def pressed_but_not_select(self, x, y):
"""
Slot function to receive the pressed_but_nonselect signal
if a Mylabel cinstance is clicked and also it's blank then
get into this function
This function implement these things:
1.Before clicking this cell, if you have already clicked(selected) a
colored cell, then this function detect whether there is a valid
path from the selected loc (self.selected_loc) to this loc(x,y).
If success then move the colored cell to this loc and then set the
previous selected_loc to blank(valid), else only set the previous
selected_loc to valid(only view this action as canceling the seleted cell)
2. If there is no cell seleted before do nothing
:param x: Mylabel x coordinate
:param y: Mylabel y coordinate
:return:
"""
print('received pressed_but_not_select signal')
if self.selected_loc is not None:
astar = AStar()
converted_map = self.map.get_valid_map() * 10
converted_map = converted_map.astype(np.float)
is_success = astar.main(converted_map,
start_loc=self.selected_loc,
end_loc=np.array([x, y]))
if is_success:
astar.path_backtrace()
path = astar.best_path_array
path = path[:, ::-1]
self.just_start = False
self.map.flash_starttoend(path)
self.grade += self.map.judge_five([x, y])
# self.cancel_selected()
self.selected_loc = None
self.grade += self.map.rand_gen(self.gen_num)
if self.map.get_valid_num() == 0:
self.grade_label.setText('你的分数是: ' + str(self.grade) +
' 游戏结束')
self.GameEndSignal.emit(self.grade)
else:
self.grade_label.setText('你的当前分数是: ' + str(self.grade))
else:
self.cancel_selected()
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)
