def setUp(self):
"""
The setUp function is called each time one of your tests is run.
We create an instance of the maze here before each test.
"""
self.m=Maze()
self.m.reset()
def initialize(self):
# Setup Background, game objects, and initial states
win = GraphWin('App-Controlled Car', 800, 600)
self.maze = Maze(win)
self.maze.draw()
self.car = Car(win)
self.car.draw()
self.isRunning = True
# Setup Queues, Listeners, and off threads
self.inputQueue = Queue(maxsize=0)
#keyboardListener = KeyboardListener(self.inputQueue)
#keyboardListener.start()
joystickListener = JoystickListener("Web Joystick Listener",
self.inputQueue)
joystickListener.start()
# Setup Game Loop
self.run()
# Pause and Close
win.getMouse()
win.close()
def Initialize(self):
self.mTutorialText = pygame.image.load(os.path.join("Data", "tutorialText4.bmp")).convert()
self.mTutorialRect = self.mTutorialText.get_rect()
# Build maze
self.mMaze = Maze(self.mKernel)
self.mMaze.SetOffset(self.mOffset)
self.mMaze.Load(os.path.join("Data", "tutorial2.maze"))
self.mMaze.BuildWalls()
# Make Monster --- ahhh
self.mMonster = Monster(self.mKernel)
self.mMonster.SetOffset(self.mOffset)
self.mMonster.SetPath(self.mMaze.Solve((0, 0)))
self.mMonster.SetCage(self.mMaze.GetCage())
self.mBackImage = pygame.image.load(os.path.join("Data", "back.bmp")).convert()
self.mBackHover = pygame.image.load(os.path.join("Data", "back_hover.bmp")).convert()
self.mBackButton = self.mBackImage
self.mBackRect = self.mBackButton.get_rect()
self.mBackRect.topleft = (20, 530)
self.mNextImage = pygame.image.load(os.path.join("Data", "next.bmp")).convert()
self.mNextHover = pygame.image.load(os.path.join("Data", "next_hover.bmp")).convert()
self.mNextButton = self.mNextImage
self.mNextRect = self.mNextButton.get_rect()
self.mNextRect.topleft = (630, 530)
return RoboPy.GameState.Initialize(self)
def mazerunner(self, alg_list = ["dfs", "bfs", "a*EU", "a*MH", "bdbfs"]):
self.maze = Maze(self.occ_rate, self.dim)
for i in alg_list:
solution_param = self.get_solution_param(i)
if solution_param.has_path:
printGraph(self.maze, solution_param.path, i, (solution_param.max_fringe_size, solution_param.nodes_expanded))
else:
printGraph(self.maze, solution_param.has_path)
class testMaze(unittest.TestCase):
"""
This class inherits from a class called TestCase which is
defined in the unittest module.
When you inherit from a class, you get all the methods that are
defined in that class for free.
Since this is a TestCase class, calling unittest.main() will automatically
run any of the functions that start with the word 'test'
"""
def setUp(self):
"""
The setUp function is called each time one of your tests is run.
We create an instance of the maze here before each test.
