Display_inspection.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "ename": "KeyboardInterrupt",
     "evalue": "",
     "output_type": "error",
     "traceback": [
      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
      "\u001b[0;31mKeyboardInterrupt\u001b[0m                         Traceback (most recent call last)",
      "\u001b[0;32m<ipython-input-2-193e946ea106>\u001b[0m in \u001b[0;36m<module>\u001b[0;34m\u001b[0m\n\u001b[1;32m     53\u001b[0m     \u001b[0msim\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mSimulation\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mmaze\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;36m3\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m     54\u001b[0m     \u001b[0;32mfor\u001b[0m \u001b[0mi\u001b[0m \u001b[0;32min\u001b[0m \u001b[0mrange\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;36m500\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 55\u001b[0;31m         \u001b[0msim\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mstep\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m     56\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n",
      "\u001b[0;32m<ipython-input-2-193e946ea106>\u001b[0m in \u001b[0;36mstep\u001b[0;34m(self)\u001b[0m\n\u001b[1;32m     40\u001b[0m         \u001b[0mprint\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'result {}'\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mformat\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mresult\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m     41\u001b[0m         \u001b[0;32mif\u001b[0m \u001b[0mresult\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 42\u001b[0;31m             \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mshow\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m     43\u001b[0m             \u001b[0;32mfor\u001b[0m \u001b[0mrobot\u001b[0m \u001b[0;32min\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mrobots\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m     44\u001b[0m                 \u001b[0mprint\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'before {}'\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mformat\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mrobot\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mpos\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
      "\u001b[0;32m<ipython-input-2-193e946ea106>\u001b[0m in \u001b[0;36mshow\u001b[0;34m(self)\u001b[0m\n\u001b[1;32m     25\u001b[0m         \u001b[0mplt\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mimshow\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mnp\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mtranspose\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mmaze\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mcmap\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0;34m\"gist_earth\"\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m     26\u001b[0m         \u001b[0mdisplay\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mclear_output\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mwait\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0;32mTrue\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m---> 27\u001b[0;31m         \u001b[0mdisplay\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mdisplay\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mplt\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mgcf\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m     28\u001b[0m         \u001b[0mtime\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0msleep\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;36m0.01\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m     29\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n",
      "\u001b[0;32m/anaconda3/lib/python3.7/site-packages/IPython/core/display.py\u001b[0m in \u001b[0;36mdisplay\u001b[0;34m(include, exclude, metadata, transient, display_id, *objs, **kwargs)\u001b[0m\n\u001b[1;32m    302\u001b[0m             \u001b[0mpublish_display_data\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mdata\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mobj\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mmetadata\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mmetadata\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m**\u001b[0m\u001b[0mkwargs\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    303\u001b[0m         \u001b[0;32melse\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 304\u001b[0;31m             \u001b[0mformat_dict\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mmd_dict\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mformat\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mobj\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0minclude\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0minclude\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mexclude\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0mexclude\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m    305\u001b[0m             \u001b[0;32mif\u001b[0m \u001b[0;32mnot\u001b[0m \u001b[0mformat_dict\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    306\u001b[0m                 \u001b[0;31m# nothing to display (e.g. _ipython_display_ took over)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
