FindDirectionality.py

"""
the_code.py
A code which will solve a scenario where a resource is kept at a particular angle,
and the bot has to go and fetch it.

THIS CODE COMES WITH ABSOLUTELY NO WARRANTY. DO WHATEVER YOU WANT TO DO WITH IT,
AS LONG AS YOU HAVE GOT BACKUP.
"""

from math import ceil


class Direction(object):
    """
    Constant values for direction of movement.
    """
    FORWARD = 'FORWARD'
    BACKWARD = 'BACKWARD'
    LEFT = 'LEFT'
    RIGHT = 'RIGHT'

    FORWARD_LEFT = 'FORWARD_LEFT'  # 135 deg
    FORWARD_RIGHT = 'FORWARD_RIGHT'  # 45 deg
    BACKWARD_LEFT = 'BACKWARD_LEFT'  # 225 deg
    BACKWARD_RIGHT = 'BACKWARD_RIGHT'  # 315 deg
    command = {FORWARD:'f',BACKWARD:'b',LEFT:'left',RIGHT:'right',BACKWARD_LEFT:'lb',BACKWARD_RIGHT:'rb',FORWARD_LEFT:'lfd',FORWARD_RIGHT:'rfd'}


class Orientation(object):
    SPOT_RIGHT = 'SPOT_RIGHT'
    SPOT_LEFT = 'SPOT_LEFT'
    ARC_RIGHT = 'ARC_RIGHT'
    ARC_LEFT = 'ARC_LEFT'

    command = {SPOT_RIGHT:'c', SPOT_LEFT:'a', ARC_RIGHT:'r', ARC_LEFT :'l'}


class MovementFunctions():
    @staticmethod
    def get_sector(angle_of_resource):
        """
        Calculate the sector in which resource is lying,
        Assuming that there are 8 sectors in circle, each with 45 degree separation.
        :param angle_of_resource: Angle in degrees where the resource is lying.
        :return: sector(int)
        """

        # To make sure angle_of_resource is within (0, 360)
        angle_of_resource %= 360

        sector = ceil(angle_of_resource / 45.0)

        return sector

    @staticmethod
    def get_orientation(angle_of_resource):
        """
        Calculate angle to turn and where to turn(clockwise or anti-clockwise).
        Returns a tuple of angle in degrees and Turn direction(clock or anti clock)
        :param angle_of_resource:
        :return: (Angle, orientation)
        """

        sector = MovementFunctions.get_sector(angle_of_resource)
        
        # Calculate whether to turn clockwise or anti clock wise.

        min_angle_of_sector = (sector - 1) * 45
        max_angle_of_sector = sector * 45

        # print 'min max', min_angle_of_sector, max_angle_of_sector

        mid_angle = (max_angle_of_sector + min_angle_of_sector) / float(2)

        if angle_of_resource < mid_angle:
            orientation = Orientation.SPOT_LEFT
            degree_to_turn = angle_of_resource - min_angle_of_sector
        else:
            orientation = Orientation.SPOT_RIGHT
            degree_to_turn = max_angle_of_sector - angle_of_resource

        # print 'orientation', degree_to_turn


        return degree_to_turn, orientation
        
        

    @staticmethod
    def get_direction(angle_of_resource):
        """
        Determine in which direction the bot has to move in order to grab the resource
        :param angle_of_resource: angle at which the resource is located(in degrees)
        :return: tuple(angle, orientation, direction)
        """

        sector = MovementFunctions.get_sector(angle_of_resource)
        (angle, orientation) = MovementFunctions.get_orientation(angle_of_resource)

        if sector == 1:
            if orientation == Orientation.SPOT_LEFT:
                direction = Direction.FORWARD_RIGHT
            else:
                direction = Direction.RIGHT
        elif sector == 2:
            if orientation == Orientation.SPOT_LEFT:
                direction = Direction.FORWARD
            else:
                direction = Direction.FORWARD_RIGHT
        elif sector == 3:
            if orientation == Orientation.SPOT_LEFT:
                direction = Direction.FORWARD_LEFT
            else:
                direction = Direction.FORWARD
        elif sector == 4:
            if orientation == Orientation.SPOT_LEFT:
                direction = Direction.LEFT  
            else:
                direction = Direction.FORWARD_LEFT
        elif sector == 5:
            if orientation == Orientation.SPOT_LEFT:
                direction = Direction.BACKWARD_LEFT
            else:
                direction = Direction.LEFT
        elif sector == 6:
            if orientation == Orientation.SPOT_LEFT:
                direction = Direction.BACKWARD
            else:
                direction = Direction.BACKWARD_LEFT
        elif sector == 7:
            if orientation == Orientation.SPOT_LEFT:
                direction = Direction.BACKWARD_RIGHT
            else:
                direction = Direction.BACKWARD
        else :
            if orientation == Orientation.SPOT_LEFT:
                direction = Direction.RIGHT
            else:
                direction = Direction.BACKWARD_RIGHT

        msg = "Resource is at {resource} degree. Turn the bot by {angle} degree {motion}, and move {direction}"
        msg = msg.format(resource = angle_of_resource, angle=angle, motion=orientation, direction=direction)
        print(msg)

        return angle, orientation, direction


if __name__ == '__main__':
    print MovementFunctions.get_direction(-230)