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python-projects

html-preprocessor

Small script to create static web pages using jinja2 syntax. This preprocesses files and generates the website code on the fly. CSS files and JS files will be minified as well.

Prerequisites

  • python 3
  • jinja2
  • watchdog
  • css_html_js_minify

How to run

Run preprocessor.py using python 3. Exit by continuously pressing Ctrl+C. You can add your code in src folder and output will be generated in dist folder.

Tip

Run server.bat in order to run a server on http://localhost:8000 and test your website. You need to have python 3 in the path.

maze-solving-bot-simulator

Small bot to simulate and test maze solving algorithms before designing the robot.

Prerequisites

  • python 3
  • open-cv
  • numpy

How to run

Run run.py using python 3. Exit by continuously pressing Esc several times. In default FloodFill algorithm, press any key to switch to next mode when bot is waiting for a input.

Changing map and other settings

You can change map by changing maze.png image. Add a thick black line to denote a wall. Use deep yellow color to denote floor color changes. All light colors and thin black lines will be ignored.

Furthermore you can change basic settings to change bot position, facing direction,... by changing settings variable values. These can be found in bot_scripts.py at the end of file.

Variable Name Default Value Description
settingsImagePath "Maze.png" Image map to load.
settingsStartX 1 Starting X coordinate(column) of the bot. Can be a value between 1 and settingsFaceDirection (inclusive).
settingsStartY 1 Starting Y coordinate(row) of the bot. Can be a value between 1 and settingsFaceDirection (inclusive).
settingsFaceDirection Direction.EAST Direction that bot is facing in the beginning. Can be one of Direction.EAST, Direction.WEST, Direction.SOUTH and Direction.NORTH.
settingsGridSideSquares 14 Number of squares per one side in the grid. If settingsGridSideSquares is 14, grid has to be a 14x14 grid.
settingsSrcClass OptimizedFloodFill Class Name to load to the bot

However note that when checking default Flood Fill Algorithm, do not use settingsStartX and settingsStartY values that do not represent a corner cell. For example settingsGridSideSquares is 14, only values you can use for settingsStartX and settingsStartY are 1 and 14.

settingsSrcClasss available:

Class Name Import Statement Description
RightHandRule from scripts.right_hand_rule import RightHandRule Always go to right hand side. Does not work in many mazes.
DepthFirstSearch from scripts.depth_first_search import DepthFirstSearch Depth First Search to identify all cells and then Breadth First Search to find shortest path.
FloodFill from scripts.flood_fill import FloodFill Flood fill normal algorithm. Has debug output.*
OptimizedFloodFill from optimized.optimized_flood_fill import OptimizedFloodFill Same as RightHandRule.**
OptimizedFloodFill from optimized.optimized_flood_fill import OptimizedFloodFill Same as FloodFill

*To enable debug output, changeDEBUG value and DEBUG_ROTATE value inscripts/depth_first_search.py.

Variable Value Effect
DEBUG True Enable debug window.
DEBUG False Disable debug window.
DEBUG_ROTATE 0 Set if starting position is in Top Left. Has any effect if and only if debug window is enabled.
DEBUG_ROTATE 1 Set if starting position is in Bottom Left. Has any effect if and only if debug window is enabled.
DEBUG_ROTATE 2 Set if starting position is in Bottom Right. Has any effect if and only if debug window is enabled.
DEBUG_ROTATE 3 Set if starting position is in Top Right. Has any effect if and only if debug window is enabled.

**Optimized version is same as normal one, bus tries to use simple data-types only.

Add a custom class

All normal userscripts should be defined in separate files in scripts folder. They have to be subclasses of base_script.UserScript.

Sample custom class,

import robot
from scripts import base_script

class CustomClassName(base_script.UserScript):
    def __init__(self, bot: robot.Robot):
        """Initialize"""
        super().__init__(bot)
        # initialize all your 'global' variables here to None
        # eg:
        # self.center: tuple = None
        # self.grid: list = None

    def setup(self):
        super().setup()
        # Add all variable initialization and startup code
        # eg:
        # self.center = (7, 7)
        # self.grid = [[0]*14 for _ in range(14)]

    def loop(self, img):
        super().loop(img)
        # Add loop code (handling robot)
        # Use below statements to allow users to exit by pressing 'Esc'
        self.user_pressed_exit(self.waitDuration)

If your custom class overrides __init__(), setup() or loop(), call super class method as the first statement in each method.

Super class will allow you to use some functions. Use only these bot values and functions. When implementing the algorithm in Arduino or some equivalent, these are the variables/function you have to implement. Implementing rest will be fairly easy.

