def draw_map(self):
"""
Create a map using mapGeneration and filling it to window_surface
"""
map_data = dispUtils.mapGeneration(self.windowSurface,self.map_type)
self.windowSurface.fill(map_data[1])
dispUtils.drawObstacles(self.windowSurface, map_data[2], map_data[0])
startTime = datetime.now()
# set up pygame
pygame.init()
mainClock = pygame.time.Clock()
# set up the window
WINDOWWIDTH = 1200
WINDOWHEIGHT = 1200
windowSurface = pygame.display.set_mode((WINDOWWIDTH, WINDOWHEIGHT))
pygame.display.set_caption('2D Training')
#Generate Map
map_data = dispUtils.mapGeneration(windowSurface,map_type)
windowSurface.fill(map_data[1])
dispUtils.drawObstacles(windowSurface, map_data[2], map_data[0])
# movement Parameters
forawardSpeed = {'linearSpeed': 50/updatesPerSecond, 'angularSpeed': 0/updatesPerSecond}
leftSpeed = {'linearSpeed': 0/updatesPerSecond, 'angularSpeed': -0.6/updatesPerSecond}
rightSpeed = {'linearSpeed': 0/updatesPerSecond, 'angularSpeed': 0.6/updatesPerSecond}
stopSpeed = {'linearSpeed': 0, 'angularSpeed': 0}
# spawn walls and other obstacles
BOXSIZE = WINDOWWIDTH - 100
WALLWIDTH = 50
obstacles = dispUtils.createWalls(windowSurface,BOXSIZE,WALLWIDTH)
dispUtils.drawObstacles(windowSurface, [0,0,0], obstacles)
# box
boxX = int(random.uniform(200, 800))
dispUtils.noCollideSpawn(goals[-1], blacklist, 200)
done = False
# run the game loop
while (True):
sim.doStep()
#Fill Screen with white background
windowSurface.fill([255, 255, 255])
# check for the QUIT event
for event in pygame.event.get():
if event.type == QUIT:
pygame.quit()
sys.exit()
dispUtils.drawAgent(windowSurface, [255, 0, 0], robots[i])
# Draw all the goals and obstacles
for goal in goals:
dispUtils.drawGoal(windowSurface, goal)
dispUtils.drawObstacles(windowSurface, [0, 0, 0], obstacles)
for i in range(numberOfAgents):
dispUtils.drawAgent(windowSurface, [255, 0, 0], robots[i])
if done == False:
dispUtils.updateAgent(robots[i])