def main():
out = sys.argv[1]
m1 = map_rep.map_(fname='i.map')
mv1 = move_list.MoveList(fname='i.mv')
out_keys = ['max_rng', 'step', 'particle_number'] # keys from the dict to add to file
s1 = {'map_':m1, 'move_list':mv1, 'max_rng':50, 'step': 25, 'particle_number': 1, 'out_file': out}
#s2 = {'map_':m1, 'move_list':mv1, 'max_rng':50, 'step': 15, 'particle_number': 5, 'out_file': 'data.txt'}
#s3 = {'map_':m1, 'move_list':mv1, 'max_rng':50, 'step': 5, 'particle_number': 5, 'out_file': 'data.txt'}
#s4 = {'map_':m1, 'move_list':mv1, 'max_rng':75, 'step': 15, 'particle_number': 5, 'out_file': 'data.txt'}
s5 = {'map_':m1, 'move_list':mv1, 'max_rng':50, 'step': 15, 'particle_number': 3, 'out_file': out}
s6 = {'map_':m1, 'move_list':mv1, 'max_rng':50, 'step': 15, 'particle_number': 5, 'out_file': out}
s7 = {'map_':m1, 'move_list':mv1, 'max_rng':50, 'step': 15, 'particle_number': 8, 'out_file': out}
s8 = {'map_':m1, 'move_list':mv1, 'max_rng':50, 'step': 15, 'particle_number': 15, 'out_file': out}
s9 = {'map_':m1, 'move_list':mv1, 'max_rng':50, 'step': 15, 'particle_number': 25, 'out_file': out}
srs = [s1,s5]
testnum = 2
for cfg in srs:
f = open(out, 'a')
f.write('newconf\n')
for key in out_keys:
f.write('%s:%s/'%(key, cfg[key]))
f.write('\n')
f.close()
s = sonar_sim.sonar(**cfg)
for i in range(testnum):
f = open(out, 'a')
f.write('newtest\n')
f.write('----START----: %s\n'%(time.time()))
f.close()
while s.sim_step() != -1:
continue
f = open(out, 'a')
f.write('step 99999\n')
f.write('----END----: %s\n'%(time.time()))
f.close()
mv1.reset()
# that is closest to the current sonar location
intersect = self.math.get_intersect_point(self.loc, ln, self.map)
# calculate the distance to the intersection point, with
# some parameters which limit the data to a certain range
dist = self.math.intersect_distance(self.loc, intersect, self.min_range, self.max_range,)
self.ranges.append(dist) # store the calculated distance
# Store the other objects for drawing later if necessary
self.scan_lines.append(ln)
self.intersection_points.append(intersect)
self.current_angle += self.step # increment the angle to the angle of the next measurement
def generate_particles(self, number):
"""Create a number of particles."""
if not self.particles.list():
for i in range(number):
# Create a particle within a gaussian range of the current sonar location
self.particles.add(particle.Particle(Point(self.math.apply_point_noise(self.loc.x, self.loc.y, self.loc_noise, self.loc_noise)), self))
if __name__ == '__main__':
simple_map = map_rep.map_(sys.argv[1])
mvlist = move_list.MoveList()
mvlist.read_from_file(sys.argv[2])
#mvlist = move_list.MoveList([Point(0,0)])
#param = {'map_':simple_map, 'move_list':mvlist, 'max_rng':50, 'step': 15, 'particle_number': 10, 'out_file': 'data.txt', 'param_file': 'params.txt'}
param = {'map_':simple_map, 'move_list':mvlist, 'max_rng':50, 'step': 15, 'particle_number': 10, 'out_file': 'data.txt'}
sonar = sonar(**param)
#sonar = sonar(simple_map, mvlist, rng=50, step=15, particle_number=5)
#a = particle.Particle(sonar.loc, sonar)
#a.get_ranges()
ab = gui.gui(sonar)