first controller

robot_controller.py

@@ -0,0 +1,65 @@
+import copy
+import time
+
+class RobotController(object):
+
+    def __init__(self, fire_ext_max_capacity, collision_damage = 1, k_sof = 1, k_cas = 1, k_asset = 1):
+
+        # STATE VARIABLES
+        self._fire_ext_max_capacity = fire_ext_max_capacity
+        self._fire_ext_capacity = self._fire_ext_max_capacity
+
+        self._hit_points = 100
+        self._collision_damage = collision_damage
+        self._charge_points = 100
+
+        self._collisions = []
+        self._exted_sofs = []
+        self._found_casualty = []
+        self._found_assets = []
+
+        self._k_sof = k_sof
+        self._k_cas = k_cas
+        self._k_asset = k_asset
+
+
+    ''' CONTROL '''
+
+    def send_twist_cmd(self, v, w):
+        raise NotImplemented("")
+
+    def send_fire_ext_burst_cmd(self):
+        if self._fire_ext_capacity > 0:
+            self._fire_ext_capacity -= 1
+            return True
+        return False
+
+    def send_fire_ext_pose_cmd(self, horisontal_pose, vertical_pose):
+        raise NotImplemented("")
+
+    def send_pick_asset_cmd(self):
+        raise NotImplemented("")
+
+    def get_score(self, time_stamp):
+        score = self._k_sof * len(self._exted_sofs) + self._k_cas * len(self._found_casualty) + self.k_assest * len(self._found_assets)
+        return score
+
+    ''' EVENTS '''
+
+    def _register_collision(self, time_stamp):
+        self._collisions.append(time_stamp)
+        self._hit_points = max(0, self._hit_points - self._collision_damage)
+
+    def _register_exted_sof(self, time_stamp, sof_params = {}):
+        self._exted_sofs.append((time_stamp,
+                                 copy.deepcopy(sof_params)))
+
+    def _register_found_casualty(self, time_stamp, casualty_params = {}):
+        self._found_casualty.append((time_stamp,
+                                     copy.deepcopy(casualty_params)))
+
+    def _register_found_assest(self, time_stamp, asset_params = {}):
+        self._found_assets.append((time_stamp,
+                                   copy.deepcopy(asset_params)))
+
+