import json class Node: front = False back = False right = False left = False directions = {'south': {'Right': 'right', "Left": 'left', 'front': 'front', 'back': 'back'}, 'north': {'Right': 'left', "Left": 'right', 'front': 'back', 'back': 'front'}, 'west': {'Right': 'back', "Left": 'front', 'front': 'right', 'back': 'left'}, 'east': {'Right': 'front', "Left": 'back', 'front': 'left', 'back': 'right'}} # north # west east # south # matches matrix walls to the ones that the car see: what wall in matrix is cars right wall def makeNode(self): a = self.directions[pos.direction]['back'] exec('self.' + a + "=True") if m.frontDistance > pos.limit: a = self.directions[pos.direction]['front'] exec('self.' + a + "=True") if m.leftDistance > pos.limit: a = self.directions[pos.direction]['Left'] exec('self.' + a + "=True") if m.rightDistance > pos.limit: a = self.directions[pos.direction]['Right'] exec('self.' + a + "=True") print(pos.x, pos.y, self.right, self.front, self.left) def getCarsRight(self): a = self.directions[pos.direction]['Right'] ldic = locals() exec('result=self.' + a, globals(), ldic) result = ldic['result'] return result # back # right left # front # |_| # gives a visual representation of the matrix def __repr__(self): x = "" if self.right: x = x + " " else: x = x + "|" if self.front: if self.back: x = x + " " else: x = x + "￣" else: if self.back: x = x + "__" else: x = x + "二" if self.left: x = x + " " else: x = x + "|" return x class Possition: x = 0 y = 0 limit = 29 oldFrontValue = 0 # !!!se allagh k sthn arxh oldLeftValue=0 oldRightValue=0 counting = 15 movefinished = True referencedistance = 0 prevNode = Node() loopFlag = False nodeChangedFlag=False oldDirection = 'south' direction = 'south' directions = {'north': {'Right': 'east', "Left": 'west', 'Opposite': 'south'}, 'south': {'Right': 'west', "Left": 'east', 'Opposite': 'north'}, 'west': {'Right': 'north', "Left": 'south', 'Opposite': 'east'}, 'east': {'Right': 'south', "Left": 'north', 'Opposite': 'west'}} # | # v # north # west east # south # changes the direction according to what direction it already was and which way it turned def setDirection(self, movement): self.direction = self.directions[self.direction][movement] # changes the coordinates everytime a Node changes def moveNode(self): if self.direction == 'south': self.y = self.y + 1 elif self.direction == 'north': self.y = self.y - 1 elif self.direction == 'west': self.x = self.x - 1 elif self.direction == 'east': self.x = self.x + 1 # returns the front difference between two jsons def findDifference(self): difference = self.oldFrontValue - m.frontDistance # if the node just got created or if it turned if self.oldFrontValue is 0 or (self.oldDirection is not self.direction): difference = 0 print('dif', difference) return difference def howMuchMoved(self): self.counting = self.counting + self.findDifference() self.oldFrontValue = m.frontDistance self.oldLeftValue = m.leftDistance self.oldRightValue = m.rightDistance print('has moved:', self.counting) # we check if node changed then we change x,y , find out new walls/openings def checkifNodeChanged(self): self.nodeChangedFlag = False if self.counting >= 30 : flag = True self.loopFlag = False self.prevNode = maze[self.y][self.x] self.moveNode() maze[self.y][self.x].makeNode() self.counting = 15 self.nodeChangedFlag=True class Metrics: rightDistance = 0 frontDistance = 0 leftDistance = 0 code = 0 # code0:forward() 1:turnR() 2:turnL() 3:turnAround() 3:break() codedict = {"forward": 0, "turnR": 1, "turnL": 2, "turnAround": 3, "break": 4} labelRD = "rightDistance" labelFD = "frontDistance" labelLD = "leftDistance" def fromDict(self, d): self.leftDistance = d[self.labelLD] self.frontDistance = d[self.labelFD] self.rightDistance = d[self.labelRD] def toDict(self): dict = {} dict[self.labelRD] = self.rightDistance dict[self.labelFD] = self.frontDistance dict[self.labelLD] = self.leftDistance return dict def codeToDict(self): dict = {} dict["code"] = self.code return dict def toString(self): return (self.labelRD + " " + str(self.rightDistance) + " " + self.labelFD + " " + str(self.frontDistance) + " " + self.labelLD + " " + str(self.leftDistance)) def ignoreMetrics(): flag=False if (abs(m.frontDistance-pos.oldFrontValue)>25): flag=True if (abs(m.leftDistance-pos.oldLeftValue)>25): flag=True if (abs(m.rightDistance-pos.oldRightValue)>25): flag=True return flag def readJson(myjson): x1 = myjson.split("{") x2 = x1[1].split("}") x = "{" + x2[0] + "}" dict = json.loads(x) m.fromDict(dict) def createJson(): dict = m.codeToDict() y = json.dumps(dict) print(y) return y # north # west east # south def checkforLoop(): flag = False if pos.prevNode is not []: if (pos.prevNode.getCarsRight() is False) and (maze[pos.y][pos.x].getCarsRight() is True): print("loop") flag = True return flag def moveFinished(lim=0): flag = False print(m.code) # ean perpathse toul 25 ek diesxhse ena node if m.code is m.codedict["forward"]: if pos.nodeChangedFlag is True: flag = True # ean h palia de3ia timh plhsiazei to mprostino meros if m.code is m.codedict["turnR"]: if lim - m.frontDistance < 10: flag = True # ean h palia aristerh timh plhsiazei to mprostino meros if m.code is m.codedict["turnL"]: if lim - m.frontDistance < 10: flag = True # ean h de3ia plhsiazei thn palia aristerh timh if m.code is m.codedict["turnAround"]: if lim - m.rightDistance < 3: flag = True print('movedf', flag) return flag # movement logic: where to go changes direction if needs to and checks if node is changed def move(): pos.howMuchMoved() if pos.movefinished is True: pos.oldDirection = pos.direction if m.rightDistance > pos.limit: pos.referencedistance = m.rightDistance if pos.nodeChangedFlag is True: #you just changed node so you must turn if checkforLoop() is True: m.code = m.codedict["turnR"] pos.setDirection('Right') else: #you have already turned go ahead m.code = m.codedict["forward"] elif m.frontDistance > pos.limit: m.code = m.codedict["forward"] pos.movefinished = False elif m.leftDistance > pos.limit: pos.referencedistance = m.leftDistance print('lim', pos.referencedistance) m.code = m.codedict["turnL"] pos.setDirection('Left') pos.movefinished = False else: m.code = m.codedict["turnAround"] pos.referencedistance = m.leftDistance pos.setDirection('Opposite') pos.movefinished = moveFinished(pos.referencedistance) pos.checkifNodeChanged() # elif (pos.loopFlag is True): # m.code = m.codedict["forward"] # elif(m.code is m.codedict['turnAround']): # m.code = m.codedict["forward"] print('direction:', pos.direction) def main(): # read_serial = ["{\"frontDistance\":120,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":122,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":117,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":116,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":117,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":115,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":115,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":113,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":112,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":115,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":111,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":110,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":108,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":107,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":108,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":105,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":104,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":104,