      "\u001b[0;32m/anaconda3/lib/python3.7/site-packages/IPython/core/formatters.py\u001b[0m in \u001b[0;36mformat\u001b[0;34m(self, obj, include, exclude)\u001b[0m\n\u001b[1;32m    178\u001b[0m             \u001b[0mmd\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0;32mNone\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    179\u001b[0m             \u001b[0;32mtry\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 180\u001b[0;31m                 \u001b[0mdata\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mformatter\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mobj\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m    181\u001b[0m             \u001b[0;32mexcept\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    182\u001b[0m                 \u001b[0;31m# FIXME: log the exception\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
      "\u001b[0;32m</anaconda3/lib/python3.7/site-packages/decorator.py:decorator-gen-9>\u001b[0m in \u001b[0;36m__call__\u001b[0;34m(self, obj)\u001b[0m\n",
      "\u001b[0;32m/anaconda3/lib/python3.7/site-packages/IPython/core/formatters.py\u001b[0m in \u001b[0;36mcatch_format_error\u001b[0;34m(method, self, *args, **kwargs)\u001b[0m\n\u001b[1;32m    222\u001b[0m     \u001b[0;34m\"\"\"show traceback on failed format call\"\"\"\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    223\u001b[0m     \u001b[0;32mtry\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 224\u001b[0;31m         \u001b[0mr\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mmethod\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m*\u001b[0m\u001b[0margs\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m**\u001b[0m\u001b[0mkwargs\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m    225\u001b[0m     \u001b[0;32mexcept\u001b[0m \u001b[0mNotImplementedError\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    226\u001b[0m         \u001b[0;31m# don't warn on NotImplementedErrors\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
      "\u001b[0;32m/anaconda3/lib/python3.7/site-packages/IPython/core/formatters.py\u001b[0m in \u001b[0;36m__call__\u001b[0;34m(self, obj)\u001b[0m\n\u001b[1;32m    339\u001b[0m                 \u001b[0;32mpass\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    340\u001b[0m             \u001b[0;32melse\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 341\u001b[0;31m                 \u001b[0;32mreturn\u001b[0m \u001b[0mprinter\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mobj\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m    342\u001b[0m             \u001b[0;31m# Finally look for special method names\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    343\u001b[0m             \u001b[0mmethod\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mget_real_method\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mobj\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mprint_method\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
      "\u001b[0;32m/anaconda3/lib/python3.7/site-packages/IPython/core/pylabtools.py\u001b[0m in \u001b[0;36m<lambda>\u001b[0;34m(fig)\u001b[0m\n\u001b[1;32m    242\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    243\u001b[0m     \u001b[0;32mif\u001b[0m \u001b[0;34m'png'\u001b[0m \u001b[0;32min\u001b[0m \u001b[0mformats\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 244\u001b[0;31m         \u001b[0mpng_formatter\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mfor_type\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mFigure\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;32mlambda\u001b[0m \u001b[0mfig\u001b[0m\u001b[0;34m:\u001b[0m \u001b[0mprint_figure\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mfig\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m'png'\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m**\u001b[0m\u001b[0mkwargs\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m    245\u001b[0m     \u001b[0;32mif\u001b[0m \u001b[0;34m'retina'\u001b[0m \u001b[0;32min\u001b[0m \u001b[0mformats\u001b[0m \u001b[0;32mor\u001b[0m \u001b[0;34m'png2x'\u001b[0m \u001b[0;32min\u001b[0m \u001b[0mformats\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    246\u001b[0m         \u001b[0mpng_formatter\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mfor_type\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mFigure\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;32mlambda\u001b[0m \u001b[0mfig\u001b[0m\u001b[0;34m:\u001b[0m \u001b[0mretina_figure\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mfig\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m**\u001b[0m\u001b[0mkwargs\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
