def map_callback(msg):
# start = [3,3]
# goal = [8,6]
# global robot
# print msg.info
# cells = []
# i=0
# tmp=[]
# # rows = msg.info.height
# rows = 26
# # cols = msg.info.width
# cols = 27
# for row in range(0,rows):
# for col in range (0,cols):
# data= msg.data[i]
# if data == -1 or data == 100:
# wall = True
# else:
# wall = False
# cell = Cell([row,col],wall)
# cells.append(cell)
# i+=1
# print "done building 2d grid"
# a = AStar(cells)
# a.init_world(start,goal,rows,cols)
# print len(a.cells)
# print len(msg.data)
# directions = a.main()
# print directions
start = [77, 33]
goal = [111, 57]
cells = []
tmp = []
# rows = msg.info.height
cells = []
cols = 0
with open('robo_map.txt') as file:
reader = csv.reader(file, delimiter=' ')
rows = 0;
for line in reader:
if len(line) > cols:
cols = len(line)
for col in range(len(line)):
data = int(line[col])
if data == -1 or data == 1:
wall = True
else:
wall = False
cell = Cell([rows, col], wall)
cells.append(cell)
rows += 1
rows -= 1
print(rows, cols)
print
"done building 2d grid"
print
time.localtime(time.time()), "started finding path"
a = AStar(cells)
a.init_world(start, goal, rows, cols)
directions = []
if a.init:
directions = a.main()
print(directions)
