def __init__(self, ):
self.fetcher = Fetcher()
self.actions = [[0, 0], [1, 0], [1, 1], [0, 1], [-1, 1], [-1, 0],
[-1, -1], [0, -1], [1, -1]]
self.curr_score = 0
self.curr_step = 0
def run():
fetcher = Fetcher()
while True:
outputData = fetcher.sync()
if outputData is None:
continue
print "Timestep: {0}".format(fetcher.timestep)
print outputData
if fetcher.skippedTimesteps > 0:
print("Warning: skipped {0} timesteps, "
"now at {1}").format(fetcher.skippedTimesteps,
fetcher.timestep)
if outputData["reset"]:
print "Reset."
print "============"
def collectDepthData(outputDir=_OUTPUT_DIR):
fetcher = Fetcher()
holdingDownKey = False
while True:
outputData = fetcher.sync()
if outputData is None or "collectKeyPressed" not in outputData:
holdingDownKey = False
continue
if outputData["collectKeyPressed"] == 0:
holdingDownKey = False
continue
if holdingDownKey:
print "Stop holding down the key!"
continue
print "Collecting data."
holdingDownKey = True
sensor = outputData["ForwardsSweepSensor"]
depthData = np.array(sensor)
dt = time.strftime("%y%m%d%H%M%S")
depthID = 'depth_'+dt+'.txt'
depthOutputPath = os.path.join(os.path.dirname(__file__),
outputDir,
depthID)
np.savetxt(depthOutputPath, depthData)
print "Wrote out to ", depthOutputPath
