Version 0.9.16: added world._events to track bulb and food state

Author: dsblank

aitk/robots/_version.py

@@ -8,5 +8,5 @@
 #
 # *************************************
 
-version_info = (0, 9, 15)
+version_info = (0, 9, 16)
 __version__ = ".".join(map(str, version_info))

aitk/robots/devices/bulbs.py

@@ -16,7 +16,8 @@ class Bulb(BaseDevice):
     """
     Class representing lights in the world.
     """
-    def __init__(self, color, x=0, y=0, z=0, brightness=50, name=None, **kwargs):
+    def __init__(self, color, x=0, y=0, z=0, brightness=50, name=None,
+                 world=None, **kwargs):
         """
         Create a lightbulb.
 
@@ -27,6 +28,7 @@ def __init__(self, color, x=0, y=0, z=0, brightness=50, name=None, **kwargs):
             z (float): the height of bulb from ground (range 0 to 1)
             brightness (float): the brightness of the bulb (default 50)
             name (str): the name of the bulb
+            world (World): if bulb is in world
         """
         config = {
             "color": color,
@@ -42,6 +44,7 @@ def __init__(self, color, x=0, y=0, z=0, brightness=50, name=None, **kwargs):
         self.draw_rings = 7 # rings around bulb light in views
         self._watcher = None
         self.robot = None
+        self.world = world
         self.from_json(config)
 
     def initialize(self):
@@ -104,15 +107,19 @@ def on(self):
         """
         self.state = "on"
         if self.robot is not None and self.robot.world is not None:
-            self.robot.world.update()
+            self.robot.world._event("bulb-on", bulb=self)
+        elif self.world is not None:
+            self.world._event("bulb-on", bulb=self)
 
     def off(self):
         """
         Turn the bulb "off".
         """
         self.state = "off"
         if self.robot is not None and self.robot.world is not None:
-            self.robot.world.update()
+            self.robot.world._event("bulb-off", bulb=self)
+        elif self.world is not None:
+            self.world._event("bulb-off", bulb=self)
 
     @property
     def x(self):

aitk/robots/robot.py

@@ -476,6 +476,13 @@ def set_pose(self, x=None, y=None, a=None, clear_trace=True):
             if a is not None:
                 a = degrees_to_world(a)
             self._set_pose(x, y, a, clear_trace)
+            # Set all velocities to zero
+            self.vx = 0.0  # velocity in x direction, CM per second
+            self.vy = 0.0  # velocity in y direction, degrees per second
+            self.va = 0.0  # turn velocity
+            self.tvx = 0.0
+            self.tvy = 0.0
+            self.tva = 0.0
             # Save the robot's pose to the config
             self.world.update()
             self.world.save()
@@ -497,6 +504,13 @@ def set_random_pose(self, clear_trace=True):
             # Direction is in radians, in world coordinates:
             x, y, a = self.world._find_random_pose(self)
             self._set_pose(x, y, a, clear_trace)
+            # Set all velocities to zero
+            self.vx = 0.0  # velocity in x direction, CM per second
+            self.vy = 0.0  # velocity in y direction, degrees per second
+            self.va = 0.0  # turn velocity
+            self.tvx = 0.0
+            self.tvy = 0.0
+            self.tva = 0.0
             # Save the robot's pose to the config
             self.world.update()
             self.world.save()
@@ -729,11 +743,8 @@ def eat(self):
         if self.world is not None:
             for food in self.world._food[:]: # copy
                 if distance(self.x, self.y, food[0], food[1]) <= self.eat_food_distance:
-                    self.food_eaten += 1
                     success = True
-                    self.world._food.remove(food)
-                    self.world._grid.need_update = True
-                    self.world.update() # request draw
+                    self.world._event("eat-food", self, food)
         return success
 
     def speak(self, text=None):

aitk/robots/utils.py

@@ -745,7 +745,7 @@ def get(self, x, y):
         Get the reading at the grid point.
         """
         x = max(min(self.width - 1, int(x)), 0)
-        y = max(min(self.height - 1, int(x)), 0)
+        y = max(min(self.height - 1, int(y)), 0)
         return self.grid[x][y]
 
     def get_image(self):

aitk/robots/world.py

@@ -196,7 +196,6 @@ def __init__(
             "quiet": quiet,
             "smell_cell_size": smell_cell_size,
         }
-        self._messages = []
         if filename is not None:
             config["filename"] = filename
         if ground_image_filename is not None:
@@ -209,6 +208,7 @@ def __init__(
             raise AttributeError(
                 "unknown arguments for World: %s" % list(kwargs.keys())
             )
+        self._events = []
         self._show_throttle_percentage = 0.40
         self._time_decimal_places = 1
         self._throttle_period = 0.1
@@ -229,6 +229,22 @@ def __init__(
     def __repr__(self):
         return "<World width=%r, height=%r>" % (self.width, self.height)
 
+    def _event(self, etype, **kwargs):
+        if etype == "eat-food":
+            robot = kwargs["robot"]
+            food = kwargs["food"]
+            robot.food_eaten += 1
+            self._food.remove(food)
+            self._grid.need_update = True
+            self._events.append((self.time, "eat-food", robot, food))
+        elif etype == "bulb-on":
+            bulb = kwargs["bulb"]
+            self._events.append((self.time, "bulb-on", bulb))
+        elif etype == "bulb-off":
+            bulb = kwargs["bulb"]
+            self._events.append((self.time, "bulb-off", bulb))
+        self.update() # request draw
+
     def get_image(self, index=None, size=100):
         """
         Get a PIL image of the world, or of a robot.
@@ -365,6 +381,7 @@ def reset(self):
         self._initialize()
         self._reset_watchers()
         self._food = []
+        self._events = []
         self._grid = None
         self.from_json(self.config)
         self.time = 0.0
@@ -808,7 +825,7 @@ def add_bulb(self, color, x, y, z, brightness, name=None):
 
     def _add_bulb(self, color, x, y, z, brightness, name=None):
         name = name if name is not None else "bulb-%s" % (len(self._bulbs) + 1)
-        bulb = Bulb(color, x, y, z, brightness, name)
+        bulb = Bulb(color, x, y, z, brightness, name, self)
         self._bulbs.append(bulb)
 
     def add_wall(self, color, x1, y1, x2, y2, box=True, wtype="wall"):