"""
self.m=Maze()
self.m.reset()
def testMazeExists(self):
"""
this will check to see if we have a maze class but as soon
as setUp is run, we will see a failure so we really don't need
to do anything here
"""
pass
def testScreenExists(self):
assert type(self.m.s) == turtle._Screen
def testTurtleExists(self):
assert type(self.m.t) == turtle.Turtle
def testScreenBackgroundIsBlue(self):
assert self.m.s.bgcolor()=='blue'
def testForMatrix(self):
assert len(self.m.matrix)==20
def testTurtleIsWhite(self):
assert self.m.t.color()[0]=='white' and self.m.t.color()[1]=='white'
def testTurtleIsInUpperLeftHandCorner(self):
assert self.m.t.pos()==(-190,190), "Turtle position is %d,%d" % \
(self.m.t.pos()[0],self.m.t.pos()[1])
def testTurtleMatrixIs0InUpperLeftHandCorner(self):
assert self.m.matrix[0][0]==0
def testScreenSize(self):
assert self.m.s.screensize()==(400,400)
def testMatrixValueAt(self):
assert self.m.getMatrixValueAt(-190,190)==0
def testForReset(self):
assert self.m.reset()==True
def cal_runningtime_single(self, alg):
while True:
self.maze = Maze(self.occ_rate, self.dim)
start = time.time()
solution_param = self.get_solution_param(alg)
if solution_param.has_path:
end = time.time()
print(end - start)
break
def Initialize(self):
# Build maze
self.mMaze = Maze(self.mKernel)
self.mMaze.SetOffset((10, 10))
self.mMaze.Generate(self.mMazeSize)
#maze.Load(os.path.join("Data", "tutorial1.maze"))
self.mMaze.BuildWalls()
# Make Monster --- ahhh
self.mMonster = Monster(self.mKernel)
self.mMonster.SetOffset((10, 10))
self.mMonster.SetPath(self.mMaze.Solve((0, 0)))
self.mMonster.SetCage(self.mMaze.GetCage())
self.mScoreImage = pygame.image.load(
os.path.join("Data", "scoreText.bmp")).convert()
self.mScoreImage.set_colorkey((0, 144, 247))
self.mScoreRect = self.mScoreImage.get_rect()
self.mScoreRect.topleft = (150, 570)
self.mLosses = 0
self.mMovesImage = pygame.image.load(
os.path.join("Data", "movesText.bmp")).convert()
self.mMovesImage.set_colorkey((0, 144, 247))
self.mMovesRect = self.mMovesImage.get_rect()
self.mMovesRect.topleft = (350, 570)
self.mLevelImage = pygame.image.load(
os.path.join("Data", "levelText.bmp")).convert()
self.mLevelImage.set_colorkey((0, 144, 247))
self.mLevelRect = self.mLevelImage.get_rect()
self.mLevelRect.topleft = (550, 570)
self.mLevelCompleteImage = pygame.image.load(
os.path.join("Data", "levelComplete.bmp")).convert()
self.mLevelCompleteRect = self.mLevelCompleteImage.get_rect()
self.mLevelCompleteRect.topleft = (220, 150)
self.mGameOverImage = pygame.image.load(
os.path.join("Data", "gameOver.bmp")).convert()
self.mGameOverRect = self.mLevelCompleteImage.get_rect()
self.mGameOverRect.topleft = (220, 150)
self.mMutedImage = pygame.image.load(os.path.join(
"Data", "mute.bmp")).convert()
self.mUnmutedImage = pygame.image.load(
os.path.join("Data", "unmute.bmp")).convert()
self.mVolumeImage = self.mUnmutedImage
self.mVolumeRect = self.mVolumeImage.get_rect()
self.mVolumeRect.topleft = (10, 570)
self.mVolumeState = 1
self.mFont = pygame.font.SysFont('Arial', 18, True)
return RoboPy.GameState.Initialize(self)
class main():
def __init__(self):
self.initialize()
def initialize(self):
# Setup Background, game objects, and initial states
win = GraphWin('App-Controlled Car', 800, 600)
self.maze = Maze(win)
self.maze.draw()
self.car = Car(win)
self.car.draw()
self.isRunning = True
# Setup Queues, Listeners, and off threads
self.inputQueue = Queue(maxsize=0)
#keyboardListener = KeyboardListener(self.inputQueue)
#keyboardListener.start()
joystickListener = JoystickListener("Web Joystick Listener",
self.inputQueue)
joystickListener.start()
# Setup Game Loop
self.run()
# Pause and Close
win.getMouse()
win.close()
def run(self):
# Game Loop
while self.isRunning:
# Process Events - Process inputs and other things
self.processEvents()
# Update - Update all objects that needs updating, ex position changes, physics
#self.car.update(joystickInput)
# Draw - Render things on screen
self.car.move(self.inputQueue.get()['x'] * carSpeed,
self.inputQueue.get()['y'] * carSpeed)
# Pause thread for framerate
time.sleep(0.017)
def processEvents(self):
# Check if game is complete or not
if self.car.carBody.getCenter().getX(
) > 580 and self.car.carBody.getCenter().getY() > 380:
self.isRunning = False
def __init__(self, maze,name="aMaze"):
self._running = True
self._display_surf = None
self._surfs = {}
self._name = name
self.maze = Maze(maze)
self.windowHeight = len(maze) * 40
self.windowWidth = len(maze[0]) * 40
self.on_execute()
def initialize(self):
c.totalScore = 0
self.startGame = StartGame(self.width, self.height)
self.run1 = WalkingGobang(self.width, self.height, 15)
self.run2 = WalkingMaze(self.width, self.height, 15)
self.run3 = WalkingShoot(self.width, self.height, 20)
self.gobang = GobangGame(self.width, self.height)
self.maze = Maze(self.width, self.height, 25, 25, 20, 20, 15)
self.shoot = Shooting(self.width, self.height, 20)
self.endGame = EndGame(self.width, self.height, 2, 50)
self.done = False
self.gameover = False
def generate_reachable_plot(iterations: int,
maze_size: int,
start: tuple = (),
goal: tuple = (),
p_start: float = 0,
p_stop: float = 1.0,
p_step: float = .05):
"""
Generates a plot showing the probability that for a given p, there exists a path through the room.
