7. Nothing to the left?

As you know, Reeborg can see if there is a wall blocking its way, using front_is_clear; he can also see if there is a wall to its right usign right_is_clear, but cannot do the same on its left. You are going to fix that.

7.1. Exploring the source code

Let’s look at the source code. Using:

view_source(front_is_clear)

we see:

function () {
      return RUR.control.front_is_clear(RUR.current_world.robots[0]);
    }

with a similar result for view_source(right_is_clear). Let’s dig further. By running:

view_source(RUR.control.front_is_clear)

I get the following code (you might get something slightly different)

function (robot, flag){
    var coords;
    if (!flag) {
        RUR.rec.record_frame();
    }
    switch (robot.orientation){
    case RUR.EAST:
        coords = robot.x + "," + robot.y;
        if (RUR.control.is_wall_at(coords, "east")) {
            return false;
        }
        break;
    case RUR.NORTH:
        coords = robot.x + "," + robot.y;
        if (RUR.control.is_wall_at(coords, "north")) {
            return false;
        }
        break;
    case RUR.WEST:
        if (robot.x===1){
            return false;
        } else {
            coords = (robot.x-1) + "," + robot.y; // do math first before building strings
            if (RUR.control.is_wall_at(coords, "east")) {
                return false;
            }
        }
        break;
    case RUR.SOUTH:
        if (robot.y===1){
            return false;
        } else {
            coords = robot.x + "," + (robot.y-1);  // do math first before building strings
            if (RUR.control.is_wall_at(coords, "north")) {
                return false;
            }
        }
        break;
    default:
        throw new RUR.ReeborgError("Should not happen: unhandled case in RUR.control.front_is_clear().");
    }
    return true;
}

This is a bit daunting. It uses a Javascript construct switch/case that does not exist in Python. Still, you can get a sense of what it does by using the following trick: If you when you have switch(A) ... case B ... case C .... think of this as if A==B .... elif A==C .... We could implement the equivalent in Python for a left_is_clear method, but there is a better way. Look at the following:

view_source(right_is_clear)

The result I see is this:

function (robot){
    var result;
    RUR.control.__turn_right(robot, true);
    result = RUR.control.front_is_clear(robot, true);
    RUR.control.turn_left(robot, true);
    return result;
}

You see, Reeborg’s designers had implemented a prototype version enabling Reeborg to turn right. They used Python’s convention of starting a method name with two consecutive underscore to denote something “private” that is not meant for outsiders to use – or, at least, they consider it not ready to be used.

Looking at the entire function, here what happens:

1. Reeborg turns to its right
2. Reeborg uses front_is_clear to see if there is a wall in front of its new orientation
3. Reeborg turns back to its original position

Note the use of a second argument true in the various methods. If we look at the corresponding code using view_source, we see that true is the value assigned to the variable no_frame which has the effect of not recording the frame. So, when Reeborg turns right (or left), we do not actually see it happen on the screen. Sneaky!...

Your turn!

First, modify your turn_right method so that it accepts a default argument with the value False given as a default. This means, that your it should start as follows:

def turn_right(self, no_frame=False):

Make sure that if no_frame is set equal to True when the method is called, no frame recording will take place.

Then, using the logic of the above right_is_clear Javascript function, implement a left_is_clear method for your RepairedRobot class. Make sure that you pass a second argument of True to all methods you call within left_is_clear.

Finally, test it in the world Empty with the following code:

reeborg = RepairedRobot()
while reeborg.left_is_clear():
    reeborg.turn_left()

If you have done things properly, Reeborg should make a single left turn.