In [ ]:

    

import sys
sys.path.append("/home/mw/PycharmProjects/eurobot-hauptsteuerung/eurobot")

%matplotlib inline
import time
import math
import matplotlib.pyplot as plt
import numpy as np
import networkx as nx
from hauptsteuerung.route_finding import *
from libraries import can


    

In [ ]:

    

can_socket = can.Can('vcan0', can.MsgSender.Hauptsteuerung)
route_finder = RouteFinding(can_socket)


    

In [24]:

    

table = route_finder._make_table(40)
print(table.shape)
plt.imshow(table)
plt.colorbar()


    

    




(40, 60)






    
Out[24]:





<matplotlib.colorbar.Colorbar at 0x7f08f4cd2a20>






    

In [7]:

    

from scipy.ndimage import morphology 
test = morphology.grey_dilation(table, size=(5, 5))
plt.imshow(test)
plt.colorbar()


    

    
Out[7]:





<matplotlib.colorbar.Colorbar at 0x7f090ed0e588>






    

In [9]:

    

robot = route_finder._make_robot(20)
plt.imshow(robot)
plt.colorbar()


    

    
Out[9]:





<matplotlib.colorbar.Colorbar at 0x7fc7843cf978>






    

In [45]:

    

gamefield = np.copy(table)
table_bot = route_finder._add_array(gamefield, robot, (750, 1000))
plt.imshow(table_bot)
plt.colorbar()


    

    




750 1000






    
Out[45]:





<matplotlib.colorbar.Colorbar at 0x7f638f35cef0>






    

In [46]:

    

route = route_finder._find_route(table_bot)
for point in route:
    gamefield[point] = 120
plt.imshow(table_bot)
plt.colorbar()


    

    
Out[46]:





<matplotlib.colorbar.Colorbar at 0x7f638ef86588>






    

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