def setSource ( self, value ):
if self._cap:
if self._cap._capture.isOpened(): #ugly access to VideoCapture object from managers
self._cap._capture.release()
self._cap = CaptureManager( cv2.VideoCapture(int(value)) )
#self.indWindow = cv2.namedWindow("Camera Display")
self.showImage = True
self.actualRes = self._cap.getResolution()
# Set to default resolution from camera (640x480)
#res = "%d x %d" % (int(self.actualRes[0]), int(self.actualRes[1]) )
#index = self.ui.comboBox.findText(res) #Sets picker to default resolution
#self.ui.comboBox.setCurrentIndex(index)
# Set to Hoky desired default res (1280x960)
res = "%d x %d" % (int(self.idealRes[0]), int(self.idealRes[1]) )
index = self.ui.comboBox.findText(res) #Sets picker to default resolution
self.ui.comboBox.setCurrentIndex(index)
self.resolutionSelect()
self.p = Point(200,300)
self.c = Point(self.actualRes[0] // 2, self.actualRes[1] // 2)
self.setAble('settings', True)
def addpoints(xk, fxk, D, Y2, krig, index, theta, delta, pmax, opt_theta):
points = krig.points
# index(find(index=-1,1)) = length(fvals) + 1
# hard code WARNING
point = Point(2)
point.x = xk.x
point.fval = fxk
points.append(point)
Y2_0 = Y2
index_0 = index
if opt_theta:
raise AssertionError("Optimization of hyperparameters not implemented.")
else:
ntest = 0
psi = 1.0
thetagauss = krig.params[0]
L = []
Y2 = Y2_0
index = index_0
return krig
def find_path_to(self, target):
blocks = [Point(point, target) for point in self.body]
head = Point(self.head, target)
neighbors = head.detect_neighbors_except(blocks)
selected = min(neighbors)
return selected
def nav():
r = Robot()
pose = utils.home_pose
destination = Point(x=0, y=0)
destination_x = raw_input('enter destination x')
destination.x = int(destination_x)
destination_y = raw_input('enter destination y')
destination.y = int(destination_y)
distance = utils.wu_to_point(destination, pose)
angle = utils.rotation_to_point(destination, pose)
'''go to point from pose'''
r.r.rotate(angle)
time.sleep(2)
r.r.travel(distance)
def __init__(self, x, y, grid):
from World import World
p = World().get_parameters()
Point.__init__(self, x, y)
self._grid = grid
self._car_stack = []
self._neighbours = None
self._streets = None
# self.model_params = {'cars_in_node': 2, 'street_length': 1}
# self._max_car_stack = self.model_params['cars_in_node']
# self._max_cars_on_street = self.model_params['street_length']
self._max_car_stack = p.junction_capacity
self._max_cars_on_street = p.street_capacity
self._junction_throughput = p.junction_throughput # was MAX_ROAD_PUSHES before
self._street_throughput = p.street_throughput # was MAX_MOVES before
def rbfmodel(objective, fid, xk, fxk, krig, theta_1, theta_2, theta_3, theta_4, \
delta, deltamax, pmax, optTheta):
deltamax = delta
D = krig.points
Y2, linear, Z, index = affpoints(xk, D, theta_1, theta_3*delta)
if not linear:
Z = Z*delta
for i in range(len(Z[0,:])):
# Hard code alert
point = Point(2)
point.x = xk.x + Z.view(np.ndarray)[:,i]
Y2.append(point)
D.append(point)
f_high = objective(point, fid[1])
point.fval = f_high - objective(point, fid[0])
krig.points.append(point)
index.append(len(krig.points)-1)
linear = True
