Executions for running the algo is handled on the PC by a nodejs server. To start the server, navigate to the python directory and execute:
node app.js
Inputs for obstacles and starting position can be sent to the PC through HTTP GET formatted as follows:
127.0.0.1/set-obstacles?str=[(x1,y1,orient1),(x2,y2,orient2), ...]&&init=(x,y,orient)
-> can be tested by sending from any devices that are connected to the RPi wifi on a web browser
(change 127.0.0.1 to the IP address of the pc, [(x1, y1, orient1),(x2,y2,orient2), ...] to the list cells in which the obstacles are occupied, and (x,y,orient) to the starting position of the robot with the coordinates at the central of the rear axle)
The server will run movement.py with the given parameters