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furnace fiksing
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@markus-vesetrud
markus-vesetrud committed Oct 18, 2023
1 parent 860b5ef commit a080579
Showing 1 changed file with 26 additions and 26 deletions.
52 changes: 26 additions & 26 deletions src/bob_ros/bob_ros/craft_item.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
from std_msgs.msg import String
import copy
from mineros_inter.srv import BlockInfo, FindBlocks, Craft, FurnaceInfo, Inventory, PlaceBlock, BotPos, FurnaceUpdate
from mineros_inter.msg import Item, Furnace
from mineros_inter.msg import Item, Furnace, BlockPose
from time import sleep
import pprint

Expand Down Expand Up @@ -94,11 +94,7 @@ def __init__(self) -> None:
)
############################################################################################################################################################################################################
# Furnace code
item_count = 3
self.get_logger().info(f"{self.optimize_fuel(3)}")
suksess = self.use_furnace(self.RIRON_ITEMID, item_count)
self.get_logger().error(f"{suksess}")

self.use_furnace(self.RIRON_ITEMID,3)

############################################################################################################################################################################################################

Expand Down Expand Up @@ -135,21 +131,22 @@ def use_furnace(self, item_id: int, count: int) -> bool:
return (false := False)

fuel_plan = list(self.optimize_fuel(count).items())
self.get_logger().info(f"{fuel_plan}")
fuel_plan = [fuel for fuel in fuel_plan if fuel[1] > 0]
self.get_logger().info(f"{fuel_plan}")
get_fuel_wait_time = lambda fuel,count: self.fuel_hierarchy[fuel] * count * self.FURNACE_SPEED

self.refill_furnace(furnace_pose, item_id, count)
sleep_buffer = 0
burn_time = count * self.FURNACE_SPEED
for fuel in fuel_plan:
self.refuel_furnace(furnace_pose, fuel[0], fuel[1])
sleep(sleep_buffer)
sleep_count = max(1, fuel[1]-1)
sleep_buffer = get_fuel_wait_time(fuel[0],min(1, fuel[1]-1))
sleep(get_fuel_wait_time(fuel[0],sleep_count))
fuel_time = get_fuel_wait_time(fuel[0],fuel[1])
sleep_time = min(fuel_time,burn_time)
self.get_logger().warn(f"{sleep_time}")
sleep(sleep_time)
burn_time -= sleep_time
return self.get_foutput(furnace_pose)



def get_fuel(self) -> float:
total_fuel = 0
fuel_inventory = self.get_item_stock(
Expand All @@ -175,7 +172,8 @@ def optimize_fuel(self, count: int):
if fuel_strength <= remaining_fuel:
fuel_to_add = min(
(remaining_fuel//fuel_strength), fuel_inventory[fuel])
count_dictionary[fuel] += fuel_to_add
self.get_logger().warn(f"{fuel_to_add} {fuel}")
count_dictionary[fuel] += int(fuel_to_add)
remaining_fuel -= fuel_to_add * fuel_strength
if remaining_fuel <= 0:
return count_dictionary
Expand All @@ -186,7 +184,7 @@ def optimize_fuel(self, count: int):
fuel_strength = self.fuel_hierarchy[fuel]
fuel_to_add = min(
math.ceil((remaining_fuel/fuel_strength)), fuel_inventory[fuel])
count_dictionary[fuel] += fuel_to_add
count_dictionary[fuel] += int(fuel_to_add)
remaining_fuel -= fuel_to_add * fuel_strength
if remaining_fuel <= 0:
break
Expand All @@ -201,7 +199,7 @@ def optimize_fuel(self, count: int):
else:
planks_to_add = max(0, min(4*plank_amount, math.ceil(remaining_fuel/1.5)))
remaining_fuel -= 1.5*planks_to_add
count_dictionary[plank] += planks_to_add
count_dictionary[plank] += int(planks_to_add)
break
else:
return {list(self.fuel_hierarchy.keys())[0]: -math.ceil(remaining_fuel/8)}
Expand All @@ -218,7 +216,7 @@ def update_furnace(self, furnace: Furnace, furnace_pos: Pose, ignore_fuel: bool)
rclpy.spin_until_future_complete(self,future)
return future.result().success

def refill_furnace(self, furnace_pos: Pose, itemID : int, count :int) -> bool:
def refill_furnace(self, furnace_pos: Pose, itemID : int, count: int) -> bool:
input = Item(); input.id = itemID; input.count = count
furnace = self.check_furnace(furnace_pos)
output_furnace = Furnace()
Expand All @@ -245,13 +243,21 @@ def move_to_pose(self, pose: PoseStamped):
def look_at_block(self, block: PoseStamped):
self.look_at_block_publisher.publish(block)

def place_block(self,itemID: int, position: Pose, face_vector = (0,1,0)) -> Pose:
def place_block(self,itemID: int, position: Pose, face_vector = (0,1,0)) -> bool:
item = Item(); item.id = itemID; item.count = 1
request = PlaceBlock.Request()
request.block_pose.position = position
request.block = BlockPose()
request.block.face_vector = face_vector
request.block.block_pose.position = position
request.block.block = item
# FULLFØR DENNE FUNKSJONEN

while not self.place_block_client.wait_for_service(timeout_sec=1.0):
self.get_logger().warn('Waiting for service (Plasser Blokk)')
future = self.place_block_client.call_async(request)
rclpy.spin_until_future_complete(self,future)
return future.result()




def get_bot_pos(self) -> PoseStamped:
Expand All @@ -262,7 +268,6 @@ def get_bot_pos(self) -> PoseStamped:
rclpy.spin_until_future_complete(self, future)
return future.result()


def find_blocks(self, blockid: int, count: int, max_distance=16) -> List[Pose]:
self.get_logger().info('Find blocks')
block_search = FindBlocks.Request()
Expand All @@ -286,8 +291,6 @@ def ensure_block(self, blockID: int,itemID: int, crafting_requires_table: bool =
return Pose()
assert self.craft_item(itemID, 1, crafting_requires_table)
self.ensure_block(blockID,itemID,crafting_requires_table)



def craft_item(self,itemID: int, count: int, use_crafting_table: bool = True) -> bool:
crafting_table_pose = self.find_blocks(self.CT_BLOCKID,1)
Expand Down Expand Up @@ -351,10 +354,7 @@ def test_check_furnace(self):
def test_fuel_optimization(self):
logitems = self.get_item_stock(self.logs)
self.get_logger().error(f"{logitems}")


fuel_goal = 64

while True:
self.get_logger().info("Printing dictionary:")
self.get_logger().info(f"{self.optimize_fuel(fuel_goal)}")
Expand Down

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