377 lines
12 KiB
Python
377 lines
12 KiB
Python
import requests
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import time
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import heapq
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class Cell:
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def __init__(self, x, y):
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self.x = x
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self.y = y
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self.walls = {'N': None, 'E': None, 'S': None, 'W': None}
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self.visited = False
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def get_wall_code(self):
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up = self.walls['N']
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right = self.walls['E']
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down = self.walls['S']
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left = self.walls['W']
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walls = (
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1 if up else 0,
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1 if right else 0,
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1 if down else 0,
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1 if left else 0
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)
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walls_to_code = {
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(0, 0, 0, 0): 0,
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(0, 0, 0, 1): 1,
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(1, 0, 0, 0): 2,
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(0, 1, 0, 0): 3,
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(0, 0, 1, 0): 4,
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(0, 0, 1, 1): 5,
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(0, 1, 1, 0): 6,
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(1, 1, 0, 0): 7,
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(1, 0, 0, 1): 8,
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(0, 1, 0, 1): 9,
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(1, 0, 1, 0): 10,
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(1, 1, 1, 0): 11,
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(1, 1, 0, 1): 12,
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(1, 0, 1, 1): 13,
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(0, 1, 1, 1): 14,
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(1, 1, 1, 1): 15
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}
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return walls_to_code.get(walls, 0)
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class Maze:
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class ExitDFS(Exception):
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pass
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def __init__(self):
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self.size = 16
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self.restart()
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self.grid = [[Cell(x, y) for y in range(self.size)] for x in range(self.size)]
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self.cells_to_ignore = {(7, 8)}
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def restart(self):
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#self.grid = [[Cell(x, y) for y in range(self.size)] for x in range(self.size)]
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self.start_x = 0
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self.start_y = 0
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def get_cell(self, x, y):
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return self.grid[x][y]
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def is_within_bounds(self, x, y):
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return 0 <= x < self.size and 0 <= y < self.size
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def to_array(self):
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maze_array = []
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for y in range(self.size - 1, -1, -1):
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row = []
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for x in range(self.size):
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cell = self.get_cell(x, y)
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row.append(cell.get_wall_code())
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maze_array.append(row)
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return maze_array
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class Robot:
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def __init__(self, token: str, maze: Maze):
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self.token = token
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self.api_url = 'http://127.0.0.1:8801/api/v1'
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self.maze = maze
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self.restart()
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def restart(self):
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self.x = self.maze.start_x
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self.y = self.maze.start_y
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self.orientation = 'N' # 'N', 'E', 'S', 'W'
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self.visited_cells = set()
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self.move_count = 0
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def get_sensor_data(self):
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time.sleep(0.2)
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response = requests.get(f'{self.api_url}/robot-cells/sensor-data', params={'token': self.token})
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return response.json()
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def move_forward(self):
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requests.post(f'{self.api_url}/robot-cells/forward', params={'token': self.token})
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time.sleep(0.2)
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self.update_position('forward')
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def turn_left(self):
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requests.post(f'{self.api_url}/robot-cells/left', params={'token': self.token})
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time.sleep(0.2)
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self.update_orientation('left')
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def turn_right(self):
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requests.post(f'{self.api_url}/robot-cells/right', params={'token': self.token})
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time.sleep(0.2)
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self.update_orientation('right')
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def update_orientation(self, turn):
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directions = ['N', 'E', 'S', 'W']
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idx = directions.index(self.orientation)
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if turn == 'left':
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self.orientation = directions[(idx - 1) % 4]
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elif turn == 'right':
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self.orientation = directions[(idx + 1) % 4]
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def update_position(self, move):
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dx, dy = 0, 0
