112 lines
4.1 KiB
Plaintext
112 lines
4.1 KiB
Plaintext
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import asyncio
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import sys
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import time
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from queue import PriorityQueue
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def heuristic(a, b):
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(x1, y1) = a
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(x2, y2) = b
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return abs(x1 - x2) + abs(y1 - y2)
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async def tractor():
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directions = ['N', 'W', 'S', 'E']
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current_rotation = 'S'
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start = (0,0)
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current_position = start
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goal = (10,6)
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frontier = PriorityQueue()
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frontier.put(start, 0)
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came_from = {}
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cost_so_far = {}
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came_from[start] = None
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cost_so_far[start] = 0
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start_flag = True
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while not frontier.empty():
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local_graph = []
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is_already_moved = False
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for i, direction in enumerate(directions):
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reader, writer = await asyncio.open_connection('127.0.0.1', 8888)
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writer.write("move\n".encode())
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data = await reader.readline()
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result = data.decode()
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writer.close()
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time.sleep(0.7)
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if result == "OK":
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print("OK")
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if direction == 'N':
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local_graph.append((current_position[0] - 1, current_position[1]))
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elif direction == 'S':
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local_graph.append((current_position[0] + 1, current_position[1]))
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elif direction == 'W':
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local_graph.append((current_position[0], current_position[1] - 1 ))
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else:
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local_graph.append((current_position[0], current_position[1] + 1 ))
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if i == 3 and len(local_graph) == 1:
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is_already_moved = True
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else:
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reader, writer = await asyncio.open_connection('127.0.0.1', 8888)
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writer.write(("rotate " + directions[((i + 2) % 4)] + "\n").encode())
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data = await reader.readline()
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writer.close()
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time.sleep(0.7)
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reader, writer = await asyncio.open_connection('127.0.0.1', 8888)
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writer.write("move\n".encode())
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data = await reader.readline()
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writer.close()
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time.sleep(0.7)
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reader, writer = await asyncio.open_connection('127.0.0.1', 8888)
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current_rotation = directions[((i - 1) % 4)]
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writer.write(("rotate " + current_rotation + "\n").encode())
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data = await reader.readline()
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writer.close()
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time.sleep(0.7)
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current = frontier.get()
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if not start_flag and not is_already_moved:
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if current[0] == current_position[0] and current[1] > current_position[1]:
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current_rotation = 'E'
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elif current[0] == current_position[0] and current[1] < current_position[1]:
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current_rotation = 'W'
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elif current[0] > current_position[0]:
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current_rotation = 'S'
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elif current[0] < current_position[0]:
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current_rotation = 'N'
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reader, writer = await asyncio.open_connection('127.0.0.1', 8888)
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writer.write(("rotate " + current_rotation + "\n").encode())
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data = await reader.readline()
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writer.close()
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time.sleep(0.7)
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reader, writer = await asyncio.open_connection('127.0.0.1', 8888)
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writer.write("move\n".encode())
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data = await reader.readline()
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writer.close()
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time.sleep(0.7)
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if current == goal:
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break
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for next in local_graph:
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new_cost = cost_so_far[current] + 1
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if next not in cost_so_far or new_cost < cost_so_far[next]:
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cost_so_far[next] = new_cost
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priority = new_cost + heuristic(goal, next)
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frontier.put(next, priority)
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came_from[next] = current
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start_flag = False
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# reader, writer = await asyncio.open_connection(
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# '127.0.0.1', 8888)
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# time.sleep(0.7)
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# writer.write("rotate E\n".encode())
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# data = await reader.readline()
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# sys.stdout.write(data.decode())
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# time.sleep(0.7)
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asyncio.run(tractor())
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