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def connect_rvo2_with_smoke_query(self):
for floor in self.floors:
try:
floor.smoke_query = PartitionQuery(floor=floor.floor)
except Exception as e:
self.wlogger.error(e)
exit(1)
else:
self.wlogger.info('Smoke query connected to floor: {}'.format(floor.floor))
def room_leaves(self,ee):# {{{
self.partition_query[self.floor]=PartitionQuery(self.floor)
room=self.partition_query[self.floor].xy2room(ee)
closest={ 'len': 999999999, 'name': None, 'x': None, 'y': None }
leaves={}
for door in self._room_exit_doors(room):
dest=self._move_dest_around_door({'e': ee, 'door': door, 'room': room})
ll=self.path_length(ee,dest)
leaves[ll]=(dest, door['name'])
best_point, best_name=leaves[min(leaves.keys())]
best_path=self.nav_query(ee, best_point, 300)
candidates={'best_point': best_point, 'best_name': best_name, 'best_path': best_path, 'all': list(leaves.values())}
return candidates