ps6

# Problem Set 6: Simulating robots
# Name:
# Collaborators:
# Time:

import math
import random

import ps6_visualize
import pylab

# === Provided classes

class Position(object):
    """
    A Position represents a location in a two-dimensional room.
    """
    def __init__(self, x, y):
        """
        Initializes a position with coordinates (x, y).
        """
        self.x = x
        self.y = y
    def getX(self):
        return self.x
    def getY(self):
        return self.y
    def getNewPosition(self, angle, speed):
        """
        Computes and returns the new Position after a single clock-tick has
        passed, with this object as the current position, and with the
        specified angle and speed.

        Does NOT test whether the returned position fits inside the room.

        angle: float representing angle in degrees, 0 <= angle < 360
        speed: positive float representing speed

        Returns: a Position object representing the new position.
        """
        old_x, old_y = self.getX(), self.getY()
        # Compute the change in position
        delta_y = speed * math.cos(math.radians(angle))
        delta_x = speed * math.sin(math.radians(angle))
        # Add that to the existing position
        new_x = old_x + delta_x
        new_y = old_y + delta_y
        return Position(new_x, new_y)

# === Problems 1

class RectangularRoom(object):
    """
    A RectangularRoom represents a rectangular region containing clean or dirty
    tiles.

    A room has a width and a height and contains (width * height) tiles. At any
    particular time, each of these tiles is either clean or dirty.
    """
    def __init__(self, width, height):
        """
        Initializes a rectangular room with the specified width and height.

        Initially, no tiles in the room have been cleaned.

        width: an integer > 0
        height: an integer > 0
        """
        if width < 1 or height < 1:
            raise "width or height must be > 0"

        if type(width) is not int and type(height) is not int :
            raise "width and height must be integers"

        self.width = width
        self.height = height
        self.cleaned = []
        return None

    def cleanTileAtPosition(self, pos):
        """
        Mark the tile under the position POS as cleaned.

        Assumes that POS represents a valid position inside this room.

        pos: a Position
        """
        self.position_int = math.floor(pos.getX()), math.floor(pos.getY())

        if not self.isTileCleaned(self,self.position_int):
            self.cleaned.append(self.position_int)


        pass

    def isTileCleaned(self, m, n):
        """
        Return True if the tile (m, n) has been cleaned.

        Assumes that (m, n) represents a valid tile inside the room.

        m: an integer
        n: an integer
        returns: True if (m, n) is cleaned, False otherwise
        """
        self.tile = m,n

        if self.tile in self.cleaned:
            return True
        else:
            return False

        raise NotImplementedError

    def getNumTiles(self):
        """
        Return the total number of tiles in the room.

        returns: an integer
        """
        return (self.width )* (self.height )
        raise NotImplementedError

    def getNumCleanedTiles(self):
        """
        Return the total number of clean tiles in the room.

        returns: an integer
        """
        return len(self.cleaned)

        raise NotImplementedError

    def getRandomPosition(self):
        """
        Return a random position inside the room.

        returns: a Position object.
        """

        return Position(random.uniform(0,self.width), random.uniform(0,self.height))

        raise NotImplementedError

    def isPositionInRoom(self, pos):
        """
        Return True if pos is inside the room.

        pos: a Position object.
        returns: True if pos is in the room, False otherwise.
        """

        if 0 <= pos.getX() <= self.width and 0 <= pos.getY() <= self.height:
            return True
        else:
            return False

        raise NotImplementedError


class Robot(object):
    """
    Represents a robot cleaning a particular room.

    At all times the robot has a particular position and direction in the room.
    The robot also has a fixed speed.

    Subclasses of Robot should provide movement strategies by implementing
    updatePositionAndClean(), which simulates a single time-step.
    """
    def __init__(self, room, speed):
        """
        Initializes a Robot with the given speed in the specified room. The
        robot initially has a random direction and a random position in the
        room. The robot cleans the tile it is on.

        room:  a RectangularRoom object.
        speed: a float (speed > 0)
        """
        self.setRobotPosition(room.getRandomPosition())
        self.speed = speed
        self.room = room
        self.setRobotDirection(self.getRandomDirection())
        self.room.cleanTileAtPosition(self.position)
        print "initialised"
        pass

    def getRandomDirection(self):

        return random.uniform(0,360)

    def getRobotPosition(self):
        """
        Return the position of the robot.