krig = addpoints(xk, fxk[1]-fxk[0], D, Y2, krig, index, theta_2, theta_4*deltamax, pmax, optTheta)
return krig, linear
def init_models(self):
if self.LHS == 0:
point = Point(self.n)
point.x = np.array([-2.0, 2.0])
f_low = self.objective(point, self.fid[0])
f_high = self.objective(point, self.fid[1])
point.fval = f_high - f_low
self.low_fid_eval += 1
elif self.LHS == 1:
raise AssertionError("Latin hypercube not implemented. Set LHS = 0")
else:
raise AssertionError("LHS can be either 1 or 0")
krig = Kriging(self.corr, self.params, [point])
print point.fval
xk = point
fk = f_high
f_low = f_low
mk = f_high
delta = self.delta_0
krig, linear = rbfmodel(self.objective, self.fid, xk, [f_low, fk], krig,\
self.theta_1, self.theta_2, self.theta_3, self.theta_4,\
delta, self.delta_max, self.pmax, self.optTheta)
def affpoints(xk, D, theta, delta):
m = len(D)
n = len(D[0].x)
Y = [Point(n)]
Y2 = [xk]
index = [-1]
Z = np.matrix(np.identity(n))
p = int(round(m*random()+0.5))
if p > 1.0:
## indexes check properly
vec = range(p, m)
vec.extend(range(0, p-1))
else:
vec = range(m)
if DEBUG:
print vec
for i in vec:
if np.linalg.norm(D[i].x - xk.x) <= delta:
Z = np.matrix(Z)
proj_z = Z*np.linalg.inv(Z.transpose()*Z)*Z.transpose()*np.matrix(D[i].x-xk.x).transpose()
if np.linalg.norm(proj_z) >= delta*theta:
point = Point(n)
point.x = D[i].x - xk.x
Y.append(point)
Y_matrix = array([])
for j in range(len(Y)):
Y_matrix = np.concatenate((Y_matrix, Y[j].x), 1)
Z = null(Y_matrix)
Y2.append(D[i])
index.append(i)
print "here"
if len(Y) == n + 1:
linear = True
else:
linear = False
return Y2, linear, Z, index
def resolutionSelect ( self ):
# Get desired resolution from the user:
self.idealRes = self.ui.comboBox.currentText().split('x')
self.idealRes = map(lambda x: int(x), self.idealRes)
logger.debug("User input res: %d %d" % (self.idealRes[0], self.idealRes[1]) )
# Attempt to change the resolution:
self._cap.setProp('width', self.idealRes[0])
self._cap.setProp('height', self.idealRes[1])
self.actualRes = self._cap.getResolution()
# Something went wrong with resolution assignment -- possible need for shut down if resolution can't even be queried
self.c = Point(self.actualRes[0] // 2, self.actualRes[1] // 2)
if not ( self.actualRes == self.idealRes ):
QtWidgets.QMessageBox.information( self, "Resolution",
"That resolution isn't supported by the camera. Instead, your actual resolution is: %d x %d" % (self.actualRes[0], self.actualRes[1] ) )
res = "%d x %d" % (int(self.actualRes[0]), int(self.actualRes[1]) )
index = self.ui.comboBox.findText(res)
self.ui.comboBox.setCurrentIndex(index)
def generate_starting_area(self,
random,
player,
lower,
upper,
num_creatures=2,
start_gold=100,
num_resources=1,
gold_amount_func=lambda i: 100 / (i + 1),
gold_flux_func=lambda i: 10 * (i + 1)):
"""
Randomically place fortresses, starting creatures and resources.
Keyword arguments:
random -- Python's random module.
player -- The player's name.
lower --
upper --
num_creatures -- The number of starting creatures for each player.
start_gold -- The amount of starting gold for each player.
num_resources -- The number of starting resources scattered around
the map, one of which is a large resource
that is created near each player's fortress.
