import requests import time class Cell: def __init__(self, x, y): self.x = x self.y = y self.walls = {'N': None, 'E': None, 'S': None, 'W': None} self.visited = False def get_wall_code(self): up = self.walls['N'] right = self.walls['E'] down = self.walls['S'] left = self.walls['W'] walls = ( 1 if up else 0, 1 if right else 0, 1 if down else 0, 1 if left else 0 ) walls_to_code = { (0, 0, 0, 0): 0, (0, 0, 0, 1): 1, (1, 0, 0, 0): 2, (0, 1, 0, 0): 3, (0, 0, 1, 0): 4, (0, 0, 1, 1): 5, (0, 1, 1, 0): 6, (1, 1, 0, 0): 7, (1, 0, 0, 1): 8, (0, 1, 0, 1): 9, (1, 0, 1, 0): 10, (1, 1, 1, 0): 11, (1, 1, 0, 1): 12, (1, 0, 1, 1): 13, (0, 1, 1, 1): 14, (1, 1, 1, 1): 15 } return walls_to_code.get(walls, 0) class Maze: class ExitDFS(Exception): pass def __init__(self): self.size = 16 self.restart() def restart(self): self.grid = [[Cell(x, y) for y in range(self.size)] for x in range(self.size)] self.start_x = 0 self.start_y = 0 def get_cell(self, x, y): return self.grid[x][y] def is_within_bounds(self, x, y): return 0 <= x < self.size and 0 <= y < self.size def to_array(self): maze_array = [] for y in range(self.size - 1, -1, -1): row = [] for x in range(self.size): cell = self.get_cell(x, y) row.append(cell.get_wall_code()) maze_array.append(row) return maze_array class Robot: def __init__(self, token: str, maze: Maze): self.token = token self.api_url = 'http://127.0.0.1:8801/api/v1' self.maze = maze self.restart() def restart(self): self.x = self.maze.start_x self.y = self.maze.start_y self.orientation = 'N' # 'N', 'E', 'S', 'W' self.visited_cells = set() self.move_count = 0 def get_sensor_data(self): time.sleep(0.2) response = requests.get(f'{self.api_url}/robot-cells/sensor-data', params={'token': self.token}) return response.json() def move_forward(self): requests.post(f'{self.api_url}/robot-cells/forward', params={'token': self.token}) time.sleep(0.2) self.update_position('forward') def turn_left(self): requests.post(f'{self.api_url}/robot-cells/left', params={'token': self.token}) time.sleep(0.2) self.update_orientation('left') def turn_right(self): requests.post(f'{self.api_url}/robot-cells/right', params={'token': self.token}) time.sleep(0.2) self.update_orientation('right') def move_backward(self): requests.post(f'{self.api_url}/robot-cells/backward', params={'token': self.token}) time.sleep(0.2) self.update_position('backward') def update_orientation(self, turn): directions = ['N', 'E', 'S', 'W'] idx = directions.index(self.orientation) if turn == 'left': self.orientation = directions[(idx - 1) % 4] elif turn == 'right': self.orientation = directions[(idx + 1) % 4] def update_position(self, move): dx, dy = 0, 0 if self.orientation == 'N': dy = 1 if move == 'forward' else -1 elif self.orientation == 'E': dx = 1 if move == 'forward' else -1 elif self.orientation == 'S': dy = -1 if move == 'forward' else 1 elif self.orientation == 'W': dx = -1 if move == 'forward' else 1 self.x += dx self.y += dy self.move_count += 1 def explore(self): try: self._dfs(self.x, self.y) except self.maze.ExitDFS: pass def _dfs(self, x, y): if len(self.visited_cells) == self.maze.size ** 2: raise self.maze.ExitDFS() cell = self.maze.get_cell(x, y) cell.visited = True self.visited_cells.add((x, y)) sensor_data = self.get_sensor_data() threshold = 100 walls = {} walls[self.orientation_to_dir('N')] = sensor_data['front_distance'] < threshold walls[self.orientation_to_dir('E')] = sensor_data['right_side_distance'] < threshold walls[self.orientation_to_dir('W')] = sensor_data['left_side_distance'] < threshold walls[self.orientation_to_dir('S')] = sensor_data['back_distance'] < threshold cell.walls.update(walls) for direction in ['N', 'E', 'S', 'W']: if not cell.walls[direction]: nx, ny = self.get_next_position(x, y, direction) if self.maze.is_within_bounds(nx, ny) and (nx, ny) not in self.visited_cells: self.move_to(direction) try: self._dfs(nx, ny) except self.maze.ExitDFS as e: raise e self.move_to(self.opposite_direction(direction)) # Возвращаемся назад def get_next_position(self, x, y, direction): dx, dy = 0, 0 if direction == 'N': dy = 1 elif direction == 'E': dx = 1 elif direction == 'S': dy = -1 elif direction == 'W': dx = -1 return x + dx, y + dy def move_to(self, direction): turns = self.calculate_turns(self.orientation, direction) for turn in turns: if turn == 'left': self.turn_left() elif turn == 'right': self.turn_right() self.move_forward() def calculate_turns(self, current_orientation, target_orientation): directions = ['N', 'E', 'S', 'W'] idx_current = directions.index(current_orientation) idx_target = directions.index(target_orientation) if idx_current == idx_target: return [] elif (idx_current + 1) % 4 == idx_target: return ['right'] elif (idx_current - 1) % 4 == idx_target: return ['left'] else: return ['left', 'left'] def opposite_direction(self, direction): opposites = {'N': 'S', 'E': 'W', 'S': 'N', 'W': 'E'} return opposites[direction] def orientation_to_dir(self, relative_direction): directions = ['N', 'E', 'S', 'W'] idx = directions.index(self.orientation) if relative_direction == 'N': return directions[idx] elif relative_direction == 'E': return directions[(idx + 1) % 4] elif relative_direction == 'S': return directions[(idx + 2) % 4] elif relative_direction == 'W': return directions[(idx - 1) % 4] def restart_maze(self): response = requests.post(f"{self.api_url}/maze/restart", params={'token': self.token}) if response.status_code == 200: print("Лабиринт перезапущен.") else: print(f"Ошибка при перезапуске лабиринта: {response.text}") def restart(robot: Robot, maze: Maze): robot.restart() robot.restart_maze() maze.restart() def start_once(robot: Robot, matrix_check: bool=False, score_check: bool=True): robot.explore() print_results(robot=robot, matrix_check=matrix_check, score_check=score_check) restart(robot=robot, maze=robot.maze) def print_results(robot:Robot, matrix_check: bool=False, score_check: bool=True): maze_array = robot.maze.to_array() if matrix_check: for row in maze_array: print(row) response = requests.post( f'{robot.api_url}/matrix/send', params={'token': robot.token}, json=maze_array ) if response.status_code == 200: response_data = response.json() score = response_data.get('Score') if score is not None: print('Отправка матрицы завершена' + f', Score: {score}' * score_check) else: print('Отправка матрицы завершена, но Score отсутствует в ответе:', response_data) else: print('Ошибка при отправке матрицы, статус код:', response.status_code) def main(num_att=1): token = 'token' maze = Maze() robot = Robot(token=token, maze=maze) times = time.time() for i in range(num_att): start_time = time.time() print(f'Попытка {i + 1}') start_once(robot=robot, matrix_check=True) print(f'Время {time.time() - start_time} секунд') print(f'Общее время {time.time() - times} секунд (лимит - {60 * 15})') if __name__ == '__main__': main(num_att=1)