def update_ui():
"""
Passes general information to the UI.
"""
from mars.webapp import ws_send
try:
doors_state = json.loads(r.get("doors_state"))
except TypeError:
# Doors have not been initialised
coords.route().initialise_doors()
doors_state = json.loads(r.get("doors_state"))
# Send current data to the UI
ws_send(
"update_logic",
json.dumps({
"engineer": {
"current_task":
int(r.get("engineer_current_task") or -1),
"current_marker":
int(r.get("engineer_current_marker") or -1),
"current_status":
json.loads(r.get("engineer_current_status") or "[]"),
"tasks_enabled":
int(r.get("engineer_tasks_enabled") or -1),
"target_route":
r.get("engineer_target_route"),
},
"alien": {
"current_marker": int(r.get("alien_current_marker") or -1),
"enabled": int(r.get("alien_enabled") or -1),
"target_route": r.get("alien_target_route"),
},
"doors": {
"A": doors_state[0],
"B": doors_state[1],
"C": doors_state[2],
"D": doors_state[3]
}
}))
def toggle_doors(data):
index = data["index"]
state = data["state"]
coords.route().doors(index, state)
def initialise_doors():
coords.route().initialise_doors()
def alien_follow(self):
"""
Start the Alien following the Engineer.
"""
# Toggle to cancel existing tasks
r.set("alien_enabled", 0)
time.sleep(2 / settings.FRAMERATE)
r.set("alien_enabled", 1)
while int(r.get("alien_enabled")):
# Determine route to get to next task
target_marker = int(r.get("engineer_current_marker"))
target_route = coords.route().pathfinder(int(
r.get("alien_current_marker")),
target_marker,
shortcuts=True)
# Remove current marker from route
try:
target_route.pop(0)
except AttributeError:
log.info("Alien has reached it's current destination!")
time.sleep(settings.COMMSRATE)
continue
log.info(f"Alien following route: {target_route}")
r.set("alien_target_route", str(target_route))
reached_marker = False
# Save start time to synchronise data rates
comms_start_time = time.time()
data_start_time = time.time()
while not reached_marker:
# Break from loops if required
if not int(r.get("alien_enabled")):
return
try:
# Calculate distance to next marker in route
magnitude, direction = coords.coords().calculate_vector(
"alien", target_route[0])
except TypeError:
log.error("Invalid target route supplied")
return
# If within target radius of target marker
if magnitude < settings.MARKER_RADIUS:
log.info("Alien within target marker radius!")
log.info("Moving to next marker...")
# Update current position
r.set("alien_current_marker", target_route[0])
# Remove from route
target_route.pop(0)
reached_marker = True
# Update route in UI
r.set("alien_target_route", str(target_route))
else:
# Only send if the next message is required
comms_time_remain = comms_start_time + 1 / settings.COMMSRATE - time.time(
)
if comms_time_remain < 0:
# Send a command to go to the first marker in the route
self.cmd.simple_alien_move(magnitude, direction)
comms_start_time = time.time()
# Wait until the next frame is required
data_time_remain = data_start_time + 1 / settings.DATARATE - time.time(
)
if data_time_remain < 0:
update_ui()
data_start_time = time.time()
def next_task(self):
"""
Aims to complete the next task in the task list for the Engineer.
"""
update_ui()
# Determine route to get to next task
r.set("engineer_current_marker",
self.desired_path[int(r.get("engineer_current_task"))])
try:
target_marker = self.desired_path[
int(r.get("engineer_current_task")) + 1]
except IndexError:
# All tasks are complete!
log.info("ALL TASKS COMPLETE. RETURNING HOME.")
alien().setup()
self.setup()
return
# Find initial target route
target_route = coords.route().pathfinder(
int(r.get("engineer_current_marker")), target_marker)
log.info(f"Engineer working on next task: {target_route}")
r.set("engineer_target_route", str(target_route))
reached_target = False
within_alien_radius = False
# Loop while the target location has not been reached
while not reached_target:
reached_marker = False
# Save start time to synchronise data rates
comms_start_time = time.time()
data_start_time = time.time()
while not reached_marker:
# Break from loops if required
if not int(r.get("engineer_tasks_enabled")):
return
try:
# Calculate distance to next marker in route
magnitude, direction = coords.coords().calculate_vector(
"engineer", target_route[0])
except TypeError:
log.error("Invalid target route supplied")
return
# If within target radius of target marker
if magnitude < settings.MARKER_RADIUS_ENGINEER:
log.info("Engineer within target marker radius!")
log.info("Moving to next marker...")
# Update current position
r.set("engineer_current_marker", target_route[0])
# Remove from route
target_route.pop(0)
reached_marker = True
# Update UI route
r.set("engineer_target_route", str(target_route))
else:
# Calculate distance to alien
alien_distance, _ = coords.coords().calculate_vector(
"engineer", "alien")
# Keep looping until engineer is out of radius of Alien
if within_alien_radius:
if alien_distance > settings.DETECTION_RADIUS * 1.1:
log.info(
"Engineer no longer within radius of Alien")
within_alien_radius = False
# If within hearing distance, re-calculate route with alien avoidance
elif alien_distance < settings.DETECTION_RADIUS:
log.info("Engineer within hearing distance of alien!")
log.info(
f"Avoiding Alien at marker: {int(r.get('alien_current_marker'))}"
)
new_target_route = coords.route().pathfinder(
int(r.get("engineer_current_marker")),
target_marker,
avoid=int(r.get("alien_current_marker")))
# Check if no route has been found, if so throw a fit
if not new_target_route:
log.error(
f"The engineer can't find any route to it's target: {target_marker}!"
)
continue
# Check if new route is in the same direction, or a new direction
try:
if target_route[1] == new_target_route[1]:
# Continue in same direction; remove the first element to prevent backtracking
new_target_route.pop(0)
except IndexError:
# Only one marker left in the route
pass
target_route = new_target_route
log.info(
f"Engineer working on next task: {target_route}")
r.set("engineer_target_route", str(target_route))
within_alien_radius = True
# Tell engineer to stop moving
self.cmd.stop("engineer")
# Only send if the next message is required
comms_time_remain = comms_start_time + 1 / settings.COMMSRATE - time.time(
)
if comms_time_remain < 0:
# Send a command to go to the first marker in the route
self.cmd.simple_engineer_move(magnitude, direction)
comms_start_time = time.time()
# Wait until the next frame is required
data_time_remain = data_start_time + 1 / settings.DATARATE - time.time(
)
if data_time_remain < 0:
update_ui()
data_start_time = time.time()
if not target_route:
# Route is complete
reached_target = True
# Move to next task
r.incr("engineer_current_task")