Each probability is calculated by using the basic definition of probability:
number of success
---------------------
number of samples
Plots and saves this graph as reachable.png
iterations - the amomunt of iterations to perform at each p. The essential 'total sample size' for a given p.
maze_size - the size of the mazes generated to test.
start - the start square represented as an ordered pair. Default is (0, 0).
goal - the goal square represented as an ordered pair. Default is (n - 1, n - 1) where n = maze_size.
p_start - the smallest p value to test (inclusive). Default is 0.
p_stop - the largest p value to test (inclusive). Default is 1.
p_step - the 'step' between each p-value. Default is .05.
"""
if (not start): # If start is not provided
start = (0, 0)
if (not goal): # If goal is not provided
goal = (maze_size - 1, maze_size - 1)
p_values = numpy.arange(p_start, p_stop + p_step,
p_step) # Generate p values
prob_success = [] # Create a list to store the success outcomes
for p in p_values: # Loop through p values
number_successes = 0 # Keep track of how many succeed
for i in range(iterations): # Loop through iterations
success = Maze.reachable(Maze.gen_maze(maze_size, p), start,
goal) # Either True or False here
if (success): # Increase total successes if it was successful
number_successes += 1
prob_success.append(number_successes /
iterations) # Add this value to our list
# Now that we have data, we plot and save the figure
# Scatter plot
plt.figure(figsize=figure_size)
plt.scatter(p_values, prob_success, label="Reachable", color="indigo")
plt.xlabel("p-values")
plt.ylabel("Simulated Success Probability")
plt.locator_params(nbins=20)
plt.title("Probability of a Path as Obstacles Increase")
plt.legend(loc="best")
plt.grid()
plt.savefig(f"{figure_save_path}reachable_scatter.png")
plt.show()
def main():
'''Replay loop of the game, it will restart the game until n is pressed
on the end screen'''
while 1:
'''Initialising the four main objects of the program'''
map = m.Maze("data/maps/map-01.txt")
hero = m.Hero(map.get_position_of(HERO_CHAR))
view = v.ViewPyGame()
controller = ControllerMacGyver(map, hero, view)
'''launching the game loop'''
controller.get_event()
'''Before restarting, we del every objects'''
del map,hero,view,controller
def cal_solvability(self):
p = [0, 0.05, 0.1, 0.15, 0.2, 0.25, 0.3, 0.35, 0.4, 0.45, 0.5]
solvability = []
for i in range(0, len(p)):
self.occ_rate = p[i]
has_path_times = 0
for j in range(0, 500):
self.maze = Maze(self.occ_rate, self.dim)
solution_param = self.get_solution_param("dfs")
if solution_param.has_path:
has_path_times += 1
solvability.append(has_path_times / 500)
printSolvability(p , solvability)
def Maze_merge(self, m1, m2, d, strategy):
"""
take in two maze and merge them into one solvable maze
strategy: strategy we use to merge two maze,
if set to 1, simply cut them into half and merge
if set to 0, split each into 4 parts and merge them
"""
m1_n = deepcopy(m1)
m2_n = deepcopy(m2)
if strategy == 1:
m3 = Maze(1, d)
m3.env = m1_n.env[0:int(d / 2)] + m2_n.env[int(d / 2):d]
else:
m3 = m1_n
for i in range(0, d):
for j in range(0, d):
if i < d / 2:
if j < d / 2:
m3.env[i][j] = m1_n.env[i][j]
else:
m3.env[i][j] = m2_n.env[i][j]
else:
if j < d / 2:
m3.env[i][j] = m2_n.env[i][j]
else:
m3.env[i][j] = m1_n.env[i][j]
