def main(): robot = Robot((18,1), True) #robot.set_speed(100) #_real_map = Arena(robot) #ArenaUtils.load_arena_from_file(_real_map, 'map/SampleWeek11.txt') _explore_map = Arena(robot) _explore_map.set_allunexplored() CommMgr.connect() _explore = Exploration(_explore_map, robot, 300, 3600) _explore.run() CommMgr.close()
def explore():
robot = Robot((18, 1), True)
_explore_map = Arena(robot)
_explore_map.set_allunexplored()
_explore = Exploration(_explore_map, robot, 300, 3600)
_explore.run()
class Simulator:
def __init__(self, real_run):
self._real_run = real_run
pygame.init()
def init_objects(self, robot, map_file):
self._robot = copy.deepcopy(robot)
self._real_map = Arena(self._robot)
ArenaUtils.load_arena_from_file(self._real_map, map_file)
self._explore_map = Arena(self._robot)
self._explore_map.set_allunexplored()
self.BLOCK_SIZE = 30
self._waypoint = None
# Simulator Main Window
self._arena_size = (ArenaConstant.ARENA_COL.value * self.BLOCK_SIZE,
ArenaConstant.ARENA_ROW.value * self.BLOCK_SIZE)
#self._screen = pygame.display.set_mode((self._arena_size[0] * 2, self._arena_size[1]))
self._screen = pygame.display.set_mode(
(self._arena_size[0], self._arena_size[1]))
self._screen.fill((0, 0, 0))
# Simulator Background
self._background = pygame.Surface(self._arena_size)
self._background = self._background.convert()
self._background.fill((169, 169, 169))
# Simulator Alerts
# self._alert = pygame.Surface((9 * self.BLOCK_SIZE, 3 * self.BLOCK_SIZE))
# self._alert = self._alert.convert()
# self._alert.fill((255,255,255))
# pygame.draw.rect(self._alert, (0,0,0), (0, 0, 9 * self.BLOCK_SIZE, 3 * self.BLOCK_SIZE), 1)
# Simulator Background
self._menu = pygame.Surface(self._arena_size)
self._menu = self._menu.convert()
self._menu.fill((255, 255, 255))
# Prepare Background and Arena
for row in range(ArenaConstant.ARENA_ROW.value):
for col in range(ArenaConstant.ARENA_COL.value):
if row == 17 and col == 0:
pygame.draw.rect(
self._background, (0, 100, 0),
(col * self.BLOCK_SIZE, row * self.BLOCK_SIZE,
self.BLOCK_SIZE * 3, self.BLOCK_SIZE * 3))
if row == 0 and col == 12:
pygame.draw.rect(
self._background, (255, 140, 0),
(col * self.BLOCK_SIZE, row * self.BLOCK_SIZE,
self.BLOCK_SIZE * 3, self.BLOCK_SIZE * 3))
pygame.draw.rect(self._background, (0, 0, 0),
(col * self.BLOCK_SIZE, row * self.BLOCK_SIZE,
self.BLOCK_SIZE, self.BLOCK_SIZE), 1)
# Simulator Menu
# self._large_text = pygame.font.Font('freesansbold.ttf',20)
# self._coverage_ex_menu_surf, self._coverage_ex_menu_rect = self.text_objects("Coverage-Limited Exploration", self._large_text)
# self._coverage_ex_menu_rect.center = ((self._arena_size[0] / 2, 3 * self._arena_size[1] / 7))
# self._coverage_rect = pygame.Rect(self._coverage_ex_menu_rect.left - 15, self._coverage_ex_menu_rect.top - 15, self._coverage_ex_menu_rect.width + self.BLOCK_SIZE, self._coverage_ex_menu_rect.height + self.BLOCK_SIZE)
# pygame.draw.rect(self._menu, (0,0,0), self._coverage_rect, 3)
# self._menu.blit(self._coverage_ex_menu_surf, self._coverage_ex_menu_rect)
# self._ex_menu_surf, self._ex_menu_rect = self.text_objects("Exploration", self._large_text)
# self._ex_menu_rect.center = ((self._arena_size[0] / 2, self._arena_size[1] / 7))
# self._ex_rect = pygame.Rect.copy(self._coverage_rect)
# self._ex_rect.center = self._ex_menu_rect.center
# pygame.draw.rect(self._menu, (0,0,0), self._ex_rect, 3)
# self._menu.blit(self._ex_menu_surf, self._ex_menu_rect)
# self._timed_ex_menu_surf, self._timed_ex_menu_rect = self.text_objects("Timed Exploration", self._large_text)
# self._timed_ex_menu_rect.center = ((self._arena_size[0] / 2, 2 * self._arena_size[1] / 7))
# self._timed_rect = pygame.Rect.copy(self._coverage_rect)
# self._timed_rect.center = self._timed_ex_menu_rect.center
# pygame.draw.rect(self._menu, (0,0,0), self._timed_rect, 3)
# self._menu.blit(self._timed_ex_menu_surf, self._timed_ex_menu_rect)
# self._wp_menu_surf, self._wp_menu_rect = self.text_objects("Add Waypoint", self._large_text)
# self._wp_menu_rect.center = ((self._arena_size[0] / 2, 4 * self._arena_size[1] / 7))
# self._wp_rect = pygame.Rect.copy(self._coverage_rect)
# self._wp_rect.center = self._wp_menu_rect.center
# pygame.draw.rect(self._menu, (0,0,0), self._wp_rect, 3)
# self._menu.blit(self._wp_menu_surf, self._wp_menu_rect)
# self._fp_menu_surf, self._fp_menu_rect = self.text_objects("Fastest Path", self._large_text)
# self._fp_menu_rect.center = ((self._arena_size[0] / 2, 5 * self._arena_size[1] / 7))
# self._fp_rect = pygame.Rect.copy(self._coverage_rect)
# self._fp_rect.center = self._fp_menu_rect.center
# pygame.draw.rect(self._menu, (0,0,0), self._fp_rect, 3)
# self._menu.blit(self._fp_menu_surf, self._fp_menu_rect)
# self._mdf_menu_surf, self._mdf_menu_rect = self.text_objects("Generate MDF", self._large_text)
# self._mdf_menu_rect.center = ((self._arena_size[0] / 2, 6 * self._arena_size[1] / 7))
# self._mdf_rect = pygame.Rect.copy(self._coverage_rect)
# self._mdf_rect.center = self._mdf_menu_rect.center
# pygame.draw.rect(self._menu, (0,0,0), self._mdf_rect, 3)
# self._menu.blit(self._mdf_menu_surf, self._mdf_menu_rect)
self._screen.blit(self._background, (0, 0))
#self._screen.blit(self._alert, (3 * self.BLOCK_SIZE, 8 * self.BLOCK_SIZE))
self._screen.blit(self._menu,
(ArenaConstant.ARENA_COL.value * self.BLOCK_SIZE, 0))
pygame.display.update()
def add_waypoint(self, pos):
self._waypoint = pos
pygame.draw.rect(self._background, (0, 0, 128),
(pos[1] * self.BLOCK_SIZE, pos[0] * self.BLOCK_SIZE,
self.BLOCK_SIZE, self.BLOCK_SIZE))
pygame.draw.rect(self._background, (0, 0, 0),
(pos[1] * self.BLOCK_SIZE, pos[0] * self.BLOCK_SIZE,
self.BLOCK_SIZE, self.BLOCK_SIZE), 1)
self._screen.blit(self._background, (0, 0))
pygame.display.update()
def text_objects(self, text, font):
text_surface = font.render(text, True, (0, 0, 0))
return text_surface, text_surface.get_rect()
def get_key(self):
while 1:
event = pygame.event.poll()
if event.type == KEYDOWN:
return event.key
else:
pass
def display_box(self, screen, message):
"Print a message in a box in the middle of the screen"
fontobject = pygame.font.Font(None, 18)
pygame.draw.rect(screen, (0, 0, 0),
((screen.get_width() / 2) - 100,
