class mainWindow():
times=1
timestart=time.clock()
def __init__(self):
gamedata = pickle.load(open('C:/gamedata.p', 'rb'))
blockHeights = gamedata['blockHeights']
vis_map = get_visibility_map(blockHeights)
self.astar = AStar(blockHeights, vis_map.tolist())
self.start_point = (0,0)
self.vis_map = vis_map
blocks = np.array(self.vis_map)
self.blocks = blocks.transpose()
self.end_point = (40,25)
self.root = Tkinter.Tk()
self.frame = Tkinter.Frame(self.root, width=1024, height=768)
self.frame.pack()
self.canvas = Tkinter.Canvas(self.frame, width=1024,height=768)
self.canvas.place(x=-2,y=-2)
self.root.after(100,self.start) # INCREASE THE 0 TO SLOW IT DOWN
self.root.mainloop()
def start(self):
try:
self.im = Image.fromarray(np.uint8(cm.gist_yarg(self.blocks)*255))
if self.start_point[0] < self.blocks.shape[1]-1:
self.start_point = (self.start_point[0]+1, self.start_point[1])
path = self.astar.get_path(self.start_point[0],
self.start_point[1],
self.end_point[0],
self.end_point[1])
self.im.putpixel(self.start_point,(0,255,0))
for x in path:
self.im.putpixel((x[0], x[1]),(255,0,0))
self.im.putpixel(self.end_point,(0,0,255))
newy, newx = self.blocks.shape
scale = 8
self.im = self.im.resize((newx*scale, newy*scale))
self.photo = ImageTk.PhotoImage(image=self.im)
self.canvas.create_image(0,0,image=self.photo,anchor=Tkinter.NW)
self.root.update()
self.times+=1
if self.times%33==0:
print "%.02f FPS"%(self.times/(time.clock()-self.timestart))
self.root.after(2000,self.start)
except Exception as e:
print e
self.root.after(10,self.start)
def solve_a_star(self):
world = deepcopy(self.world)
x = int(self.robot_x / self.cell_width)
y = int(self.robot_y / self.cell_height)
world[x][y] = -1
a_star = AStar(world,
start_point=(x, y),
end_point=(self.goal_x, self.goal_y))
a_star.a_star()
return a_star.get_path()
def get_order(self, commander, bot):
exact_target = commander.level.findRandomFreePositionInBox((commander.game.team.flag.position - 5.0, commander.game.team.flag.position + 5.0))
pomastar = AStar(commander.gamedata['blockHeights'], commander.twodpom)
path = pomastar.get_path(bot.position.x,
bot.position.y,
exact_target.x,
exact_target.y)
try:
if len(path) > 10:
exact_target = Vector2(*path[len(path)/2])
target = commander.level.findRandomFreePositionInBox((exact_target-5.0, exact_target+5.0))
else:
target = commander.game.team.flag.position
# print target
if not target:
raise "no target found"
except:
print 'couldnt convert target to vec2'
target = flagScoreLocation = commander.game.team.flagScoreLocation
targetMin = target - Vector2(2.0, 2.0)
targetMax = target + Vector2(2.0, 2.0)
goal = commander.level.findRandomFreePositionInBox([targetMin, targetMax])
if not goal:
return None, None
if (goal - bot.position).length() > 8.0:
return (orders.Charge, commander.defender, goal), {'description' : 'rushing to defend'}
else:
return (orders.Defend, commander.defender, (commander.middle - bot.position)), {'description' : 'defending'}
def generation_and_solution(root, solution_window):
"""
Maze's internal loop for solving and stepping."""
global hard_exit
# Generate maze and its entrances
m = Maze()
m.generator = AldousBroder(solution_window.maze_width, solution_window.maze_height)
m.generate()
m.generate_entrances()
# MazeUI initalization
solution_window.initialize_maze(m)
# Make entrance and exit into accessible areas
solution_window.maze_grid[m.start[0], m.start[1]] = 0
solution_window.maze_grid[m.end[0], m.end[1]] = 0
solver = AStar(solution_window.maze_grid, m.start, m.end)
new_elem = next(solver)
while True:
if solution_window.generate_new:
# Clear canvas from old maze and stop new execution.
# solution_window.canvas.delete("all")
solution_window.start = False
return
if hard_exit:
break
root.update()
# If start hasn't been pressed don't start solving
if not solution_window.start:
continue
# If pause is pressed, skip calculation. If next is pressed calculate until next iteration
if solution_window.pause:
if solution_window.next:
solution_window.next = False
else:
continue
if new_elem is not None:
# Recolor discovery path
solution_window.recolor_point(new_elem[0], new_elem[1], (51, 109, 204))
solution_window.update_maze()
new_elem = next(solver)
else:
# Recolor endpoint
solution_window.recolor_point(m.end[0], m.end[1], (51, 109, 204))
solution_window.update_maze()
path = solver.get_path()
# Draw solution
solution_window.draw_final_path(path, (53, 165, 24))
solution_window.update_maze()