if random.uniform(0, 1) < self.mutant_rate:
x = random.randint(1, self.cur_maze.dim - 2)
y = random.randint(1, self.cur_maze.dim - 2)
m3.env[x][y] = 1 - m3.env[x][y]
return m3
def cal_aver_path_length(self):
p = [0, 0.05, 0.1, 0.15, 0.2, 0.25, 0.3, 0.35, 0.4]
aver_path_len = []
for i in range(0, len(p)):
self.occ_rate = p[i]
path_length = 0
has_path_times = 0
for j in range(0, 1000):
self.maze = Maze(self.occ_rate, self.dim)
solution_param = self.get_solution_param("a*MH")
if solution_param.has_path:
path_length += len(solution_param.path)
has_path_times += 1
aver_path_len.append(path_length / has_path_times)
printAverPathLen(p, aver_path_len)
class Test_Maze(unittest.TestCase):
maze = Maze.Maze(binSize=1)
def test_geometry(self):
self.maze.sigma = .1
self.maze.visualize_maze()
def test_discretization(self):
assert (np.mod(self.maze.Nstates,
10) == 0), "Number of states must be a multiple of 10"
def test_get_state_from_position(self):
original_y = self.maze.y_position
original_x = self.maze.x_position
for y, x in zip([0, 30, 59.9], [59.9, 30, 0]):
self.maze.y_position = y
self.maze.x_position = x
self.maze.y_position = original_y
self.maze.x_position = original_x
def test_training(self):
print("Testing Learning...")
self.maze.run(N_trials=3000, N_runs=1, verbose=False)
plt.figure()
plt.plot((self.maze.get_learning_curve()))
plt.title("Latencies")
self.maze.plot_Q()
plt.show()
self.maze.navigation_map(alpha=0)
plt.show()
def main():
#using try/except block for no file error or any other related errors
try:
#creates a maze object from maze class
maze1 = Maze.Maze("maze6.txt")
start = maze1.getStart()
#the first item on path is the start point
path.append(start)
end = maze1.getEnd()
#recursion starts from here
solve_maze(maze1)
#checks to see if the path length is zero or 1 it means there was no solutuon
#or the start and end point were the same
if len(path) < 2:
print("Sorry no solution found for this maze!")
elif len(path) == 1 and end == start:
print("The start and end point should not be the same.")
else:
print("Here is your path from:",
start,
"\tto:",
end,
"\n",
path,
sep="")
except FileNotFoundError as error:
print(error)
except Exception as error:
print("Sorry, something went wrong.", error)
def __init__(self):
self.maze_file = "PacmanMaze"
self.maze = Maze.Maze(19, 21, self.maze_file)
self.pacman_speed = 5
self.ghost_speed = 4
self.ghost_sequences = [[20, 5]]
self.number = 2
def enemies(self):
em = m.Maze(self.parent, self.width, self.height, self.blank())
em.spawnEnemy()
for enemy in em.terrain.enemies:
enemy.loc = em.terrain.land[3][5]
enemy.X = enemy.loc.X
enemy.Y = enemy.loc.Y
em.player.loc = em.terrain.land[0][0]
em.player.loc.start = True
em.player.debt = self.moneyTracker
em.terrain.land[4][9].target = True
em.terrain.exit = em.terrain.land[4][9]
# box around enemy
#vertical lines
for i in range(3):
em.terrain.land[i + 1][5].borders[1] = True
em.terrain.land[i + 1][4].borders[1] = True
# horizontal lines
em.terrain.land[4][5].borders[0] = True
em.terrain.checkBarriers()
info = pu.popUp(self.parent, self.width, self.height)
info.popUpFrame.create_image(0, 0, image=self.eImage, anchor=NW)
em.display(next=0)
self.moneyTracker = c.deepcopy(em.player.debt)
em.unpack()
def walls(self):
w = m.Maze(self.parent, self.width, self.height, self.blank())
w.terrain.land[4][9].target = True
