def solver3():
car_info = loadData(sys.argv[1])
grid_map = initialEmptyGridMap(car_info)
barrier = getBarrier(car_info)
#plotGridMap(barrier, 1000, 1000 + HORIZON)
test_grid = np.copy(grid_map)
car_model = CarModel()
source = (0,0)
max_time_steps = sorted(car_info.keys())[-1]
current_time_step = 0
output_file = sys.argv[3]
death = 0
cross = 0
clearFile(output_file)
last_valid_came_from = {}
f = open(output_file, 'a')
(t, y) = source
s = '{0}\n{1} {2}\n#\n'.format(0*GRID_T,CHICKEN_X,(0-NUM_GRIDS_BELOW_ZERO)*GRID_Y)
f.write(s)
f.close()
while current_time_step < max_time_steps:
incremental_car_history = {}
incremental_car_history[current_time_step] = car_info[current_time_step]
print 'Online Source: '+repr(source)
car_model.updateSolver3(incremental_car_history )
speeds, intervals = car_model.getGaussianParams()
#print speeds
#print intervals
#prin "\n#######################################################################\n"
#car_model.printModel()
updateGridMapSolver3(grid_map, current_time_step, incremental_car_history, car_model,speeds, intervals, barrier)
#if current_time_step % 1000 == 0:
# print speeds
# print intervals
#print car_model.initial_pos_xs
#print car_model.initial_times
# plotGridMap(grid_map, current_time_step, current_time_step + 500)
came_from, sub_goal = oneStepAction(grid_map, source)
#only need one step and no overlap then just transfer in source
if sub_goal == (-1,-1):
goal = last_valid_came_from[sorted(last_valid_came_from.keys())[-1]]
while goal != None:
current = last_valid_came_from[goal]
if current[0] == current_time_step+1:
source = current
break
goal = current
else:
last_valid_came_from = came_from
source = sub_goal
f = open(output_file, 'a')
(t, y) = source
s = '{0}\n{1} {2}\n#\n'.format(t*GRID_T,CHICKEN_X,(y-NUM_GRIDS_BELOW_ZERO)*GRID_Y)
f.write(s)
f.close()
#check Excution
addBlocks(test_grid, {source[0]:car_info[source[0]]})
if (test_grid[source[1]][current_time_step+1] != 0):
print "death!", source, test_grid[source[1]][source[0]]
death += 1
source = (current_time_step+1, 0)
if (source[1] >= NUM_GRIDS_Y - EXTRA_GRIDS):
cross += 1
#reach goal
source = (current_time_step+1, 0)
current_time_step += 1
f = open(output_file, 'a')
(t,y) = source
s = '{0}\n{1} {2}\n#\n'.format(t*GRID_T,CHICKEN_X,(y-NUM_GRIDS_BELOW_ZERO)*GRID_Y)
f.write(s)
f.close()
getScore(cross, death)
print 'write to {0} file'.format(output_file)
