def main():
if len(sys.argv) == 2:
configFileName = sys.argv[1]
else:
configFileName = "office.config"
cfgReader = ConfigFileReader.ConfigFileReader(configFileName)
ret, height, width, numRobots, R, baseX, baseY, initLocs, obstacles = cfgReader.readCfg(
)
if ret == -1:
print 'readCfg() Unsuccessful!'
sys.exit(-1)
else:
print 'Read the config file', configFileName
k = 2
T = 100000
algo = CAC.CAC(height, width, obstacles, numRobots, initLocs, T)
if height <= 10:
xoffset = 300
else:
xoffset = 100
if width <= 10:
yoffset = 300
else:
yoffset = 100
maxScreenHeight = 700
cellSize = int(floor(maxScreenHeight / (height + 2)))
root = Tk()
gui = GridUI.GridUI(root, height, width, cellSize, algo.gridworld,
algo.robots, algo.frontier)
guiHeight = str((height + 2) * cellSize)
guiWidth = str((width + 2) * cellSize)
xOffset = str(xoffset)
yOffset = str(yoffset)
geometryParam = guiWidth + 'x' + guiHeight + '+' + xOffset + '+' + yOffset
root.geometry(geometryParam)
ALGOFLAG = 1
if ALGOFLAG == 1:
astar = Dijkstra.Dijkstra()
path, covered, cost = astar.aStarSearch(algo.gridworld, (0, 0),
(35, 40))
cost = cost[(35, 40)]
if ALGOFLAG == 2:
astar = AStar.AStar()
path, covered, cost = astar.aStarSearch(algo.gridworld, (0, 0),
(35, 40))
cost = cost[(35, 40)]
if ALGOFLAG == 3:
astar = AStar_arjun.AStar()
path, cost = astar.aStarSearch(algo.gridworld, (0, 0), (35, 40))
cost = cost[(35, 40)]
if ALGOFLAG == 4:
astar = JPS.JPS()
covered = astar.jps(algo.gridworld, (0, 0), (35, 40))
path, cost = astar.full_path(covered)
print 'cost:', cost
if TIMER == True:
print("--- %s seconds ---" % (time.time() - start_time))
def run():
gui.redraw(height, width, cellSize, algo.gridworld, algo.robots, path)
#gui.redraw(height, width, cellSize, algo.gridworld, algo.robots, covered)
root.after(1, run)
root.after(1, run)
root.mainloop()
