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main.py
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main.py
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from DrawingWindowStandalone import DrawingWindow
from robot import Robot
from obstacle import Obstacle
import node
import sys
from random import choice
import time
COLORS = ['snow', 'ghost white', 'white smoke', 'gainsboro', 'floral white', 'old lace',
'linen', 'antique white', 'papaya whip', 'blanched almond', 'bisque', 'peach puff',
'navajo white', 'lemon chiffon', 'mint cream', 'azure', 'alice blue', 'lavender',
'lavender blush', 'misty rose', 'dark slate gray', 'dim gray', 'slate gray',
'light slate gray', 'gray', 'light grey', 'midnight blue', 'navy', 'cornflower blue', 'dark slate blue',
'slate blue', 'medium slate blue', 'light slate blue', 'medium blue', 'royal blue', 'blue',
'dodger blue', 'deep sky blue', 'sky blue', 'light sky blue', 'steel blue', 'light steel blue',
'light blue', 'powder blue', 'pale turquoise', 'dark turquoise', 'medium turquoise', 'turquoise',
'cyan', 'light cyan', 'cadet blue', 'medium aquamarine', 'aquamarine', 'dark green', 'dark olive green',
'dark sea green', 'sea green', 'medium sea green', 'light sea green', 'pale green', 'spring green',
'lawn green', 'medium spring green', 'green yellow', 'lime green', 'yellow green',
'forest green', 'olive drab', 'dark khaki', 'khaki', 'pale goldenrod', 'light goldenrod yellow',
'light yellow', 'yellow', 'gold', 'light goldenrod', 'goldenrod', 'dark goldenrod', 'rosy brown',
'indian red', 'saddle brown', 'sandy brown',
'dark salmon', 'salmon', 'light salmon', 'orange', 'dark orange',
'coral', 'light coral', 'tomato', 'orange red', 'red', 'hot pink', 'deep pink', 'pink', 'light pink',
'pale violet red', 'maroon', 'medium violet red', 'violet red',
'medium orchid', 'dark orchid', 'dark violet', 'blue violet', 'purple', 'medium purple',
'thistle', 'snow2', 'snow3',
'snow4', 'seashell2', 'seashell3', 'seashell4', 'AntiqueWhite1', 'AntiqueWhite2',
'AntiqueWhite3', 'AntiqueWhite4', 'bisque2', 'bisque3', 'bisque4', 'PeachPuff2',
'PeachPuff3', 'PeachPuff4', 'NavajoWhite2', 'NavajoWhite3', 'NavajoWhite4',
'LemonChiffon2', 'LemonChiffon3', 'LemonChiffon4', 'cornsilk2', 'cornsilk3',
'cornsilk4', 'ivory2', 'ivory3', 'ivory4', 'honeydew2', 'honeydew3', 'honeydew4',
'LavenderBlush2', 'LavenderBlush3', 'LavenderBlush4', 'MistyRose2', 'MistyRose3',
'MistyRose4', 'azure2', 'azure3', 'azure4', 'SlateBlue1', 'SlateBlue2', 'SlateBlue3',
'SlateBlue4', 'RoyalBlue1', 'RoyalBlue2', 'RoyalBlue3', 'RoyalBlue4', 'blue2', 'blue4',
'DodgerBlue2', 'DodgerBlue3', 'DodgerBlue4', 'SteelBlue1', 'SteelBlue2',
'SteelBlue3', 'SteelBlue4', 'DeepSkyBlue2', 'DeepSkyBlue3', 'DeepSkyBlue4',
'SkyBlue1', 'SkyBlue2', 'SkyBlue3', 'SkyBlue4', 'LightSkyBlue1', 'LightSkyBlue2',
'LightSkyBlue3', 'LightSkyBlue4', 'SlateGray1', 'SlateGray2', 'SlateGray3',
'SlateGray4', 'LightSteelBlue1', 'LightSteelBlue2', 'LightSteelBlue3',