"""
random_points = Point.generate(random,
lower=lower,
upper=upper,
count=(1 + num_creatures + num_resources))
self.insert_fortress(Fortress(player, start_gold, position=random_points.pop()))
for i in range(num_creatures):
self.insert_creature(Creature('Peon', player, position=random_points.pop()))
for i in range(num_resources):
self.insert_resource(Resource('Gold Mine', gold_amount_func(i), gold_flux_func(i), position=random_points.pop()))
def combat_move_to_button_left():
point = random_point(Point(257, 247-22), Point(327, 289-22))
point.moveTo()
def sortie_select_area_3():
point = random_point(Point(280, 447-22), Point(336, 480-22))
point.click()
def sortie_select_area_2():
point = random_point(Point(215, 425), Point(250, 458))
point.click()
def expedition_select_map_5():
random_click(Point(352, 422), Point(387, 450))
def sortie_select_area_5():
point = random_point(Point(435, 425), Point(468, 448))
point.click()
def expedition_select_map_1():
random_click(Point(119, 422), Point(156, 450))
def expedition_select_map_3():
random_click(Point(240, 422), Point(274, 450))
def combat_formation_diamond():
print("combat_formation_diamond")
point = random_point(Point(667, 200-22), Point(755, 216-22))
point.click()
def combat_formation_combined_antisub():
print("combat_formation_combined_antisub")
random_click(Point(435, 187-22), Point(563, 208-22))
def combat_formation_double():
print("combat_formation_double")
point = random_point(Point(538, 200-22), Point(616, 216-22))
point.click()
def combat_formation_abreast():
print("combat_formation_abreast")
point = random_point(Point(607, 355-22), Point(685, 374-22))
point.click()
def combat_formation_line():
print("combat_formation_line")
point = random_point(Point(403, 200-22), Point(492, 216-22))
point.click()
def combat_compass():
print("combat_compass")
random_sleep(1.6)
point = random_point(Point(500, 400-22), Point(750, 450-22))
point.click()
random_sleep(4.2) # 动画时间
def sortie_select_area_ex():
random_click(Point(670, 450-22), Point(750, 480-22))
def combat_move_to_button_right():
point = random_point(Point(473, 238-22), Point(551, 289-22))
point.moveTo()
def combat_formation_combined_forward():
print("combat_formation_combined_forward")
random_click(Point(602, 187-22), Point(728, 208-22))
def port_open_panel_supply():
print("port_open_panel_supply")
point = random_point(Point(48, 211-22), Point(102, 274-22))
point.click()
random_sleep(1.2)
class Gui(QtWidgets.QMainWindow):
## Signals
#closeGui = QtCore.pyqtSignal()
def __init__(self, parent=None):
QtWidgets.QWidget.__init__(self, parent)
## Instantiate classes
self.ui = Ui_CalibrationUI()
self.ui.setupUi(self)
self._cap = None
self.ebb = None
## Stuff you can change in the UI
self.width = None
self.idealRes = [1280, 960]
self.colSteps = 0
self.rowSteps = 0
self.multFactor = 1
self.motorsAble = False
self.showImage = False
## Stuff that doesn't change
#self._cap = CaptureManager( cv2.VideoCapture(0) )
## Video stuff
self._timer = QtCore.QTimer( self )
self._timer.timeout.connect( self.play )
self._timer.start(27)
self.update()
source = [0, 1, 2,3, 'led_move1.avi',
'screencast.avi',
'screencast 1.avi',
'shortNoBox.avi',
'longNoBox.avi',
'H299.avi',
'testRec.avi',
'longDemo.avi']
for s in source:
self.ui.sourceCombo.addItem(str(s))
## Register button actions
self.ui.buttonSet.clicked.connect( self.set )
self.ui.buttonCenter.clicked.connect( self.center )
self.ui.buttonReset.clicked.connect( self.reset )
self.ui.buttonSave.clicked.connect( self.save )
self.ui.buttonRight.clicked.connect( partial( self.motors, 'right' ) )
self.ui.buttonLeft.clicked.connect( partial( self.motors, 'left' ) )
self.ui.buttonUp.clicked.connect( partial( self.motors, 'up' ) )
self.ui.buttonDown.clicked.connect( partial( self.motors, 'down' ) )
self.ui.scalingSlider.valueChanged[int].connect( self.setMultFactor )
