From 019c4590aa834a92bd2237f7076f5461d54e45f3 Mon Sep 17 00:00:00 2001
From: Simon Pirkelmann <simon.pirkelmann@gmail.com>
Date: Tue, 7 Sep 2021 22:35:02 +0200
Subject: [PATCH] implemented communication interface with real robots

---
 gauss-turing/webserver/event_server_comm.py | 15 ++++++++++++++
 gauss-turing/webserver/gauss_turing.py      | 23 +++++++++++++++++----
 2 files changed, 34 insertions(+), 4 deletions(-)
 create mode 100644 gauss-turing/webserver/event_server_comm.py

diff --git a/gauss-turing/webserver/event_server_comm.py b/gauss-turing/webserver/event_server_comm.py
new file mode 100644
index 0000000..d3cb082
--- /dev/null
+++ b/gauss-turing/webserver/event_server_comm.py
@@ -0,0 +1,15 @@
+import socket
+import json
+
+HOST, PORT = "localhost", 42424
+
+def move_grid(x, y, orientation, dimx, dimy):
+    sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    sock.connect((HOST, PORT))
+    payload = json.dumps({"x": x, "y": y, "dimx": dimx, "dimy": dimy, "orientation": orientation})
+    sock.sendall(f"move_grid_blocking;{payload}\n".encode())
+    reply = sock.recv(1024)
+    print(reply)
+
+if __name__ == "__main__":
+    move_grid(1,1,'^', 5, 5)
\ No newline at end of file
diff --git a/gauss-turing/webserver/gauss_turing.py b/gauss-turing/webserver/gauss_turing.py
index d0141cf..0e2befb 100644
--- a/gauss-turing/webserver/gauss_turing.py
+++ b/gauss-turing/webserver/gauss_turing.py
@@ -3,6 +3,8 @@ import random
 import pygame
 import os
 
+from event_server_comm import move_grid
+
 BLACK = np.array([0, 0, 0], dtype=np.uint8)
 WHITE = np.array([255, 255, 255], dtype=np.uint8)
 RED = np.array([255, 0, 0], dtype=np.uint8)
@@ -22,6 +24,7 @@ P0_text = myfont.render('P0', False, tuple(BLACK))
 tiledt = np.dtype([('x', np.uint8), ('y', np.uint8), ('color', np.uint8, 3), ('star', np.bool)])
 
 
+
 class Board:
     valid_colors = [WHITE, RED, BLUE]
 
@@ -29,8 +32,6 @@ class Board:
         self.tiles = np.zeros((dim_y, dim_x), dtype=tiledt)
         for x in range(dim_x):
             for y in range(dim_y):
-                self.tiles[y, x]['x'] = x
-                self.tiles[y, x]['y'] = y
                 self.tiles[y, x]['color'] = random.choice(Board.valid_colors)
 
     def render(self, scale_fac):
@@ -51,6 +52,12 @@ class Board:
 
         return board_surf
 
+    def get_xdims(self):
+        return self.tiles.shape[1]
+
+    def get_ydims(self):
+        return self.tiles.shape[0]
+
     # def __repr__(self):
     #     s = ''
     #     for y in range(self.tiles.shape[0]):
@@ -103,6 +110,9 @@ class Robot:
         robot_surf = pygame.transform.rotate(robot_surf, self.get_angle())
         return robot_surf
 
+    def update_pos(self, dimx, dimy):
+        move_grid(self.x, self.y, self.orientation, dimx, dimy)
+
     def __repr__(self):
         return f"({self.y}, {self.x}) - {self.orientation}"
 
@@ -201,8 +211,10 @@ class Program:
                 ynew, xnew = self.robot.get_forward_coordinates()
                 self.robot.x = xnew
                 self.robot.y = ynew
+                self.robot.update_pos(self.board.get_xdims(), self.board.get_ydims())
             elif cmd.action in {'left', 'right'}:
                 self.robot.orientation = Robot.resulting_orientation[self.robot.orientation][cmd.action]
+                self.robot.update_pos(self.board.get_xdims(), self.board.get_ydims())
             elif cmd.action == 'P0':
                 self.prg_counter = 0
         else:
@@ -266,12 +278,14 @@ class Game:
     def __init__(self, dimx, dimy, robotx, roboty):
         self.robot = Robot(x=robotx, y=roboty, orientation='v')
         self.board = Board(dimx, dimy)
-        self.board.tiles[3,3]['star'] = True
+        coin1x = np.random.randint(0, dimx)
+        coin1y = np.random.randint(0, dimy)
+        self.board.tiles[coin1y,coin1x]['star'] = True
         self.board.tiles[3,2]['star'] = True
 
         # TODO fix number of commands at 5
         self.cmds = [Command('forward'), Command('left', color=RED), Command('left', color=BLUE), Command('P0'), Command('-')]
-        self.state = 'input'
+        self.state = 'reset'
 
         self.prg = Program(self.robot, self.board, self.cmds)
 
@@ -427,6 +441,7 @@ class Game:
         self.robot.x = self.initial_pos[0]
         self.robot.y = self.initial_pos[1]
         self.robot.orientation = self.initial_pos[2]
+        self.robot.update_pos(self.board.get_xdims(), self.board.get_ydims())
         self.board.tiles = self.inital_board_tiles.copy()
         return 'input'