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()