-
Notifications
You must be signed in to change notification settings - Fork 1
/
server_sim.py
320 lines (259 loc) · 9.75 KB
/
server_sim.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
#!/usr/bin/env python
"""Tornado server to run the simulation experiments
Attributes:
app (tornado.web.Application): Address mappings
clients (dict): Dictionary of active clients
settings (dict): Settings for the web-server
"""
import json
import numpy as np
import os
import time
import tornado.web as web
import tornado.websocket as websocket
import tornado.ioloop as ioloop
import threading
from tornado.options import define, options
from Algo.Exploration import Exploration
from Algo.FastestPath import FastestPath
from Algo.Constants import START, GOAL, NORTH
__author__ = "Utsav Garg"
define("port", default=8888, help="run on the given port", type=int)
clients = dict()
currentMap = np.zeros([20, 15])
map_name = 'map.txt'
area = 0
step = 0.1
class FuncThread(threading.Thread):
"""Class to create and run functions on different threads
"""
def __init__(self, target, *args):
"""Construction to initialize the thread
Args:
target (function): Function to be run on new threads
*args: arguments to be passed to the function
"""
self._target = target
self._args = args
threading.Thread.__init__(self)
def run(self):
"""Overrides run function to run the function with given arguments
"""
self._target(*self._args)
class IndexHandler(web.RequestHandler):
"""To display the front-end interface
"""
@web.asynchronous
def get(self):
self.render("index.html")
class WebSocketHandler(websocket.WebSocketHandler):
"""Handles web-socket requests from the front-end to receive/send messages
Attributes:
id (string): id string from GET request
"""
def open(self):
"""Open a web socket for communication
"""
self.id = self.get_argument("Id")
self.stream.set_nodelay(True)
clients[self.id] = {"id": self.id, "object": self}
print("WebSocket opened")
def on_message(self, message):
"""Displays any message received
Args:
message (string): Message received from front-end
"""
print("Client " + str(self.id) + " received a message : " + str(message))
def on_close(self):
"""Run when the web socket is closed
"""
print("WebSocket closed")
if self.id in clients:
del clients[self.id]
class StartHandler(web.RequestHandler):
"""Handles the start of exploration for the maze
"""
@web.asynchronous
def get(self):
self.write("Starting...")
self.step = self.get_argument("step")
self.limit = self.get_argument("limit")
self.coverage = self.get_argument("coverage")
global step
step = float(self.step)
startExploration(self.limit, self.coverage)
self.flush()
class ResetHandler(web.RequestHandler):
"""Handles the reset of the current map
"""
@web.asynchronous
def get(self):
self.write("Reset...")
global exp
exp = Exploration(map_name, 5)
print exp.currentMap
update(np.zeros([20, 15]), exp.exploredArea, exp.robot.center, exp.robot.head,
START, GOAL, 0)
class FSPHandler(web.RequestHandler):
"""Handles the start of fastest path for the maze
"""
@web.asynchronous
def get(self):
self.x = self.get_argument("x")
self.y = self.get_argument("y")
self.write("Starting...")
startFastestPath([self.x, self.y])
self.flush()
class LoadMapHandler(web.RequestHandler):
"""Handles the start of fastest path for the maze
"""
@web.asynchronous
def get(self):
global map_name
self.name = self.get_argument("name")
map_name = self.name
def startExploration(limit, coverage):
"""To start the exploration of the maze
"""
global exp, t_s
exp = Exploration(map_name, 5)
t_s = time.time()
t2 = FuncThread(exploration, exp, limit, coverage)
t2.start()
# t2.join()
def exploration(exp, limit, coverage):
"""To explore the map and update the front-end after each move
Args:
exp (Exploration): New instance of the exploration class
"""
global currentMap, area
limit = map(int, str(limit).strip().split(':'))
time_limit = limit[0]*60*60 + limit[1]*60 + limit[2]
elapsedTime = 0
update(exp.currentMap, exp.exploredArea, exp.robot.center, exp.robot.head, START, GOAL, 0)
logger('Exploration Started !')