self.ui.scalingSlider.setValue(10)
self.ui.scaling.setText( 'Motor scaling is %d' % self.ui.scalingSlider.value() )
self.ui.sourceCombo.activated[int].connect( self.setSource )
self.ui.comboBox.activated.connect ( self.resolutionSelect )
self.setAble('settings', False)
self.setAble('motors', False)
self.setAble('center', False)
self.setAble('reset', False)
self.setAble('save', False)
def setSource ( self, value ):
if self._cap:
if self._cap._capture.isOpened(): #ugly access to VideoCapture object from managers
self._cap._capture.release()
self._cap = CaptureManager( cv2.VideoCapture(int(value)) )
#self.indWindow = cv2.namedWindow("Camera Display")
self.showImage = True
self.actualRes = self._cap.getResolution()
# Set to default resolution from camera (640x480)
#res = "%d x %d" % (int(self.actualRes[0]), int(self.actualRes[1]) )
#index = self.ui.comboBox.findText(res) #Sets picker to default resolution
#self.ui.comboBox.setCurrentIndex(index)
# Set to Hoky desired default res (1280x960)
res = "%d x %d" % (int(self.idealRes[0]), int(self.idealRes[1]) )
index = self.ui.comboBox.findText(res) #Sets picker to default resolution
self.ui.comboBox.setCurrentIndex(index)
self.resolutionSelect()
self.p = Point(200,300)
self.c = Point(self.actualRes[0] // 2, self.actualRes[1] // 2)
self.setAble('settings', True)
def resolutionSelect ( self ):
# Get desired resolution from the user:
self.idealRes = self.ui.comboBox.currentText().split('x')
self.idealRes = map(lambda x: int(x), self.idealRes)
logger.debug("User input res: %d %d" % (self.idealRes[0], self.idealRes[1]) )
# Attempt to change the resolution:
self._cap.setProp('width', self.idealRes[0])
self._cap.setProp('height', self.idealRes[1])
self.actualRes = self._cap.getResolution()
# Something went wrong with resolution assignment -- possible need for shut down if resolution can't even be queried
self.c = Point(self.actualRes[0] // 2, self.actualRes[1] // 2)
if not ( self.actualRes == self.idealRes ):
QtWidgets.QMessageBox.information( self, "Resolution",
"That resolution isn't supported by the camera. Instead, your actual resolution is: %d x %d" % (self.actualRes[0], self.actualRes[1] ) )
res = "%d x %d" % (int(self.actualRes[0]), int(self.actualRes[1]) )
index = self.ui.comboBox.findText(res)
self.ui.comboBox.setCurrentIndex(index)
def save( self ):
c = os.path.dirname(os.getcwd())
cc = os.path.dirname(c)
f = open( ("%s/config.txt" % cc) , "w")
f.write('%d|%d|%s|%s\n' % ( self.actualRes[0], self.actualRes[1], self.ui.widthLine.text(), self.ui.sourceCombo.currentText() ))
f.close()
def setMultFactor ( self, value ):
self.multFactor = value
self.ui.scaling.setText( 'Step scaling is %d' % value)
def setAble( self, group, ability ):
groups = { 'motors' : [self.ui.buttonLeft,
self.ui.buttonRight,
self.ui.buttonUp,
self.ui.buttonDown,
self.ui.scalingSlider,
self.ui.scaling],
'center' : [self.ui.buttonCenter],
'reset' : [self.ui.buttonReset],
'settings': [self.ui.resDesc,
self.ui.framewDesc,
self.ui.buttonSet,
self.ui.widthLine,
self.ui.comboBox],
'save': [self.ui.buttonSave]
}
for g in groups[group]:
g.setEnabled(ability)
def motors( self, direction):
xdir = 1
ydir = 1 #comp up is down
t = 300
dir ={ 'left': (t, xdir * self.multFactor * (-1), 0 ) ,
'right': ( t, xdir * self.multFactor * (1), 0 ),
'up': (t, 0, ydir * self.multFactor * (1) ),
'down': (t, 0, ydir * self.multFactor * (-1) )
}
#print dir[direction]
th = threading.Thread(target = self.ebb.move , args = dir[direction] )
try:
#partial(self.ebb.move, dir[direction])
th.start()
#th.join()
except Exception as e:
logger.exception( str(e) )
def reset ( self ):
self.ebb.move(300, -self.colSteps, -self.rowSteps)
if self.ebb.connected:
self.ebb.closeSerial()
self.setAble('motors', False)
self.setAble('settings', True)
def center ( self ):