        returns: a Position object giving the robot's position.
        """
        return self.position
        raise NotImplementedError

    def getRobotDirection(self):
        """
        Return the direction of the robot.

        returns: an integer d giving the direction of the robot as an angle in
        degrees, 0 <= d < 360.
        """
        return self.direction
        raise NotImplementedError

    def setRobotPosition(self, position):
        """
        Set the position of the robot to POSITION.

        position: a Position object.
        """
        self.position = position
        print position.getX(),position.getY()
        pass

    def setRobotDirection(self, direction):
        """
        Set the direction of the robot to DIRECTION.

        direction: integer representing an angle in degrees
        """
        self.direction = direction
        pass

    def updatePositionAndClean(self):
        """
        Simulate the raise passage of a single time-step.

        Move the robot to a new position and mark the tile it is on as having
        been cleaned.
        """
        print "default updateclean called"
        self.setRobotPosition(self.position.getNewPosition(self.getRobotDirection(),self.speed))
        self.room.cleanTileAtPosition(getRobotDirection())
        pass

# === Problem 2
class StandardRobot(Robot):
    """
    A StandardRobot is a Robot with the standard movement strategy.

    At each time-step, a StandardRobot attempts to move in its current direction; when
    it hits a wall, it chooses a new direction randomly.
    """
    def updatePositionAndClean(self):
        """
        Simulate the passage of a single time-step.

        Move the robot to a new position and mark the tile it is on as having
        been cleaned.
        """

        self.potential_move = self.position.getNewPosition(self.direction,self.speed)
        if self.room.isPositionInRoom(self.potential_move):
            self.setRobotPosition(self.potential_move)

            self.room.cleanTileAtPosition(self.position)
        else:
            self.setRobotDirection(self.getRandomDirection())
            print "new direction", self.direction

        pass

# === Problem 3

def runSimulation(num_robots, speed, width, height, min_coverage, num_trials,
                  robot_type):
    """
    Runs NUM_TRIALS trials of the simulation and returns the mean number of
    time-steps needed to clean the fraction MIN_COVERAGE of the room.

    The simulation is run with NUM_ROBOTS robots of type ROBOT_TYPE, each with
    speed SPEED, in a room of dimensions WIDTH x HEIGHT.

    num_robots: an int (num_robots > 0)
    speed: a float (speed > 0)
    width: an int (width > 0)
    height: an int (height > 0)
    min_coverage: a float (0 <= min_coverage <= 1.0)
    num_trials: an int (num_trials > 0)
    robot_type: class of robot to be instantiated (e.g. Robot or
                RandomWalkRobot)
    """


    bots = []
    timestep = 0
    times = []
    time_sum = 0



    for i in range(0,num_trials):
        room = RectangularRoom( width, height )
        NumTiles = room.getNumTiles()
        bots = []
        timestep = 1
        for bot in range(0,num_robots):
            bots.append(StandardRobot( room, speed))
        while ( room.getNumCleanedTiles() / NumTiles ) < min_coverage :
            print "cleaned tiles", room.getNumCleanedTiles()
            for bot in range(0,(num_robots)):
                bots[bot].updatePositionAndClean()
            timestep = timestep + 1
        times.append(timestep)
    for i in times:
        time_sum = time_sum + i

    time_av = time_sum / len(times)
    return time_av



# === Problem 4
#
# 1) How long does it take to clean 80% of a 20×20 room with each of 1-10 robots?
#
# 2) How long does it take two robots to clean 80% of rooms with dimensions
#    20×20, 25×16, 40×10, 50×8, 80×5, and 100×4?

def showPlot1():
    """
    Produces a plot showing dependence of cleaning time on number of robots.
    """
    raise NotImplementedError

def showPlot2():
    """
    Produces a plot showing dependence of cleaning time on room shape.
    """
    raise NotImplementedError

# === Problem 5

class RandomWalkRobot(Robot):
    """
    A RandomWalkRobot is a robot with the "random walk" movement strategy: it
    chooses a new direction at random after each time-step.
    """
    raise NotImplementedError


# === Problem 6

# For the parameters tested below (cleaning 80% of a 20x20 square room),
# RandomWalkRobots take approximately twice as long to clean the same room as
# StandardRobots do.
def showPlot3():
    """
    Produces a plot comparing the two robot strategies.
    """
    raise NotImplementedError