# horizontal line
for i in range(10):
w.terrain.land[2][i].borders[0] = True
w.terrain.land[1][3].holding = "phase"
# vertical lines
for i in range(5):
w.terrain.land[i][3].borders[1] = True
w.terrain.land[0][4].holding = "phase"
w.terrain.land[4][3].holding = "phase"
w.terrain.land[2][5].holding = "phase"
for i in range(5):
w.terrain.land[i][7].borders[1] = True
w.terrain.land[0][9].holding = "phase"
w.terrain.checkBarriers()
w.player.loc = w.terrain.land[0][0]
w.player.loc.start = True
w.player.debt = self.moneyTracker
info = pu.popUp(self.parent, self.width, self.height)
info.popUpFrame.create_image(0, 0, image=self.wImage, anchor=NW)
w.display(next=0)
self.moneyTracker = c.deepcopy(w.player.debt)
w.unpack()
def allWallsMaze(size):
walls = []
for i in range(size[0]):
walls.append([])
for j in range(size[1]):
walls[i].append((True, True))
return Maze.Maze(walls)
def setUp(self):
"""
The setUp function is called each time one of your tests is run.
We create an instance of the maze here before each test."
"""
# this checks for a Maze class
self.m = Maze()
def defineProblem():
print("Choose the maze you would want to solve: ")
my_maze = Maze.Maze()
try:
file_maze = askopenfilename()
my_maze.generateMazeJSON(JsonManager.read(file_maze))
except:
print("Incorrect format of the JSON file.")
return 0
initial = [-1, -1]
while initial[0] < 0 or initial[0] > my_maze.rows - 1 or initial[
1] < 0 or initial[1] > my_maze.columns - 1:
print("Select the initial cell: ")
initial[0] = int(input(" Initial cell row: "))
initial[1] = int(input(" Initial cell column: "))
objective = [-1, -1]
while objective[0] < 0 or objective[0] > my_maze.rows - 1 or objective[
1] < 0 or objective[1] > my_maze.columns - 1:
print("Select the objective cell: ")
objective[0] = int(input(" Objective cell row: "))
objective[1] = int(input(" Obejctive cell column: "))
file = file_maze.split("/")
JsonManager.writeProblem(initial, objective, file[len(file) - 1],
[my_maze.rows, my_maze.columns])
print("Problem storage on \\problems folder.")
def get_astar_path(sx,sy,ex,ey,mazeX,mazeY,sparsity):
obs,arr=Maze.creat_map([sx,sy],[ex,ey],mazeX,mazeY,sparsity)
plt.plot(ex,ey,'xm')
plt.plot(sx,sy,'xm')
path_planner=A_star.A_Star(obs,[sx,sy],[ex, ey])
# Plot Mesh
plt.pcolormesh(arr)
plt.axes().set_aspect('equal') #set the x and y axes to the same scale
plt.xticks([]) # remove the tick marks by setting to an empty list
plt.yticks([]) # remove the tick marks by setting to an empty list
plt.axes().invert_yaxis() #invert the y-axis so the first row of data is at the top
start_time=timeit.default_timer()
path=path_planner.A_Star()
# If Path found plot the path
if path!=None:
nppath=np.asarray(path)
end_time=timeit.default_timer()
print("timing",end_time-start_time)
plt.plot(nppath[:,0],nppath[:,1],'r-')
plt.savefig('./frames/astar_final')
plt.show()
else:
print("path not found")
plt.show()
return path
def test_solve_no_output(self):
# Based on code from user1200039 http://stackoverflow.com/questions/5136611/capture-stdout-from-a-script-in-python
import sys
from io import StringIO
import LabB2, Maze
msg = ("""
Most commonly your program fails this test if you use a print statement
in your append function. You must not print anything in class methods.
Instead, you should return the data so that the test code can access it.