#th = threading.Thread(target = self.ebb.move , args = (100,200,300) )
try:
#partial(self.ebb.move, dir[direction])
self.colSteps, self.rowSteps = self.ebb.centerWorm(300,200,300)
#th.join()
except Exception as e:
logger.exception( str(e) )
self.setAble('reset', True)
self.setAble('save', True)
def set( self ):
if self.ui.widthLine.text():
try:
float( self.ui.widthLine.text() )
except ValueError as e:
QtWidgets.QMessageBox.information( self, "Invalid Width", "Cannot convert that width to a float! Make sure you enter a number (decimals accepted)")
return
if self.ui.widthLine.text() and self.ui.comboBox.currentText():
self.resolutionSelect()
# Instantiate motors
try:
self.ebb = EasyEBB( resolution = self.actualRes, sizeMM = float(self.ui.widthLine.text() ) )
self.setAble('settings', False)
self.setAble('motors', True)
self.setAble('center', True)
except serial.SerialException as e:
logger.exception(e)
QtWidgets.QMessageBox.information( self, "Motors Issue",
"Please connect motors or restart them, having issues connecting now")
else:
QtWidgets.QMessageBox.information( self, "Validation",
"Please enter a measurement for the width and double-check your resolution choice")
def closeEvent ( self, event):
logger.debug("closing")
if self._cap._capture.isOpened():
self._cap._capture.release()
#if self._cap:
# cv2.destroyWindow("Camera Display")
# cv2.destroyAllWindows()
if self.ebb:
self.ebb.closeSerial()
def isColor( self, imgIn ):
s = np.shape(imgIn)
if np.size(s) == 3:
try:
ncolor = np.shape(imgIn)[2]
boolt = int(ncolor) > 2
return boolt
except IndexError:
QtWidgets.QMessageBox.information( self, "Camera Issue", "Please Check Camera Source")
logger.error("Something wrong with camera input")
self.showImage = False
else:
return False
def play( self ):
if self.showImage:
self._cap.enterFrame()
self.currentFrame = self._cap.frame
self.color = self.isColor(self.currentFrame)
t1 = time.time()
if self.color:
try:
self.currentFrame = cv2.cvtColor(self.currentFrame, cv2.COLOR_BGR2GRAY)
if self.currentFrame is not None:
self.currentFrame = self.p.draw(self.currentFrame, 'black-1')
self.currentFrame = self.c.draw(self.currentFrame, 'black-1')
self.ui.videoFrame.setPixmap(self._cap.convertFrame(self.currentFrame))
self.ui.videoFrame.setScaledContents(True)
else:
QtWidgets.QMessageBox.information( self, "Camera Issue", "Please Check Camera Source")
logger.error("Something wrong with camera input")
#cv2.imshow( "Camera Display",self.currentFrame)
except TypeError:
logger.exception("No Frame")
QtWidgets.QMessageBox.information( self, "Camera Issue", "Please Check Camera Source")
finally:
self._cap.exitFrame()
else:
try:
if self.currentFrame is not None:
self.currentFrame = self.p.draw(self.currentFrame, 'black-1')
self.currentFrame = self.c.draw(self.currentFrame, 'black-1')
self.ui.videoFrame.setPixmap(self._cap.convertFrame(self.currentFrame))
self.ui.videoFrame.setScaledContents(True)
else:
QtWidgets.QMessageBox.information( self, "Camera Issue", "Please Check Camera Source")
logger.error("Something wrong with camera input")
logger.exception("No Frame")
self.showImage = False
#cv2.imshow( "Camera Display",self.currentFrame)
except TypeError:
logger.exception("No Frame")
finally:
self._cap.exitFrame()
self._cap.exitFrame()
def expedition_select_map_2():
random_click(Point(178, 422), Point(216, 450))
def set_foremost():
print("set_foremost")
point = random_point(Point(500, 10), Point(500, 10))
point.click()
random_sleep(0.4)
def expedition_select_map_4():
random_click(Point(290, 422), Point(326, 450))
def Position(self,pos,scale,colour = None,ignore_height = False):
"""Draw the text at the given location and size. Maybe colour too"""
#set up the position for the characters. Note that we do everything here in size relative
#to our text box (so (0,0) is bottom_left, (1,1) is top_right.
