From 40a53a68824d14e82d74ed35298cff2ec84ffaaa Mon Sep 17 00:00:00 2001
From: Razanne <razanne_abu-aisheh@hotmail.com>
Date: Thu, 23 Mar 2023 15:12:26 +0100
Subject: [PATCH] #262. WIP

---
 Connector.py          | 49 ++++++++++++++++++++++++++++++++++---------
 configs/razanne.toml  |  6 +++---
 floorplans/square.txt |  7 +++++++
 3 files changed, 49 insertions(+), 13 deletions(-)
 create mode 100644 floorplans/square.txt

diff --git a/Connector.py b/Connector.py
index d33e1ff..b92a4dd 100644
--- a/Connector.py
+++ b/Connector.py
@@ -26,6 +26,8 @@ def __init__(self):
             ) for i in range(1, len(self.getActiveRealDotbots())+1)
         ])
 
+        self.maxLength = 7
+
     def getActiveRealDotbots(self):
         # Set the base URL for the API
         base_url = "http://localhost:8000"
@@ -38,11 +40,31 @@ def getActiveRealDotbots(self):
         return response.json()
 
     def computeRealCoordinates(self, virtualX, virtualY):
-        return  ((virtualX)/self.scale, (virtualY)/self.scale)
+
+        # compute realX
+        if virtualX <= 1:
+            realX = 0
+        elif virtualX >= (self.maxLength-1):
+            realX = 1
+        else:
+            realX = virtualX/(self.maxLength-1)
+
+        # compute realY
+        if virtualY <= 1:
+            realY = 0
+        elif virtualY >= (self.maxLength-1):
+            realY = 1
+        else:
+            realY = virtualY/(self.maxLength-1)
+
+        print('virtual coordinates', virtualX, virtualY, '-> real coordinates', realX, realY)
+        return (realX, realY)
 
     def computeVirtualCoordinates(self, realX, realY):
-        print('real coordinates',realX, realY)
-        return  (realX*self.scale, realY*self.scale)
+
+        (virtualX, virtualY) =   (realX*(self.maxLength-1), realY*(self.maxLength-1))
+        print('real coordinates', realX, realY, '-> virtual coordinates', virtualX, virtualY)
+        return (virtualX, virtualY)
 
     def getRealPositions(self):
         dotBots = self.getActiveRealDotbots()
@@ -59,11 +81,16 @@ def moveRawRealDotbot(self, address, x, y):
         endpoint = '/controller/dotbots/{address}/0/waypoints'.format(address = address)
 
         # Set the data for the new user
-        data = [{
-            "x": x,
-            "y": y,
-            "z": 0,
-        }]
+        data = {
+          "threshold": 40,
+          "waypoints": [
+            {
+              "x": x,
+              "y": y,
+              "z": 0
+            }
+          ]
+        }
 
         try:
             # Make the POST request to the endpoint
@@ -75,6 +102,7 @@ def moveRawRealDotbot(self, address, x, y):
                 print(response.json())
             else:
                 print("An error occurred:", response.status_code)
+                print('***')
         except:
             pass
 
@@ -116,8 +144,9 @@ def setNextRealDotBotMovement(self, dotBotId):
             self.moveRawRealDotbot(self.realDotBotsView[dotBotId]['address'], scaledNextX, scaledNextY)
             (realX, realY) = self.getRealPositions()[dotBotId-1]
             print(realX, realY, nextX, nextY)
-            print('here')
-            if  (nextX-0.2 <= realX<= nextX+0.2) and (nextY-0.2 <= realY <= nextY+0.2):
+            break
+
+            if  (nextX-0.1 <= realX<= nextX+0.1) and (nextY-0.1 <= realY <= nextY+0.1):
                 print('DotBot arrived')
                 break
 
diff --git a/configs/razanne.toml b/configs/razanne.toml
index 0b6bd5b..02daa81 100644
--- a/configs/razanne.toml
+++ b/configs/razanne.toml
@@ -1,11 +1,11 @@
 [atlas]
-    numRobots                = 10
-    floorplan                = "office_small"            # filename in floorplans
+    numRobots                = 1
+    floorplan                = "square"            # filename in floorplans
     navigationAlgorithm      = "Atlas"                   # options: Atlas, Ballistic
     relayAlgorithm           = "Recovery"                # options: Recovery, SelfHealing, NoRelays
     lowerPdrThreshold        = 0.8                       # (for Recovery) trigger relay placement if below
     upperPdrThreshold        = 0.9                       # (for Recovery) to determine relay position
     propagationModel         = "PisterHack"              # options: LOS, Friis, Radius, PisterHack
     numberOfRuns             = 1                         # number of simulations runs with same simSetting
-    connector                = 'off'                     # on if connector to real DotBots in watnted, else off
+    connector                = 'on'                     # on if connector to real DotBots in watnted, else off
 
diff --git a/floorplans/square.txt b/floorplans/square.txt
new file mode 100644
index 0000000..80cff89
--- /dev/null
+++ b/floorplans/square.txt
@@ -0,0 +1,7 @@
+#######
+#.....#
+#..s..#
+#.....#
+#.....#
+#.....#
+#######
\ No newline at end of file