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":102,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":103,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":102,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":101,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":100,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":99,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":99,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":97,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":95,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":96,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":95,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":94,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":93,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":95,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":94,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":92,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":90,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":89,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":90,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":89,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":87,\"rightDistance\":4,\"leftDistance\":4}'" # "{\"frontDistance\":86,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":85,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":85,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":83,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":82,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":81,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":80,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":75,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":78,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":74,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":72,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":70,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":65,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":64,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":60,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":57,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":54,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":52,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":50,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":52,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":52,\"rightDistance\":4,\"leftDistance\":42}'", # "{\"frontDistance\":51,\"rightDistance\":4,\"leftDistance\":42}'", # "{\"frontDistance\":4,\"rightDistance\":4,\"leftDistance\":42}'", # ] """read_serial = ["{\"frontDistance\":70,\"rightDistance\":4,\"leftDistance\":70}'", "{\"frontDistance\":65,\"rightDistance\":4,\"leftDistance\":70}'", "{\"frontDistance\":60,\"rightDistance\":4,\"leftDistance\":70}'", "{\"frontDistance\":55,\"rightDistance\":4,\"leftDistance\":70}'", "{\"frontDistance\":45,\"rightDistance\":4,\"leftDistance\":70}'", "{\"frontDistance\":40,\"rightDistance\":4,\"leftDistance\":4}'", "{\"frontDistance\":10,\"rightDistance\":4,\"leftDistance\":45}'", "{\"frontDistance\":35,\"rightDistance\":4,\"leftDistance\":45}'", "{\"frontDistance\":5,\"rightDistance\":45,\"leftDistance\":4}'", "{\"frontDistance\":34,\"rightDistance\":45,\"leftDistance\":4}'", "{\"frontDistance\":4,\"rightDistance\":45,\"leftDistance\":4}'", ]""" # read_serial = ["{\"frontDistance\":65,\"rightDistance\":4,\"leftDistance\":65}'", # "{\"frontDistance\":35,\"rightDistance\":4,\"leftDistance\":4}'", # "{\"frontDistance\":5,\"rightDistance\":4,\"leftDistance\":35}'" # ] '''read_serial = ["{\"frontDistance\":65,\"rightDistance\":5,\"leftDistance\":35}'", "{\"frontDistance\":35,\"rightDistance\":5,\"leftDistance\":5}'", "{\"frontDistance\":5,\"rightDistance\":5,\"leftDistance\":35}'", "{\"frontDistance\":35,\"rightDistance\":5,\"leftDistance\":1000}'", "{\"frontDistance\":5,\"rightDistance\":35,\"leftDistance\":5}'", "{\"frontDistance\":35,\"rightDistance\":35,\"leftDistance\":5}'", "{\"frontDistance\":5,\"rightDistance\":35,\"leftDistance\":5}'", "{\"frontDistance\":35,\"rightDistance\":35,\"leftDistance\":5}'", "{\"frontDistance\":5,\"rightDistance\":5,\"leftDistance\":35}'", "{\"frontDistance\":35,\"rightDistance\":5,\"leftDistance\":35}'", "{\"frontDistance\":5,\"rightDistance\":5,\"leftDistance\":35}'", "{\"frontDistance\":125,\"rightDistance\":5,\"leftDistance\":35}'", "{\"frontDistance\":95,\"rightDistance\":5,\"leftDistance\":5}'", "{\"frontDistance\":65,\"rightDistance\":5,\"leftDistance\":5}'", "{\"frontDistance\":35,\"rightDistance\":5,\"leftDistance\":125}'", "{\"frontDistance\":5,\"rightDistance\":5,\"leftDistance\":5}'", "{\"frontDistance\":125,\"rightDistance\":5,\"leftDistance\":5}'", "{\"frontDistance\":95,\"rightDistance\":125,\"leftDistance\":5}'", "{\"frontDistance\":125,\"rightDistance\":35,\"leftDistance\":95}'", "{\"frontDistance\":95,\"rightDistance\":5,\"leftDistance\":125}'", "{\"frontDistance\":65,\"rightDistance\":5,\"leftDistance\":5}'", "{\"frontDistance\":35,\"rightDistance\":5,\"leftDistance\":5}'", "{\"frontDistance\":5,\"rightDistance\":125,\"leftDistance\":5}'", ]''' read_serial = [ "{\"frontDistance\":65,\"rightDistance\":5,\"leftDistance\":5}'", "{\"frontDistance\":14000,\"rightDistance\":5,\"leftDistance\":5}'", "{\"frontDistance\":45,\"rightDistance\":5,\"leftDistance\":5}'", "{\"frontDistance\":25,\"rightDistance\":5,\"leftDistance\":5}'", "{\"frontDistance\":15,\"rightDistance\":5,\"leftDistance\":5}'", "{\"frontDistance\":5,\"rightDistance\":5,\"leftDistance\":5}'", "{\"frontDistance\":30,\"rightDistance\":5,\"leftDistance\":5}'", "{\"frontDistance\":28,\"rightDistance\":5,\"leftDistance\":5}'", "{\"frontDistance\":25,\"rightDistance\":5,\"leftDistance\":95}'", "{\"frontDistance\":20,\"rightDistance\":5,\"leftDistance\":95}'", "{\"frontDistance\":16,\"rightDistance\":5,\"leftDistance\":95}'", "{\"frontDistance\":10,\"rightDistance\":5,\"leftDistance\":95}'", "{\"frontDistance\":8,\"rightDistance\":5,\"leftDistance\":95}'", "{\"frontDistance\":5,\"rightDistance\":5,\"leftDistance\":95}'", "{\"frontDistance\":10,\"rightDistance\":5,\"leftDistance\":85}'", "{\"frontDistance\":20,\"rightDistance\":5,\"leftDistance\":75}'", "{\"frontDistance\":25,\"rightDistance\":5,\"leftDistance\":85}'", "{\"frontDistance\":35,\"rightDistance\":5,\"leftDistance\":90}'", "{\"frontDistance\":45,\"rightDistance\":5,\"leftDistance\":105}'", "{\"frontDistance\":65,\"rightDistance\":5,\"leftDistance\":105}'", "{\"frontDistance\":80,\"rightDistance\":5,\"leftDistance\":105}'", "{\"frontDistance\":95,\"rightDistance\":5,\"leftDistance\":1005}'", "{\"frontDistance\":85,\"rightDistance\":5,\"leftDistance\":1005}'", "{\"frontDistance\":75,\"rightDistance\":5,\"leftDistance\":5}'", "{\"frontDistance\":60,\"rightDistance\":5,\"leftDistance\":5}'", "{\"frontDistance\":65,\"rightDistance\":5,\"leftDistance\":5}'", "{\"frontDistance\":55,\"rightDistance\":5,\"leftDistance\":5}'", "{\"frontDistance\":45,\"rightDistance\":25,\"leftDistance\":25}'", "{\"frontDistance\":25,\"rightDistance\":25,\"leftDistance\":25}'", "{\"frontDistance\":35,\"rightDistance\":45,\"leftDistance\":35}'", "{\"frontDistance\":35,\"rightDistance\":65,\"leftDistance\":35}'", "{\"frontDistance\":5,\"rightDistance\":35,\"leftDistance\":5}'", "{\"frontDistance\":35,\"rightDistance\":35,\"leftDistance\":5}'", "{\"frontDistance\":5,\"rightDistance\":5,\"leftDistance\":35}'", "{\"frontDistance\":35,\"rightDistance\":5,\"leftDistance\":5}'", "{\"frontDistance\":5,\"rightDistance\":35,\"leftDistance\":5}'", "{\"frontDistance\":35,\"rightDistance\":35,\"leftDistance\":5}'", "{\"frontDistance\":5,\"rightDistance\":5,\"leftDistance\":35}'", "{\"frontDistance\":7,\"rightDistance\":7,\"leftDistance\":28}'", "{\"frontDistance\":9,\"rightDistance\":9,\"leftDistance\":20}'", "{\"frontDistance\":12,\"rightDistance\":12,\"leftDistance\":25}'", "{\"frontDistance\":25,\"rightDistance\":10,\"leftDistance\":30}'", "{\"frontDistance\":29,\"rightDistance\":8,\"leftDistance\":33}'", "{\"frontDistance\":32,\"rightDistance\":5,\"leftDistance\":35}'", "{\"frontDistance\":35,\"rightDistance\":5,\"leftDistance\":5}'", "{\"frontDistance\":5,\"rightDistance\":5,\"leftDistance\":35}'", "{\"frontDistance\":65,\"rightDistance\":5,\"leftDistance\":35}'", "{\"frontDistance\":35,\"rightDistance\":5,\"leftDistance\":5}'", "{\"frontDistance\":5,\"rightDistance\":5,\"leftDistance\":35}'", "{\"frontDistance\":35,\"rightDistance\":5,\"leftDistance\":65}'", "{\"frontDistance\":5,\"rightDistance\":65,\"leftDistance\":5}'", "{\"frontDistance\":65,\"rightDistance\":35,\"leftDistance\":5}'", "{\"frontDistance\":35,\"rightDistance\":35,\"leftDistance\":65}'", "{\"frontDistance\":35,\"rightDistance\":35,\"leftDistance\":65}'", "{\"frontDistance\":5,\"rightDistance\":5,\"leftDistance\":5}'", "{\"frontDistance\":95,\"rightDistance\":5,\"leftDistance\":5}'", "{\"frontDistance\":65,\"rightDistance\":35,\"leftDistance\":35}'", "{\"frontDistance\":35,\"rightDistance\":35,\"leftDistance\":35}'", "{\"frontDistance\":5,\"rightDistance\":5,\"leftDistance\":5}'", "{\"frontDistance\":65,\"rightDistance\":5,\"leftDistance\":5}'", "{\"frontDistance\":35,\"rightDistance\":35,\"leftDistance\":35}'", "{\"frontDistance\":35,\"rightDistance\":35,\"leftDistance\":35}'", "{\"frontDistance\":5,\"rightDistance\":5,\"leftDistance\":5}'", "{\"frontDistance\":65,\"rightDistance\":5,\"leftDistance\":5}'", "{\"frontDistance\":35,\"rightDistance\":35,\"leftDistance\":35}'", "{\"frontDistance\":35,\"rightDistance\":35,\"leftDistance\":35}'", "{\"frontDistance\":5,\"rightDistance\":5,\"leftDistance\":35}'", "{\"frontDistance\":35,\"rightDistance\":65,\"leftDistance\":5}'", "{\"frontDistance\":65,\"rightDistance\":35,\"leftDistance\":5}'", "{\"frontDistance\":35,\"rightDistance\":5,\"leftDistance\":5}'", "{\"frontDistance\":5,\"rightDistance\":35,\"leftDistance\":5}'", "{\"frontDistance\":35,\"rightDistance\":65,\"leftDistance\":5}'", "{\"frontDistance\":5,\"rightDistance\":35,\"leftDistance\":5}'", "{\"frontDistance\":35,\"rightDistance\":35,\"leftDistance\":5}'", # "{\"frontDistance\":5,\"rightDistance\":5,\"leftDistance\":35}'",######## # "{\"frontDistance\":35,\"rightDistance\":5,\"leftDistance\":35}'", # "{\"frontDistance\":5,\"rightDistance\":35,\"leftDistance\":5}'", # "{\"frontDistance\":35,\"rightDistance\":35,\"leftDistance\":5}'", # "{\"frontDistance\":5,\"rightDistance\":5,\"leftDistance\":35}'", # "{\"frontDistance\":65,\"rightDistance\":5,\"leftDistance\":35}'", # "{\"frontDistance\":35,\"rightDistance\":35,\"leftDistance\":65}'", # "{\"frontDistance\":35,\"rightDistance\":35,\"leftDistance\":35}'", # "{\"frontDistance\":5,\"rightDistance\":5,\"leftDistance\":35}'", # "{\"frontDistance\":1005,\"rightDistance\":5,\"leftDistance\":95}'", # "{\"frontDistance\":105,\"rightDistance\":5,\"leftDistance\":5}'", ] readJson(read_serial[0]) maze[pos.x][pos.y].makeNode() for i in read_serial: readJson(i) print(m.toString()) if (ignoreMetrics() is True): print('ignore') continue move() createJson() print('#####################') f = open('output.txt', 'w', encoding=('utf-8')) for j in maze: print(j) f.write(str(j)) f.write('\n\n') f.close() ############################################################################ m = Metrics() pos = Possition() h, l = 10, 5 maze = [[[] for x in range(h)] for y in range(l)] for y in range(l): for x in range(h): maze[y][x] = Node() main()