self.pos = pos
self.absolute.bottom_left = self.GetAbsoluteInParent(pos)
self.scale = scale
self.lowest_y = 0
row_height = (float(self.text_manager.font_height*self.scale*texture.global_scale)/self.absolute.size.y)
#Do this without any kerning or padding for now, and see what it looks like
cursor = Point(self.margin.x,-self.viewpos + 1 - row_height-self.margin.y)
letter_sizes = [Point(float(quad.width *self.scale*texture.global_scale)/self.absolute.size.x,
float(quad.height*self.scale*texture.global_scale)/self.absolute.size.y) for quad in self.quads]
#for (i,(quad,letter_size)) in enumerate(zip(self.quads,letter_sizes)):
i = 0
while i < len(self.quads):
quad,letter_size = self.quads[i],letter_sizes[i]
if cursor.x + letter_size.x > (1-self.margin.x)*1.001:
#This would take us over a line. If we're in the middle of a word, we need to go back to the start of the
#word and start the new line there
restart = False
if quad.letter in ' \t':
#It's whitespace, so ok to start a new line, but do it after the whitespace
try:
while self.quads[i].letter in ' \t':
i += 1
except IndexError:
break
restart = True
else:
#look for the start of the word
while i >= 0 and self.quads[i].letter not in ' \t':
i -= 1
if i <= 0:
#This single word is too big for the line. Shit, er, lets just bail
break
#skip the space
i += 1
restart = True
cursor.x = self.margin.x
cursor.y -= row_height
if restart:
continue
if cursor.x == self.margin.x and self.alignment == texture.TextAlignments.CENTRE:
#If we're at the start of a row, and we're trying to centre the text, then check to see how full this row is
#and if it's not full, offset so that it becomes centred
width = 0
for size in letter_sizes[i:]:
width += size.x
if width > 1-self.margin.x:
width -= size.x
break
if width > 0:
cursor.x += float(1-(self.margin.x*2)-width)/2
target_bl = cursor
target_tr = target_bl + letter_size
if target_bl.y < self.lowest_y:
self.lowest_y = target_bl.y
if target_bl.y < 0 and not ignore_height:
#We've gone too far, no more room to write!
