Python BZRC.get_occgrid方法代码示例

# 需要导入模块: from bzrc import BZRC [as 别名]
# 或者: from bzrc.BZRC import get_occgrid [as 别名]
def main():
    # Process CLI arguments.
    try:
        execname, host, port = sys.argv
    except ValueError:
        execname = sys.argv[0]
        print >> sys.stderr, '%s: incorrect number of arguments' % execname
        print >> sys.stderr, 'usage: %s hostname port' % sys.argv[0]
        sys.exit(-1)

    # Connect.
    # bzrc = BZRC(host, int(port), debug=True)
    bzrc = BZRC(host, int(port))

    agent = GraphAgent(bzrc)
    # print "Tank located at ({0}, {1})".format(agent.tank.x, agent.tank.y)

    t0 = time.time()
    prior = 0.5

    worldsize = int(agent.constants['worldsize'])
    true_pos, true_neg = float(agent.constants['truepositive']), float(agent.constants['truenegative'])
    prob_occupied = np.ones([worldsize, worldsize]) * prior
    seen = np.zeros([worldsize, worldsize], dtype=int)
    # print 'True Positive: ', true_pos
    # print 'True Negative: ', true_neg

    cur_goal, cur_point = None, None
    iters_total = 0

    # break the world up into a grid
    gridsize = 16
    waypoints = np.zeros([ gridsize, gridsize ], dtype=bool)

    try:
        last_known, iters_here = None, 0
        while True:

            # pick a new goal randomly if we got stuck
            location = (agent.tank.x, agent.tank.y)
            if location == last_known:
                iters_here += 1
            if iters_here > 10:
                print "Got stuck, selecting new goal"
                iters_here = 0
                cur_goal = cur_point = None
            last_known = location

            if cur_goal is None or agent.reached_goal(cur_point):

                # mark waypoint as visited
                if cur_goal != None:
                    print "Reached waypoint: {0}".format(cur_goal)
                    waypoints[cur_goal] = True

                wp_nearest = nearest_waypoint(waypoints, location, gridsize, worldsize)
                if wp_nearest == None:
                    print "Reached all waypoints"
                    command = Command(agent.tank.index, 0, 0, False)
                    results = agent.bzrc.do_commands([ command ])
                    break
                else:
                    cur_goal, cur_point = wp_nearest, Point('waypoint', waypoint_coord(wp_nearest, gridsize, worldsize))
                    print "Selected new waypoint: {0}".format(wp_nearest)
                    agent.set_goal(cur_point, False)

            time_diff = time.time() - t0
            agent.tick(time_diff)
            # print "Tank located at ({0}, {1})".format(agent.tank.x, agent.tank.y)

            # update probabilities
            pos, occ = bzrc.get_occgrid(agent.tank.index)
            update_occ(prob_occupied, seen, worldsize, (true_pos, true_neg), (pos, occ))

            # maybe save image
            if iters_total % 200 == 0:
                snapshot = np.rot90(prob_occupied * 255, 1)
                image.imsave("snapshots/iteration-{0}.png".format(iters_total), snapshot, cmap='gray')

            iters_total += 1

    except KeyboardInterrupt:
        print "Exiting due to keyboard interrupt."
        bzrc.close()

    # save thresholded map
    print "Saving map..."
    snapshot = np.rot90(prob_occupied * 255, 1) > 1
    image.imsave("snapshots/final.png".format(iters_total), snapshot, cmap='gray')

    print "Done in {0} iterations and {1:.1f}s".format(iters_total, time.time() - t0)

# 需要导入模块: from bzrc import BZRC [as 别名]
# 或者: from bzrc.BZRC import get_occgrid [as 别名]
class Grid():

	def __init__(self, port):

		self.bzrc = BZRC("localhost", int(port))
		self.grid = self.bzrc.get_occgrid(0)

		#print self.grid

		
		self.height = len(self.grid[1])
		self.width  = len(self.grid[1][3])

		self.bottom = int(self.grid[0][0])
		self.top = self.bottom + self.height

		self.left = int(self.grid[0][0])
		self.right = self.left + self.width

		# print "Left: " , self.left
		# print 'Right: ', self.right
		# print 'Top: ', self.top
		# print 'Bottom: ', self.bottom


		#print self.height, self.width

		self.number_grid = self.grid[1:][0]

		#print self.number_grid

		self.grid = []

		self.goal =  (int(self.bzrc.get_flags()[2].x), int(self.bzrc.get_flags()[2].y))
		# print "Goal: ", self.goal
		self.start = (int(self.bzrc.get_mytanks()[0].x), int(self.bzrc.get_mytanks()[0].y))
		# print "START: " , self.start


	'''
	@param goal: tuple(x, y)
	@returns grid of cell objects
	'''
	def get_grid(self):

		xList = []
		
		for x in range(self.height):
			#g = raw_input(self.number_grid[y])
			yList = []

			for y in range(self.width):

				reachable = True

				if self.number_grid[x][y] == 1:
					reachable = False
				else:
					reachable = True
					#print "reachable at: " + str(x) + " : " + str(y)

				cell = Cell(self.left + x, self.bottom + y, reachable, self.distance(self.left + x, self.right + y, self.goal))
				
				if (self.left + x, self.top + y) == self.goal:
					cell.end = True

				#s = raw_input("Goal Location: " + str(x + self.left) + " : " + str(y + self.bottom) + " : " + str(self.number_grid[y][x]))

				yList.append(cell)


			xList.append(yList)

		#print len(yList), len(xList)

		self.grid = xList

		return y
				
	def distance(self, x, y, goal):
		return math.sqrt((abs(x - goal[0])**2 + (abs(y - goal[1])**2)))

	def get_cell(self, x, y):

		x = int(x + self.right)
		y = int(y + self.top)

		#print "Get Cell: ", x, y

		try:
			return self.grid[x][y]
		except(IndexError):
			print "Max is: " + str(len(self.grid)) + ", " + str(len(self.grid[0]))
			print "Error on: Index: " + str(x) + ", " + str(y)
			sys.exit(0)

	def get_cell_tuple(self, xy):
		x = int(xy[0] + self.right)
		y = int(xy[1] + self.top)

#.........这里部分代码省略.........

# 需要导入模块: from bzrc import BZRC [as 别名]
# 或者: from bzrc.BZRC import get_occgrid [as 别名]
import sys
import math
import time

from bzrc import BZRC, Command

port = raw_input("Port?")
print port

bzrc = BZRC('127.0.0.1', int(port))

f = open("grid.txt", 'w')


grid = bzrc.get_occgrid(0)

f.write(str(grid[0][1] + grid[0][2]))


for line in grid[1]:
	l = ''
	for s in line:
		l += str(s)
	f.write(l + "\n")
#f.write(bzrc.get_occgrid(0))