(screen.get_height() / 2) - 10, 200, 20), 0)
pygame.draw.rect(screen, (255, 255, 255),
((screen.get_width() / 2) - 102,
(screen.get_height() / 2) - 12, 204, 24), 1)
if len(message) != 0:
screen.blit(fontobject.render(message, 1, (255, 255, 255)),
((screen.get_width() / 2) - 100,
(screen.get_height() / 2) - 10))
pygame.display.flip()
def ask(self, screen, question):
"ask(screen, question) -> answer"
pygame.font.init()
current_string = []
self.display_box(screen, question + ": " + ''.join(current_string))
while 1:
inkey = self.get_key()
if inkey == K_BACKSPACE:
current_string = current_string[0:-1]
elif inkey == K_RETURN:
break
elif inkey == K_MINUS:
current_string.append("_")
elif inkey <= 127:
current_string.append(chr(inkey))
self.display_box(screen, question + ": " + ''.join(current_string))
return ''.join(current_string)
def run_exploration(self, robot, map_file):
self.init_objects(robot, map_file)
while True:
# _mouse = pygame.mouse.get_pos()
# if 450 + self._ex_rect.left < _mouse[0] < 450 + self._ex_rect.right and self._ex_rect.top < _mouse[1] < self._ex_rect.bottom:
# pygame.draw.rect(self._menu, (255,0,0), self._ex_rect, 3)
# else:
# pygame.draw.rect(self._menu, (0,0,0), self._ex_rect, 3)
# if 450 + self._timed_rect.left < _mouse[0] < 450 + self._timed_rect.right and self._timed_rect.top < _mouse[1] < self._timed_rect.bottom:
# pygame.draw.rect(self._menu, (255,0,0), self._timed_rect, 3)
# else:
# pygame.draw.rect(self._menu, (0,0,0), self._timed_rect, 3)
# if 450 + self._coverage_rect.left < _mouse[0] < 450 + self._coverage_rect.right and self._coverage_rect.top < _mouse[1] < self._coverage_rect.bottom:
# pygame.draw.rect(self._menu, (255,0,0), self._coverage_rect, 3)
# else:
# pygame.draw.rect(self._menu, (0,0,0), self._coverage_rect, 3)
# if 450 + self._wp_rect.left < _mouse[0] < 450 + self._wp_rect.right and self._wp_rect.top < _mouse[1] < self._wp_rect.bottom:
# pygame.draw.rect(self._menu, (255,0,0), self._wp_rect, 3)
# else:
# pygame.draw.rect(self._menu, (0,0,0), self._fp_rect, 3)
# if 450 + self._fp_rect.left < _mouse[0] < 450 + self._fp_rect.right and self._fp_rect.top < _mouse[1] < self._fp_rect.bottom:
# pygame.draw.rect(self._menu, (255,0,0), self._fp_rect, 3)
# else:
# pygame.draw.rect(self._menu, (0,0,0), self._fp_rect, 3)
# if 450 + self._mdf_rect.left < _mouse[0] < 450 + self._mdf_rect.right and self._mdf_rect.top < _mouse[1] < self._mdf_rect.bottom:
# pygame.draw.rect(self._menu, (255,0,0), self._mdf_rect, 3)
# else:
# pygame.draw.rect(self._menu, (0,0,0), self._mdf_rect, 3)
# self._screen.blit(self._menu, (ArenaConstant.ARENA_COL.value * self.BLOCK_SIZE,0))
# pygame.display.update()
keys = pygame.key.get_pressed()
for event in pygame.event.get():
if event.type == QUIT or keys[pygame.K_ESCAPE]:
CommMgr.close()
pygame.quit()
sys.exit()
elif keys[pygame.K_RETURN]:
self.init_objects(robot, map_file)
if self._real_run:
CommMgr.connect()
_explore = Exploration(self._explore_map, self._real_map,
self._robot, 300, 3600,
(self._screen, self._background))
_explore.run()
if self._real_run:
CommMgr.close()