break
absolute_bl = self.GetAbsolute(target_bl)
absolute_tr = self.GetAbsolute(target_tr)
self.SetLetterVertices(i,absolute_bl,
absolute_tr,
texture.TextTypes.LEVELS[self.text_type])
if colour:
quad.SetColour(colour)
cursor.x += letter_size.x
i += 1
#For the quads that we're not using right now, set them to display nothing
for quad in self.quads[i:]:
quad.SetVertices(Point(0,0),Point(0,0),-10)
height = max([q.height for q in self.quads])
super(TextBox,self).UpdatePosition()
def combat_formation_combined_ring():
print("combat_formation_combined_ring")
random_click(Point(435, 324-22), Point(563, 345-22))
def sortie_select_area_4():
point = random_point(Point(355, 425), Point(390, 448))
point.click()
def sortie_select_map_1():
point = random_point(Point(139, 171-22), Point(421, 277-22))
point.click()
def sortie_select_map_3():
point = random_point(Point(138, 311-22), Point(425, 423-22))
point.click()
def sortie_select_map_2():
point = random_point(Point(464, 163-22), Point(659, 282-22))
point.click()
def combat_button_left():
point = random_point(Point(257, 247-22), Point(327, 289-22))
point.click()
def __init__(self, x, y):
Point.__init__(self, x, y)
self.edges = set([])
self.triangles = set([])
def combat_button_right():
point = random_point(Point(473, 238-22), Point(551, 289-22))
point.click()
def combat_formation_combined_battle():
print("combat_formation_combined_battle")
random_click(Point(602, 324-22), Point(728, 345-22))
def sortie_select_map_5():
point = random_point(Point(682, 236-22), Point(777, 290-22))
point.click()
random_sleep(1)
point.click()
def PathTo(self,start,end):
#A noddy my-first implementation of A* in python
#update the map items with current positions of the sprites
#they're not used normally so we can do what we like with them
try:
return self.pathcache[start,end]
except KeyError:
#oh well, it was worth a try
pass
if start == None or end == None:
return None
cell = self.GetCell(end)
if cell == None:
return None
if cell.Impassable():
#if we can't move into the last tile, there's no point
return None
if start == end:
return None
Closed = set()
#open is sorted by 'F' value
Open = [start]
Opend = {start:start}
start.g = 0
start.h = start.DistanceHeuristic(end)
start.f = start.h
start.parent = None
#get the object we're going from so we can ignore it in terms of being passable
start_object = self.map[start.x][start.y].GetActor()
end_object = self.map[end.x][end.y].GetActor()
while True:
if len(Open) == 0: #no path, boo
return None
current = Open.pop(0)
del Opend[current]
if current == end:# or len(Open) > 100:
#yay, we're finished
path = utils.Path(current,self.tex_coords,len(self.map))
self.pathcache[start,end] = path
#self.pathcache[end,start] = path.Reversed()
return path
elif current != start:
#FIXME: put the path in the other way
p = start,current
path = utils.Path(current,self.tex_coords,len(self.map))
if (p in self.pathcache and path.cost < self.pathcache[p]) or p not in self.pathcache:
self.pathcache[p] = path
# self.pathcache[current,start] = path.Reversed()
#elif (current,end) in self.pathcache:
#FIXME: handle this case
# print 'jim'
Closed.add(current)
for x in xrange(current.x-1,current.x+2):
x %= len(self.map)
for y in xrange(current.y-1,current.y+2):
if y < 0 or y >= len(self.map[x]):
continue
target = Point(x,y)
if target in Closed:
continue
if target == current:
continue
cost = 0
for tile in (target,):
cell = self.map[tile.x][tile.y]
this_cost = cell.MovementCost(ignore = (start_object,end_object))
if this_cost == TileData.IMPASSABLE:
cost = this_cost
break
cost += this_cost
if cost == TileData.IMPASSABLE:
if target == end:
return None
continue
#if target != current.x and target.y != current.y:
#it's diagonal. It still costs the same, but pretend
#otherwise so that h/v movement is preferred as it looks
#nicer
# cost *= 1.41
newg = current.g + cost
try:
target_new = Opend[target]
except KeyError:
target_new = None
if target_new == None:
target.g = newg
#Open is sorted by g+h, so find the position this goes with a binary search
#and put it in the right place
target.h = target.DistanceHeuristic(end)
target.f = target.g + target.h
target.parent = current
i = utils.fbisect_left(Open,target)
Open.insert(i,target)
Opend[target] = target
else: #target's already in open
target = target_new
if newg < target.g:
target.g = newg
target.f = target.g + target.h
target.parent = current
def combat_button_retreat_flagship_damaged():
point = random_point(Point(535, 220), Point(605, 260))
point.click()