Wrong:
def add(a, b):
""\" Add a and b.""\"
print(a+b)
Right:
def add(a, b):
""\" Return the sum of a and b.""\"
return a+b
""")
enter()
oldout = sys.stdout
maze = Maze.Maze(("#@##", "# #", "##!@"), 0)
buf = StringIO()
try:
sys.stdout = buf
LabB2.solve(None, maze)
finally:
sys.stdout = oldout
self.assertEqual(len(buf.getvalue()), 0, msg=msg)
exit()
def TraverseMaze(room,stack):
"""
Use a simple recursion algo to reach room 1,
and return all the intermediate transition information.
Note that this is not an efficient algorithm.
Shortest Path cannot be found via this approach either.
"""
global stack
if room==1:
break
else:
for i in range(len(room_transition(room))-1)
colors=Maze.get_exists()
room_next=Maze.go_through_door(colors[i])
stack.append(room_transition(room_next))
TraverseMaze(room_next)
def setUp(self):
"""
this will check to see if we have a maze class but as soon
as setUp is run, we will see a failure so we really don't need
to do anything here
"""
self.m = Maze()
def main():
N = eval(input("Please enter the dimensions for your maze (Your maze will be N x N) "))
myMaze = Maze(N)
print("The Red Square is the start")
print("The Yellow Square is the key")
print("The Green Square is the end")
print("The Blue Circles represent the path to the key")
print("The Black Circles represent the path to the end")
print("The top left Cell is (0,0), x increases as you move right and y increases as you move down")
print("The top left Cell is (0,0), x increases as you move right and y increases as you move down")
myMaze.generateMaze()
myMaze.explore(myMaze.entrance[0],myMaze.entrance[1])
#myMaze.printSolution()
myMaze.Draw()
myCharacter = Character(myMaze)
print("You have " + str(len(myMaze.SolutionStack)-2) + " steps to reach the ending")
print("You are the pink circle, you may use the arrow keys to move")
gameLoop(myMaze,myCharacter)
replay = input("Would you like to play again (Y/N)")
if replay == "Y":
myMaze.win.close()
main()
elif replay == "N":
myMaze.win.close()
quit()
myMaze.win.close()
def test_nomaze(self):
enter()
import Maze, LabB2
name = "nomaze.txt"
f = open(name, "r")
maze = Maze.Maze([line for line in f], 0)
f.close()
self.assertIsNone(LabB2.solve(None, maze), \
msg="None was not returned for a maze with no solution.")
def items_initialize(self):
'''Fonction that place the 3 items randomly in the map on the floor
as a char from '1' to '3' '''
nb_of_items = 3
while nb_of_items > 0:
p = m.Position(random.randint(0, 14), random.randint(0, 14))
if self.map.get_char(p) == PATH_CHAR:
self.map.set_char_to_indexes(str(nb_of_items), p)
nb_of_items -= 1
def __init__(self):
self.robot_clients = {}
self.robot_states = {}
self.maze = Maze('../data/maze2.pgm')
# don't use: self.visualizer = GameVisualizerImage(self.maze)
self.visualizer = GameVisualizer(self.maze)
class GameMaster(object):
def __init__(self):
self.robot_clients = {}
self.robot_states = {}
self.maze = Maze('../data/maze2.pgm')
# don't use: self.visualizer = GameVisualizerImage(self.maze)
self.visualizer = GameVisualizer(self.maze)
#self.visualizer = GameVisualizerRawTerminal(self.maze)
def addClient(self, clientName):
print clientName
module = __import__(clientName)
if clientName in self.robot_clients.keys():
clientName = clientName + str(len(self.robot_clients))
self.robot_clients[clientName] = module.TestClient() # TODO get class name
self.robot_states[clientName] = RobotState()
start_position = self.maze.getStartPosition()
self.robot_states[clientName].id = start_position[0]
self.robot_states[clientName].position = start_position[1:3]
self.robot_states[clientName].orientation = start_position[-1]
def initGame(self):
pass
def gameFinished(self):
goal = self.maze.getGoal()
for state in self.robot_states.values():
if goal == state.position:
return True
return False
def getCompass(self,robot_state):
goal = self.maze.getGoal()
position = robot_state.position
angle = math.atan2( goal[1] - position[1] , goal[0] - position[0]) * 180.0 / math.pi + 90;
compass = round(angle/45) - (robot_state.orientation * 2)
if compass < 0:
compass += 8