Variable/Function Description
self.bot Bot instance. Do not use movement methods or position variables not mentioned in this table. Use this to pass to some functions.
self.img numpy.array containing current image. Any change made to this array (in-place) will be affected to the image drawn in the screen.
self.bot.set_ball_color(color) Sets ball color of the bot. [blue, green, red]
self.bot.no_of_squares_per_side No of side squares in grid.
self.bot.cell_side_length Length of one cell.
self.bot.groundSensor() Get whether ground color is different. Currently tuned to yellow color.
self.x X position of the bot*
self.y Y position of the bot*
self.direction Direction bot is facing*
self.start Start position*
self.waitDuration Standard milliseconds base class uses as timeout.
self.turnRight() Turns bot 90' right.
self.turnLeft() Turns bot 90' left.
self.goForward() Goes one cell forward.
self.go_to_right() Goes to right cell.
self.go_to_left() Goes to left cell.
self.go_backward() Goes to cell in the backward.
self.is_wall_in_front() Whether there is a wall in front.
self.is_wall_in_right() Whether there is a wall in right.
self.is_wall_in_left() Whether there is a wall in left.
self.tile_in_the_direction(direction) The coordinate of the tile in the specified direction.
self.refresh_screen(img) Refreshes screen
self.wait_for_user_key(timeout) Waits timeout milliseconds and return the key pressed by user.
self.sleep(timeout) Do nothing for timeout milliseconds.
self.user_pressed_exit(timeout) Exit if user pressed Esc in the timeout milliseconds.

*These values are not correct ones and are just integers which change when moving in directions. Correct positional variables are bot._x , bot._y and bot._direction but they are not know to the bot in a real life scenario, so avoid using them.

Furthermore,

  • setup will run only once at the simulation initialization
  • loop will run each time screen is updated(by default)
  • You can force screen refresh by self.refresh_screen(img), however note that additional loop() functions will not run at these forced refreshes
  • If loop() returns STOP_SIMULATION value, simulation will stop. If it returns RESUME_SIMULATION or any other value(or None), loop will continue.
  • Call cv2.destroyAllWindows() to close current window. However if not STOP_SIMULATION is issued, new refresh will cause a new window to load.

Since bot has no way of knowing some values in real world,

  • Try not to use bot functions rather than basic movement and sensor
  • Try not to use bot position variables such as self.bot._x, self.bot._direction
  • It is OK to access self.bot.cell_side_length because it is known in most situations
  • Try not to use settings values

Optimized Custom Classes

All optimizeduserscripts should be defined in separate files in optimized folder. They have to be subclasses of optimized_base_script.OptimizedUserScript.

Optimized Classes have to use simple data structures as much as possible. First implement in normal Class and then switch to optimized one.

Sample custom class,

import robot
from optimized import optimized_base_script

class OptimizedRightHandRule(optimized_base_script.OptimizedUserScript):
    def __init__(self, bot: robot.Robot):
        """Initialize"""
        super().__init__(bot)
        # initialize all your 'global' variables here to None
        # Try to use simple data types
        # eg:
        # self.center: int = None
        # self.grid: list = None

    def setup(self):
        super().setup()
        # Add all variable initialization and startup code
        # eg:
        # self.center = 54
        # self.grid = [0]*196

    def loop(self, img):
        super().loop(img)
        # Add loop code (handling robot)
        # Use below statements to allow users to exit by pressing 'Esc'
        self.user_pressed_exit(optimized_base_script.WAIT_DURATION)

There are few changes from normal classes. Other methods, variables are same.

Variable/Function Description
self.SIDE_SQUARES No of side squares in grid. Do not use self.bot.no_of_squares_per_side
self.pos Position of bot. This is an integer calculated using X*SIDE_SQUARES + Y. No self.x, self.y values.
self.START Start position*. No self.start value.
optimized_base_script.WAIT_DURATION Standard milliseconds base class uses as timeout. No self.waitDuration value.
self.tile_in_the_direction(direction) The position(instead of coordinates) of the tile in the specified direction. This will also be calculated using X*SIDE_SQUARES + Y
self.sleep(timeout) Removed implementation.
self.get_x_coord(position) Retrieve X coordinate from position. New implementation.
self.get_y_coord(position) Retrieve Y coordinate from position. New implementation.
self.get_pos(x, y) Convert X, Y to a integer by X*SIDE_SQUARES + Y. New implementation.

Screenshots

maze-solving-bot-simulator

Current Implementation

Uses Flood Fill Algorithm to find shortest path.