      "\u001b[0;32m/anaconda3/lib/python3.7/site-packages/IPython/core/pylabtools.py\u001b[0m in \u001b[0;36mprint_figure\u001b[0;34m(fig, fmt, bbox_inches, **kwargs)\u001b[0m\n\u001b[1;32m    126\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    127\u001b[0m     \u001b[0mbytes_io\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mBytesIO\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 128\u001b[0;31m     \u001b[0mfig\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mcanvas\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mprint_figure\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mbytes_io\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m**\u001b[0m\u001b[0mkw\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m    129\u001b[0m     \u001b[0mdata\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mbytes_io\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mgetvalue\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    130\u001b[0m     \u001b[0;32mif\u001b[0m \u001b[0mfmt\u001b[0m \u001b[0;34m==\u001b[0m \u001b[0;34m'svg'\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
      "\u001b[0;32m/anaconda3/lib/python3.7/site-packages/matplotlib/backend_bases.py\u001b[0m in \u001b[0;36mprint_figure\u001b[0;34m(self, filename, dpi, facecolor, edgecolor, orientation, format, bbox_inches, **kwargs)\u001b[0m\n\u001b[1;32m   2047\u001b[0m                         \u001b[0morientation\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0morientation\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m   2048\u001b[0m                         \u001b[0mdryrun\u001b[0m\u001b[0;34m=\u001b[0m\u001b[0;32mTrue\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m-> 2049\u001b[0;31m                         **kwargs)\n\u001b[0m\u001b[1;32m   2050\u001b[0m                     \u001b[0mrenderer\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mfigure\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_cachedRenderer\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m   2051\u001b[0m                     \u001b[0mbbox_artists\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mkwargs\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mpop\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m\"bbox_extra_artists\"\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;32mNone\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
      "\u001b[0;32m/anaconda3/lib/python3.7/site-packages/matplotlib/backends/backend_agg.py\u001b[0m in \u001b[0;36mprint_png\u001b[0;34m(self, filename_or_obj, *args, **kwargs)\u001b[0m\n\u001b[1;32m    521\u001b[0m                 \u001b[0mcbook\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mopen_file_cm\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mfilename_or_obj\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;34m\"wb\"\u001b[0m\u001b[0;34m)\u001b[0m \u001b[0;32mas\u001b[0m \u001b[0mfh\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    522\u001b[0m             _png.write_png(renderer._renderer, fh,\n\u001b[0;32m--> 523\u001b[0;31m                             self.figure.dpi, metadata=metadata)\n\u001b[0m\u001b[1;32m    524\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    525\u001b[0m     \u001b[0;32mdef\u001b[0m \u001b[0mprint_to_buffer\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
      "\u001b[0;31mKeyboardInterrupt\u001b[0m: "
     ]
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 1152x1152 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "import pandas as pd\n",
    "import numpy as np\n",
    "import seaborn as sns\n",
    "import matplotlib.pyplot as plt\n",
    "from IPython import display\n",
    "import time\n",
    "import pkt2robotMatrix\n",
    "#from simulation import *\n",
    "\n",
    "class Simulation:\n",
    "    def __init__(self, mapMatrix, robotsCount):\n",
    "        self.mapMatrix = mapMatrix\n",
    "        self.robotsCount = robotsCount\n",
    "        self.simulationTime = 0\n",
    "        self.robots = pkt2robotMatrix.pkt2robotMatrix(self.mapMatrix, robotsCount)\n",
    "\n",
    "    def show(self):\n",
    "        maze = pd.read_csv('mapka_s101.csv').values\n",
    "        for robot in self.robots:\n",
    "            try:\n",
    "                maze[robot.pos[0], robot.pos[1]] = 11\n",
    "            except IndexError:\n",
    "                print(\"error\")\n",
    "            \n",
    "        plt.imshow(np.transpose(maze), cmap=\"gist_earth\")\n",
    "        display.clear_output(wait=True)\n",
    "        display.display(plt.gcf())\n",
    "        time.sleep(0.01) \n",
    "\n",
    "    def checkIfReady(self):\n",
    "        for robot in self.robots:\n",
    "            if robot.pos != robot.start_position and robot.current_path is None:\n",
    "                return False\n",
    "        return True\n",
    "     \n",
    "    #def report() - Domi napisała\n",
    "    \n",
    "    def step(self):\n",
    "        result = self.checkIfReady()\n",
    "        print('result {}'.format(result))\n",
    "        if result:\n",
    "            self.show()\n",
    "            for robot in self.robots:\n",
    "                print('before {}'.format(robot.pos))\n",
    "                robot.next_step()\n",
    "                print('after {}'.format(robot.pos))\n",
    "                time.sleep(0.01)\n",
    "                self.simulationTime += 1\n",
    "\n",
    "if __name__ == '__main__':\n",
    "    plt.figure(figsize=(16,16))\n",
    "    maze = pd.read_csv('mapka_s111.csv').values\n",
    "    sim = Simulation(maze, 3)\n",
    "    for i in range(500):\n",
    "        sim.step()\n",
    "    "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
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