return compass
def startGame(self):
i = 0 # just for testing
self.maze.updateRobotStates(self.robot_states)
while i < 100000 and not self.gameFinished(): #i < 10: #
i += 1
#sleep(0.05)
self.visualizer.showState()
#a = raw_input()
print "round",i
for name, robot in self.robot_clients.items():
sensor_data = None
if self.robot_states[name].sense == True:
sensor_data = self.maze.getSensorData(self.robot_states[name])
sensor_data["battery"] = self.robot_states[name].battery
sensor_data["stones"] = self.robot_states[name].stones
sensor_data["bombs"] = self.robot_states[name].bombs
self.robot_states[name].sense = False
compass = self.getCompass(self.robot_states[name])
#try:
command = robot.getNextCommand(sensor_data, self.robot_states[name].bumper, compass,self.robot_states[name].teleported)
#except:
# print "Error in robot",name,"continue"
print name, "command:", Command.names[command]
print "battery: ", self.robot_states[name].battery
self.robot_states[name].bumper = False
self.robot_states[name].teleported = False
if command == Command.RightTurn:
if self.robot_states[name].battery > 0:
self.robot_states[name].battery -= 1
self.robot_states[name].orientation = (self.robot_states[name].orientation + 1) % 4
if command == Command.LeftTurn:
if self.robot_states[name].battery > 0:
self.robot_states[name].battery -= 1
self.robot_states[name].orientation = (self.robot_states[name].orientation - 1) % 4
if command == Command.Sense:
self.robot_states[name].sense = True
if command == Command.DropStone:
if self.robot_states[name].stones > 0:
position = self.robot_states[name].getIndicees()[2]
if self.maze.checkPositionFree(position) == True:
self.robot_states[name].stones -= 1
self.maze.setStone(position)
if command == Command.DropBomb:
if self.robot_states[name].bombs > 0:
position = self.robot_states[name].getIndicees()[2]
if self.maze.checkPositionFree(position) == True:
self.robot_states[name].bombs -= 1
self.maze.setBomb(position)
if command == Command.MoveForward:
if self.robot_states[name].battery > 0:
self.robot_states[name].battery -= 1
position = self.robot_states[name].getIndicees()[0]
if self.maze.checkPositionFree(position) == True:
self.robot_states[name].position = position[:]
if self.maze.checkPortal(position) == True:
newPosition = self.maze.getFreePortal(self.robot_states)
if newPosition != None:
self.robot_states[name].position = newPosition[:]
self.robot_states[name].teleported = True
else:
self.robot_states[name].bumper = True
if command == Command.Stay:
if self.robot_states[name].battery < 100:
if self.robot_states[name].position in self.maze.getLoadingStations():
self.robot_states[name].battery += 30
else:
self.robot_states[name].battery += 1
if self.robot_states[name].battery > 100:
self.robot_states[name].battery = 100
self.maze.updateRobotStates(self.robot_states)
self.maze.updateRound(self.robot_states)
from Dead import *
import PyGameFuncs
from sys import argv ###################
#######################################################################
subject_num = ''
if len(sys.argv)>1: #ie if a subject number was input
subject_num = str(sys.argv[1])
else:
print("PLEASE ENTER THE PARTICIPANT NUMBER. (Open program by typing eg 'python Output.py 001'")
camera = Camera()
user = MazeMove(camera)
maze = Maze()
hallway_type = maze.current_type()
inventory = Inventory(maze)
output2d = Output2d(camera, inventory, maze)
writefile = WriteFile(maze, subject_num)
time = Time(maze)
dead = Dead(output2d, time, writefile)
glutInit()
was_focused = False
fps = 1000 #added this to try sotp flickering (frames per sec) -didn't work :(
##
def display():
output2d.draw_images()
def getMaze():
# Ask user to input maze file name
filename = input("Please enter the maze file name: ")
# if user enters nothing during input, it will default to maze.txt and try to open it.
if (filename == ""):
filename = "maze.txt"
# try to open the file
try:
inputFile = open(filename, 'r')
except FileNotFoundError:
# If it doesnt exist, prints error message and stops
print ("Error, The file", filename, "does not exist.")
