def maze_draw(self):
"""
callback for the maze
draws the maze
:return:
"""
for index, pt in enumerate(self.maze.data):
bx,by = maze_helper.get_i_j(self.maze,index)
#self.walls.append(pygame.Rect(bx * BLOCKSIZE_X, by * BLOCKSIZE_Y, BLOCKSIZE_X, BLOCKSIZE_Y))
cell = maze_helper.check_cell(self.maze,index)
if cell == 1:
pygame.draw.rect(self.display_surf, PURPLE,
(bx * BLOCKSIZE_X, by * BLOCKSIZE_Y, BLOCKSIZE_X, BLOCKSIZE_Y), 0)
self.walls.append(pygame.Rect(bx * BLOCKSIZE_X, by * BLOCKSIZE_Y, BLOCKSIZE_X, BLOCKSIZE_Y))
elif cell == 2:
pygame.draw.rect(self.display_surf, BLUE,
(bx * BLOCKSIZE_X, by * BLOCKSIZE_Y, BLOCKSIZE_X, BLOCKSIZE_Y), 0)
#self.walls.append(pygame.Rect(bx * BLOCKSIZE_X, by * BLOCKSIZE_Y, BLOCKSIZE_X, BLOCKSIZE_Y))
self.start_rec = pygame.Rect(bx * BLOCKSIZE_X, by * BLOCKSIZE_Y, BLOCKSIZE_X, BLOCKSIZE_Y)
elif cell == 3:
pygame.draw.rect(self.display_surf, RED,
(bx * BLOCKSIZE_X, by * BLOCKSIZE_Y, BLOCKSIZE_X, BLOCKSIZE_Y), 0)
self.goal_rec = pygame.Rect(bx * BLOCKSIZE_X, by * BLOCKSIZE_Y, BLOCKSIZE_X, BLOCKSIZE_Y)
def maze_callback(self,msg):
"""
Called when a new maze is published, identifies maze components and calls initialization function
:param msg: occupany grid message
:return:
"""
self.maze = msg
self.walls = []
starts = []
goals = []
for index, pt in enumerate(self.maze.data):
bx,by = maze_helper.get_i_j(self.maze,index)
cell = maze_helper.check_cell(self.maze,index)
if cell == 1:
self.walls.append(pygame.Rect(bx * maze_helper.BLOCKSIZE_X, by * maze_helper.BLOCKSIZE_Y, maze_helper.BLOCKSIZE_X, maze_helper.BLOCKSIZE_Y))
elif cell == 2:
starts.append(pygame.Rect(bx * maze_helper.BLOCKSIZE_X, by * maze_helper.BLOCKSIZE_Y, maze_helper.BLOCKSIZE_X, maze_helper.BLOCKSIZE_Y))
self.start_rec = starts[0].unionall(starts)
elif cell == 3:
goals.append(pygame.Rect(bx * maze_helper.BLOCKSIZE_X, by * maze_helper.BLOCKSIZE_Y, maze_helper.BLOCKSIZE_X, maze_helper.BLOCKSIZE_Y))
self.goal_rec = goals[0].unionall(goals)
self.on_init()
def update_score(self, assistance=3):
player_x = math.floor(float(self.player.centerx) / maze_helper.BLOCKSIZE_X) # This is the (x,y) block in the grid where the center of the player is
player_y = math.floor(float(self.player.centery) / maze_helper.BLOCKSIZE_Y)
point_index = maze_helper.index_to_cell(self.maze, player_x, player_y)
if maze_helper.check_cell(self.maze, int(point_index)) == 1:
self.score -= 1
for rec in self.solved_path:
if rec.centerx == player_x and rec.centery == player_y:
#print "On track"
reward = math.floor(1./len(self.solved_path) * 100)
self.score += reward
def check_collision_adaptive(self):
walls = []
centers = []
player_x = math.floor(float(self.player_rec.centerx)/BLOCKSIZE_X) # This is the (x,y) block in the grid where the top left corner of the player is
player_y = math.floor(float(self.player_rec.centery)/BLOCKSIZE_Y)
for x in range(int(player_x) - 1, int(player_x) + 2):
for y in range(int(player_y) - 1, int(player_y) + 2):
point_index = maze_helper.index_to_cell(self.maze, x, y)
if maze_helper.check_cell(self.maze, int(point_index)) == 1:
point = Point()
wall_block = pygame.Rect((x * BLOCKSIZE_X, y * BLOCKSIZE_Y, BLOCKSIZE_X, BLOCKSIZE_Y))
point.x = wall_block.centerx
point.y = wall_block.centery
centers.append(point)
walls.append(wall_block)
pygame.draw.rect(self.display_surf, GREEN , wall_block, 0)
pygame.display.update()
return centers
# Make it a 1D maze
my_maze = OccupancyGrid()
my_maze.data = data
my_maze.info.width = col
my_maze.info.height = row
display_surf = pygame.display.set_mode((windowWidth, windowHeight))
pygame.display.set_caption('Travel from Blue Square to Red Square')
N = my_maze.info.height # number of rows
M = my_maze.info.width # number of columns
for index, pt in enumerate(my_maze.data):
bx, by = maze_helper.get_i_j(my_maze, index)
cell = maze_helper.check_cell(my_maze, index)
if cell == 1:
pygame.draw.rect(
display_surf, PURPLE,
(bx * BLOCKSIZE_X, by * BLOCKSIZE_Y, BLOCKSIZE_X, BLOCKSIZE_Y),
0)
elif cell == 2:
pygame.draw.rect(
display_surf, BLUE,
(bx * BLOCKSIZE_X, by * BLOCKSIZE_Y, BLOCKSIZE_X, BLOCKSIZE_Y),
0)
elif cell == 3:
pygame.draw.rect(
display_surf, RED,
(bx * BLOCKSIZE_X, by * BLOCKSIZE_Y, BLOCKSIZE_X, BLOCKSIZE_Y),
0)