE
if not time_for_action:
return ac.empty()
if self.side_step_repeat > 0:
self.side_step_repeat -= 1
return self.side_step_action
self.similar_frames = 0
action = ac.empty()
phase = PHASES[int(self.step / LENGTH)%len(PHASES)]
substep = self.step % LENGTH
# print(phase, substep, substep % 2)
use_x_axis = substep % 2 == 0
# make steps along extremes longer
if self.step / LENGTH % 2 == 1:
use_x_axis = not use_x_axis
print('ph:%d ss:%d/%d F:%s \t%d \t%s' % (self.step / LENGTH,
substep + 1,
LENGTH,
str(use_x_axis),
collector._counter,
str(phase)))
if use_x_axis:
action = ac.step(action, forward=phase[0])
else:
self.side_step_action = ac.step_aside(action, right=phase[1])
self.side_step_repeat = SIDE_REPEAT - 1
action = self.side_step_action
collector.register_action(action)
self.step += 1
return action
def subturn(self, direction):
'''Turn by 1 degree and make a step every STEP turns'''
self.substep = self.substep + 1 if self.substep < STEP else 0
action = ac.turn_left(ac.empty(), arg=direction)
# skip a bit once a circle
if self.turn != 0 and self.turn % 360 == 0 and self.substep == 0:
action = ac.empty()
print('SKIPPED A BIT')
if self.substep == 0:
action = ac.step(action, forward=True)
return action
def move_to_action(self, action, delta):
if delta[1] != 0:
action = ac.step(action, forward=delta[1] > 0)
if delta[0] != 0:
action = ac.step_aside(action, right=delta[0] > 0)
return action