return None
# Read the map data into theMaze
theMaze = inputFile.readlines()
# close the file
inputFile.close()
# Set up the map size, start point, end point
# Grab from first line of map data
mapSize = theMaze[0].split()
# Split the 2 numbers into rows, cols
mapSize[0] = 2*int(mapSize[0])+1
mapSize[1] = 2*int(mapSize[1])+1
# Grab start and end point from line 2 and 3 of file
startPoint = theMaze[1].split()
endPoint = theMaze[2].split()
# Set up a display window for graphics.py
win = GraphWin ("Maze Path", 10 * (mapSize[1]), 10 * (mapSize[0]))
# Generate the board in a list of lists
generatedMaze = Maze(mapSize[0],mapSize[1])
# Map the maze into my list of lists
generatedMaze.mappingMaze(theMaze, mapSize)
# Place the start and end points onto the board
generatedMaze.setPositions(startPoint, endPoint, mapSize)
# Display translated Maze
generatedMaze.display(generatedMaze, 10, win)
# Solve the maze
generatedMaze.solveMaze()
# Display the solution in graphics
generatedMaze.displaysol(generatedMaze, 10, win)
def makeMaze(rows, columns):
# Create the display window
win = GraphWin ("Maze Test", 10 * (columns + 1), 10 * (rows + 1))
# Set up the full maze
board = Maze (rows, columns)
# Calculate the board center and put it in as the starting point
r0 = rows // 2
c0 = columns // 2
board.set (r0, c0, START)
queue = []
queue.append(Point(r0, c0))
while len(queue) > 0: # As long as there are things to process in the queue
element = queue.pop(0) # Get the next location
r = element.getX()
c = element.getY()
r1 = r + 2 # Move down two and see if we can cut a corridor
if board.onMap (r1, c) and board.get(r1, c) == ROCK and random.random() < PROBABILITY:
board.set(r+1, c, OPEN)
board.set(r1, c, OPEN)
queue.append(Point(r1, c))
r1 = r - 2 # Move up two and see if we can cut a corridor
if board.onMap (r1, c) and board.get(r1, c) == ROCK and random.random() < PROBABILITY:
board.set(r-1, c, OPEN)
board.set(r1, c, OPEN)
queue.append(Point(r1, c))
c1 = c + 2 # Move right two and see if we can cut a corridor
if board.onMap (r, c1) and board.get(r, c1) == ROCK and random.random() < PROBABILITY:
board.set(r, c+1, OPEN)
board.set(r, c1, OPEN)
queue.append(Point(r, c1))
c1 = c - 2 # Move left two and see if we can cut a corridor
if board.onMap (r, c1) and board.get(r, c1) == ROCK and random.random() < PROBABILITY:
board.set(r, c-1, OPEN)
board.set(r, c1, OPEN)
queue.append(Point(r, c1))
# Starting at one of the four sides, place the exit
side = random.randint(0,3)
if side == 0: # Top edge
steps = columns // 2
cStart = 1 + 2 * random.randint(0, (steps // 2))
rStart = 0
board.set (0, cStart, EXIT)
dRow = 1
dCol = 0
elif side == 1: # Bottom edge
steps = columns // 2
cStart = 1 + 2 * random.randint(0, (steps // 2))
size = board.getSize()
rStart, c1 = size
rStart-=1
board.set (rStart, cStart, EXIT)
dRow = -1
dCol = 0
elif side == 2: # Left edge
steps = rows // 2
rStart = 1 + 2 * random.randint(0, (steps // 2))
cStart = 0
board.set (rStart, 0, EXIT)
dRow = 0
dCol = 1
else: # Right Edge
steps = rows // 2
rStart = 1 + 2 * random.randint(0, (steps // 2))
size = board.getSize()
r1, cStart = size
cStart-=1
board.set (rStart, cStart, EXIT)
dRow = 0
dCol = -1
# Cut a corridor inward from the exit until you contact the maze
rStart += dRow
cStart += dCol
while board.get(rStart, cStart) == ROCK:
board.set (rStart, cStart, OPEN)
rStart += dRow
cStart += dCol
# Display the maze and wait for the person to click
board.display (board, 10, win)
win.getMouse()
win.close()