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if self.orientation == 'N':
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dy = 1 if move == 'forward' else -1
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elif self.orientation == 'E':
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dx = 1 if move == 'forward' else -1
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elif self.orientation == 'S':
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dy = -1 if move == 'forward' else 1
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elif self.orientation == 'W':
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dx = -1 if move == 'forward' else 1
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self.x += dx
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self.y += dy
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self.move_count += 1
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def explore(self):
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try:
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self._dfs(self.x, self.y)
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except self.maze.ExitDFS:
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pass
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def _dfs(self, x, y):
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if (x, y) in self.maze.cells_to_ignore:
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return
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cell = self.maze.get_cell(x, y)
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if cell.visited:
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return
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cell.visited = True
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self.visited_cells.add((x, y))
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sensor_data = self.get_sensor_data()
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threshold = 100
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walls = {}
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walls[self.orientation_to_dir('N')] = sensor_data['front_distance'] < threshold
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walls[self.orientation_to_dir('E')] = sensor_data['right_side_distance'] < threshold
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walls[self.orientation_to_dir('W')] = sensor_data['left_side_distance'] < threshold
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walls[self.orientation_to_dir('S')] = sensor_data['back_distance'] < threshold
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cell.walls.update(walls)
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possible_directions = []
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for direction in ['N', 'E', 'S', 'W']:
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if not cell.walls[direction]:
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nx, ny = self.get_next_position(x, y, direction)
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if self.maze.is_within_bounds(nx, ny) and (nx, ny) not in self.visited_cells:
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if (nx, ny) not in self.maze.cells_to_ignore:
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possible_directions.append(direction)
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for direction in possible_directions:
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nx, ny = self.get_next_position(x, y, direction)
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self.move_to(direction)
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self._dfs(nx, ny)
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self.move_to(self.opposite_direction(direction))
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def get_next_position(self, x, y, direction):
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dx, dy = 0, 0
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if direction == 'N':
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dy = 1
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elif direction == 'E':
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dx = 1
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elif direction == 'S':
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dy = -1
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elif direction == 'W':
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dx = -1
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return x + dx, y + dy
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def move_to(self, direction):
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turns = self.calculate_turns(self.orientation, direction)
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for turn in turns:
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if turn == 'left':
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self.turn_left()
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elif turn == 'right':
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self.turn_right()
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self.move_forward()
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def calculate_turns(self, current_orientation, target_orientation):
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directions = ['N', 'E', 'S', 'W']
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idx_current = directions.index(current_orientation)
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idx_target = directions.index(target_orientation)
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delta = (idx_target - idx_current) % 4
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if delta == 0:
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return []
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elif delta == 1:
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return ['right']
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elif delta == 2:
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return ['right', 'right']
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elif delta == 3:
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return ['left']
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def opposite_direction(self, direction):
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opposites = {'N': 'S', 'E': 'W', 'S': 'N', 'W': 'E'}
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return opposites[direction]
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def orientation_to_dir(self, relative_direction):
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directions = ['N', 'E', 'S', 'W']
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idx = directions.index(self.orientation)
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if relative_direction == 'N':
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return directions[idx]
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elif relative_direction == 'E':
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return directions[(idx + 1) % 4]
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elif relative_direction == 'S':
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return directions[(idx + 2) % 4]
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elif relative_direction == 'W':
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return directions[(idx - 1) % 4]
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def restart_maze(self):
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response = requests.post(f"{self.api_url}/maze/restart", params={'token': self.token})
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time.sleep(0.5)
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if response.status_code == 200:
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print("Лабиринт перезапущен.")