current = exp.moveStep()
currentMap = exp.currentMap
area = exp.exploredArea
visited = dict()
steps = 0
numCycle = 1
while (not current[1] and elapsedTime <= time_limit and exp.exploredArea < int(coverage)):
elapsedTime = round(time.time()-t_s, 2)
update(exp.currentMap, exp.exploredArea, exp.robot.center, exp.robot.head, START, GOAL,
elapsedTime)
current = exp.moveStep()
currentMap = exp.currentMap
area = exp.exploredArea
steps += 1
currentPos = tuple(exp.robot.center)
if (currentPos in visited):
visited[currentPos] += 1
if (visited[currentPos] > 3):
neighbour = exp.getExploredNeighbour()
if (neighbour):
neighbour = np.asarray(neighbour)
fsp = FastestPath(currentMap, exp.robot.center, neighbour,
exp.robot.direction, None)
fastestPath(fsp, neighbour, exp.exploredArea, None)
exp.robot.center = neighbour
exp.robot.head = fsp.robot.head
exp.robot.direction = fsp.robot.direction
else:
break
else:
visited[currentPos] = 1
if (np.array_equal(exp.robot.center, START)):
numCycle += 1
if (numCycle > 1 and steps > 4 and exp.exploredArea < 100):
neighbour = exp.getExploredNeighbour()
if (neighbour):
neighbour = np.asarray(neighbour)
fsp = FastestPath(currentMap, exp.robot.center, neighbour,
exp.robot.direction, None)
fastestPath(fsp, neighbour, exp.exploredArea, None)
exp.robot.center = neighbour
exp.robot.head = fsp.robot.head
exp.robot.direction = fsp.robot.direction
exp.robot.getSensors()
else:
break
time.sleep(float(step))
update(exp.currentMap, exp.exploredArea, exp.robot.center, exp.robot.head, START, GOAL,
elapsedTime)
logger('Exploration Done !')
logger("Map Descriptor 1 --> "+str(exp.robot.descriptor_1()))
logger("Map Descriptor 2 --> "+str(exp.robot.descriptor_2()))
fsp = FastestPath(currentMap, exp.robot.center, START, exp.robot.direction, None)
logger('Fastest Path Started !')
fastestPath(fsp, START, exp.exploredArea, None)
def startFastestPath(waypoint):
"""To start the fastest path of the maze
"""
global fsp
global t_s
waypoint = map(int, waypoint)
fsp = FastestPath(currentMap, START, GOAL, NORTH, waypoint)
t_s = time.time()
logger('Fastest Path Started !')
t3 = FuncThread(fastestPath, fsp, GOAL, area, waypoint)
t3.start()
# t3.join() this causes the thread to close after exploration and websocket closes
def markMap(curMap, waypoint):
if waypoint:
curMap[tuple(waypoint)] = 7
return curMap
def fastestPath(fsp, goal, area, waypoint):
fsp.getFastestPath()
logger(json.dumps(fsp.path))
while (fsp.robot.center.tolist() != goal.tolist()):
fsp.moveStep()
elapsedTime = round(time.time()-t_s, 2)
update(markMap(np.copy(fsp.exploredMap), waypoint), area, fsp.robot.center, fsp.robot.head,
START, GOAL, elapsedTime)
time.sleep(step)
logger('Fastest Path Done !')
def update(current_map, exploredArea, center, head, start, goal, elapsedTime):
"""To send messages to update the front-end
Args:
current_map (Numpy array): Current state of the exploration map
exploredArea (int): Number of cells that have been explored
center (list): Location of center of the robot
head (list): Location of head of the robot
start (list): Location of the starting point for the robot
goal (list): Location of the finishing point for the robot
elapsedTime (float): The time that has elapsed since exploration started
"""
for key in clients:
message = dict()
message['area'] = '%.2f' % (exploredArea)
tempMap = current_map.copy()
tempMap[start[0]-1: start[0]+2, start[1]-1: start[1]+2] = 3
tempMap[goal[0]-1: goal[0]+2, goal[1]-1: goal[1]+2] = 4
message['map'] = json.dumps(tempMap.astype(int).tolist())
message['center'] = json.dumps(center.astype(int).tolist())
message['head'] = json.dumps(head.astype(int).tolist())
message['time'] = '%.2f' % (elapsedTime)
clients[key]['object'].write_message(json.dumps(message))
def logger(message):
for key in clients:
log = {'log': message}
clients[key]['object'].write_message(json.dumps(log))
settings = dict(
template_path=os.path.join(os.path.dirname(__file__), "GUI", "templates"),
debug=True
)
app = web.Application([
(r'/', IndexHandler),
(r'/websocket', WebSocketHandler),
(r'/start', StartHandler),
(r'/reset', ResetHandler),
(r'/fsp', FSPHandler),
(r'/lm', LoadMapHandler),
(r'/(.*)', web.StaticFileHandler, {'path': os.path.join(os.path.dirname(__file__), "GUI")})
], **settings)
if __name__ == '__main__':
app.listen(options.port)
t1 = FuncThread(ioloop.IOLoop.instance().start)
t1.start()
t1.join()