Implementation of Continuous World

reachtarunhere · norvig · commit b4016e941f8f · 2016-04-01T21:30:46.000-07:00
* Model for ContinuousWorld

* Added PolygonObstacle Class

* Added HTML for Continuos World

* Added JS for Continuous World

* Implemented ContinuousWorldView Class
diff --git a/agents.py b/agents.py
@@ -516,6 +516,28 @@ class Obstacle(Thing):
 class Wall(Obstacle):
     pass
 
+
+
+# ______________________________________________________________________________
+# Continuous environment
+
+class ContinuousWorld(Environment):
+    """ Model for Continuous World. """
+    def __init__(self, width=10, height=10):
+        super(ContinuousWorld, self).__init__()
+        self.width = width
+        self.height = height
+
+    def add_obstacle(self, coordinates):
+        self.things.append(PolygonObstacle(coordinates))
+
+
+class PolygonObstacle(Obstacle):
+    def __init__(self, coordinates):
+        """ Coordinates is a list of tuples. """
+        super(PolygonObstacle, self).__init__()
+        self.coordinates = coordinates
+
 # ______________________________________________________________________________
 # Vacuum environment
 
diff --git a/ipyviews.py b/ipyviews.py
@@ -0,0 +1,62 @@
+from IPython.display import HTML, display, clear_output
+from agents import PolygonObstacle
+import time
+import __main__
+
+
+# ______________________________________________________________________________
+# Continuous environment
+
+
+_CONTINUOUS_WORLD_HTML = '''
+<div>
+    <canvas class="main-robo-world" width="{0}" height="{1}" style="background:rgba(158, 167, 184, 0.2);" data-world_name="{2}"  onclick="getPosition(this,event)"/>
+</div>
+
+<script type="text/javascript">
+var all_polygons = {3};
+{4}
+</script>
+'''
+
+with open('js/continuousworld.js', 'r') as js_file:
+    _JS_CONTINUOUS_WORLD = js_file.read()
+
+
+class ContinuousWorldView:
+    ''' View for continuousworld Implementation in agents.py '''
+
+    def __init__(self, world, fill="#AAA"):
+        self.time = time.time()
+        self.world = world
+        self.width = world.width
+        self.height = world.height
+
+    def object_name(self):
+        globals_in_main = {x: getattr(__main__, x) for x in dir(__main__)}
+        for x in globals_in_main:
+            if isinstance(globals_in_main[x], type(self)):
+                if globals_in_main[x].time == self.time:
+                    return x
+
+    def handle_add_obstacle(self, vertices):
+        """ Vertices must be a nestedtuple. This method
+        is called from kernel.execute on completion of
+        a polygon. """
+        self.world.add_obstacle(vertices)
+        self.show()
+
+    def handle_remove_obstacle(self):
+        return NotImplementedError
+
+    def get_polygon_obstacles_coordinates(self):
+        obstacle_coordiantes = []
+        for thing in self.world.things:
+            if isinstance(thing, PolygonObstacle):
+                obstacle_coordiantes.append(thing.coordinates)
+        return obstacle_coordiantes
+
+    def show(self):
+        clear_output()
+        total_html = _CONTINUOUS_WORLD_HTML.format(self.width, self.height, self.object_name(), str(self.get_polygon_obstacles_coordinates()), _JS_CONTINUOUS_WORLD)
+        display(HTML(total_html))
diff --git a/js/continuousworld.js b/js/continuousworld.js
@@ -0,0 +1,71 @@
+var latest_output_area ="NONE"; // Jquery object for the DOM element of output area which was used most recently
+function handle_output(out, block){
+    var output = out.content.data["text/html"];
+    latest_output_area.html(output);
+}
+function polygon_complete(canvas, vertices){
+    latest_output_area = $(canvas).parents('.output_subarea');
+    var world_object_name = canvas.dataset.world_name;
+    var command = world_object_name + ".handle_add_obstacle(" + JSON.stringify(vertices) + ")";
+    console.log("Executing Command: " + command);
+    var kernel = IPython.notebook.kernel;
+    var callbacks = { 'iopub' : {'output' : handle_output}};
+    kernel.execute(command,callbacks);
+}
+var canvas , ctx;
+function drawPolygon(array) {
+    ctx.fillStyle = '#f00';
+    ctx.beginPath();
+    ctx.moveTo(array[0][0],array[0][1]);
+    for(var i = 1;i<array.length;++i)
+    {
+        ctx.lineTo(array[i][0], array[i][1]);
+    }
+    ctx.closePath();
+    ctx.fill();
+}
+var pArray = new Array();
+function getPosition(obj,event) {
+    canvas = obj;
+    ctx = canvas.getContext('2d');
+    var x = new Number();
+    var y = new Number();
+    x = event.pageX;
+    y = event.pageY;
+    x -= $(canvas).offset().left;
+    y -= $(canvas).offset().top;
+    drawPoint(x,y);
+    //draw dot
+    if(pArray.length>1)
+    {
+        drawPoint(pArray[0][0],pArray[0][1]);
+    }
+    //check overlap
+    if(ctx.isPointInPath(x, y) && (pArray.length>1)) {
+        //Do something
+        drawPolygon(pArray);
+        polygon_complete(canvas,pArray);
+    }
+    else {
+        var point = new Array();
+        point.push(x,y);
+        pArray.push(point);
+    }
+}
+function drawPoint(x, y) {
+    ctx.beginPath();
+    ctx.arc(x, y, 5, 0, Math.PI*2);
+    ctx.fillStyle = '#00f';
+    ctx.fill();
+    ctx.closePath();
+}
+function initalizeObstacles(objects) {
+    canvas = $('canvas.main-robo-world').get(0);
+    ctx = canvas.getContext('2d');
+    $('canvas.main-robo-world').removeClass('main-robo-world');
+    for(var i=0;i<objects.length;++i) {
+        drawPolygon(objects[i]);
+    }
+    pArray.length = 0;
+}
+initalizeObstacles(all_polygons);