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else:
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print(f"Ошибка при перезапуске лабиринта: {response.text}")
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def find_shortest_path_to_target(self, target_x, target_y):
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start_state = (self.x, self.y, self.orientation)
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queue = []
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heapq.heappush(queue, (0, 0, start_state, []))
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visited = set()
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while queue:
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f, g, (x, y, orientation), path = heapq.heappop(queue)
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if (x, y, orientation) in visited:
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continue
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visited.add((x, y, orientation))
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if (x, y) == (target_x, target_y):
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print(f"Найден путь до цели ({target_x}, {target_y})")
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return path
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cell = self.maze.get_cell(x, y)
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for action in ['forward', 'left_forward', 'right_forward']:
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if action == 'forward':
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next_orientation = orientation
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dx, dy = self.get_direction_delta(orientation)
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nx, ny = x + dx, y + dy
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action_cost = 1
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elif action == 'left_forward':
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next_orientation = self.turn_orientation(orientation, 'left')
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dx, dy = self.get_direction_delta(next_orientation)
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nx, ny = x + dx, y + dy
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action_cost = 2
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elif action == 'right_forward':
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next_orientation = self.turn_orientation(orientation, 'right')
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dx, dy = self.get_direction_delta(next_orientation)
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nx, ny = x + dx, y + dy
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action_cost = 2
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if not self.maze.is_within_bounds(nx, ny):
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continue
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next_cell = self.maze.get_cell(nx, ny)
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wall = cell.walls.get(next_orientation)
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if wall is None or wall:
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continue
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h = self.distance_to_target(nx, ny, target_x, target_y)
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heapq.heappush(queue, (
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g + action_cost + h,
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g + action_cost,
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(nx, ny, next_orientation),
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path + [(action, next_orientation)]
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))
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print(f"Путь до цели ({target_x}, {target_y}) не найден.")
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return None
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def execute_path(self, path):
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for action, orientation in path:
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if action == 'forward':
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self.move_forward()
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elif action == 'left_forward':
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self.turn_left()
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self.move_forward()
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elif action == 'right_forward':
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self.turn_right()
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self.move_forward()
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self.orientation = orientation
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print(f"Робот прибыл к цели на позиции ({self.x}, {self.y})")
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def get_direction_delta(self, orientation):
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if orientation == 'N':
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return 0, 1
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elif orientation == 'E':
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return 1, 0
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elif orientation == 'S':
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return 0, -1
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elif orientation == 'W':
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return -1, 0
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def turn_orientation(self, current_orientation, turn):
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directions = ['N', 'E', 'S', 'W']
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idx = directions.index(current_orientation)
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if turn == 'left':
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return directions[(idx - 1) % 4]
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elif turn == 'right':
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return directions[(idx + 1) % 4]
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def distance_to_target(self, x, y, target_x, target_y):
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return abs(x - target_x) + abs(y - target_y)
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def restart(robot: Robot, maze: Maze):
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robot.restart()
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robot.restart_maze()
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maze.restart()
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def start_once(robot: Robot, matrix_check: bool=True, score_check: bool=True):
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robot.explore()
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print_results(robot=robot, matrix_check=matrix_check, score_check=score_check)
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restart(robot, robot.maze)
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path = robot.find_shortest_path_to_target(7, 8)
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if path:
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robot.execute_path(path)
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else:
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print("Не удалось найти путь до клетки (7, 8).")
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def print_results(robot: Robot, matrix_check: bool=False, score_check: bool=True):
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maze_array = robot.maze.to_array()
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if matrix_check:
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for row in maze_array:
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print(row)
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if not score_check:
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return
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response = requests.post(
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f'{robot.api_url}/matrix/send',
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params={'token': robot.token},
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json=maze_array
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)
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if response.status_code == 200:
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response_data = response.json()
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score = response_data.get('Score')
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if score is not None:
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print('Отправка матрицы завершена' + f', Score: {score}')
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else:
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print('Отправка матрицы завершена, но Score отсутствует в ответе:', response_data)
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else:
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print('Ошибка при отправке матрицы, статус код:', response.status_code)
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def main(num_att=1):
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token = 'token'
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maze = Maze()
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robot = Robot(token=token, maze=maze)
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times = time.time()
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for i in range(num_att):
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start_time = time.time()
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print(f'Попытка {i + 1}')
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start_once(robot=robot)
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print(f'Время {time.time() - start_time} секунд')
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print(f'Общее время {time.time() - times} секунд (лимит - {60 * 15})')
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if __name__ == '__main__':
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main(num_att=1)
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