'LightSteelBlue4', 'LightBlue1', 'LightBlue2', 'LightBlue3', 'LightBlue4',
'LightCyan2', 'LightCyan3', 'LightCyan4', 'PaleTurquoise1', 'PaleTurquoise2',
'PaleTurquoise3', 'PaleTurquoise4', 'CadetBlue1', 'CadetBlue2', 'CadetBlue3',
'CadetBlue4', 'turquoise1', 'turquoise2', 'turquoise3', 'turquoise4', 'cyan2', 'cyan3',
'cyan4', 'DarkSlateGray1', 'DarkSlateGray2', 'DarkSlateGray3', 'DarkSlateGray4',
'aquamarine2', 'aquamarine4', 'DarkSeaGreen1', 'DarkSeaGreen2', 'DarkSeaGreen3',
'DarkSeaGreen4', 'SeaGreen1', 'SeaGreen2', 'SeaGreen3', 'PaleGreen1', 'PaleGreen2',
'PaleGreen3', 'PaleGreen4', 'SpringGreen2', 'SpringGreen3', 'SpringGreen4',
'green2', 'green3', 'green4', 'chartreuse2', 'chartreuse3', 'chartreuse4',
'OliveDrab1', 'OliveDrab2', 'OliveDrab4', 'DarkOliveGreen1', 'DarkOliveGreen2',
'DarkOliveGreen3', 'DarkOliveGreen4', 'khaki1', 'khaki2', 'khaki3', 'khaki4',
'LightGoldenrod1', 'LightGoldenrod2', 'LightGoldenrod3', 'LightGoldenrod4',
'LightYellow2', 'LightYellow3', 'LightYellow4', 'yellow2', 'yellow3', 'yellow4',
'gold2', 'gold3', 'gold4', 'goldenrod1', 'goldenrod2', 'goldenrod3', 'goldenrod4',
'DarkGoldenrod1', 'DarkGoldenrod2', 'DarkGoldenrod3', 'DarkGoldenrod4',
'RosyBrown1', 'RosyBrown2', 'RosyBrown3', 'RosyBrown4', 'IndianRed1', 'IndianRed2',
'IndianRed3', 'IndianRed4', 'sienna1', 'sienna2', 'sienna3', 'sienna4', 'burlywood1',
'burlywood2', 'burlywood3', 'burlywood4', 'wheat1', 'wheat2', 'wheat3', 'wheat4', 'tan1',
'tan2', 'tan4', 'chocolate1', 'chocolate2', 'chocolate3', 'firebrick1', 'firebrick2',
'firebrick3', 'firebrick4', 'brown1', 'brown2', 'brown3', 'brown4', 'salmon1', 'salmon2',
'salmon3', 'salmon4', 'LightSalmon2', 'LightSalmon3', 'LightSalmon4', 'orange2',
'orange3', 'orange4', 'DarkOrange1', 'DarkOrange2', 'DarkOrange3', 'DarkOrange4',
'coral1', 'coral2', 'coral3', 'coral4', 'tomato2', 'tomato3', 'tomato4', 'OrangeRed2',
'OrangeRed3', 'OrangeRed4', 'red2', 'red3', 'red4', 'DeepPink2', 'DeepPink3', 'DeepPink4',
'HotPink1', 'HotPink2', 'HotPink3', 'HotPink4', 'pink1', 'pink2', 'pink3', 'pink4',
'LightPink1', 'LightPink2', 'LightPink3', 'LightPink4', 'PaleVioletRed1',
'PaleVioletRed2', 'PaleVioletRed3', 'PaleVioletRed4', 'maroon1', 'maroon2',
'maroon3', 'maroon4', 'VioletRed1', 'VioletRed2', 'VioletRed3', 'VioletRed4',
'magenta2', 'magenta3', 'magenta4', 'orchid1', 'orchid2', 'orchid3', 'orchid4', 'plum1',
'plum2', 'plum3', 'plum4', 'MediumOrchid1', 'MediumOrchid2', 'MediumOrchid3',
'MediumOrchid4', 'DarkOrchid1', 'DarkOrchid2', 'DarkOrchid3', 'DarkOrchid4',
'purple1', 'purple2', 'purple3', 'purple4', 'MediumPurple1', 'MediumPurple2',
'MediumPurple3', 'MediumPurple4', 'thistle1', 'thistle2', 'thistle3', 'thistle4',
'gray1', 'gray2', 'gray3', 'gray4', 'gray5', 'gray6', 'gray7', 'gray8', 'gray9', 'gray10',
'gray11', 'gray12', 'gray13', 'gray14', 'gray15', 'gray16', 'gray17', 'gray18', 'gray19',
'gray20', 'gray21', 'gray22', 'gray23', 'gray24', 'gray25', 'gray26', 'gray27', 'gray28',
'gray29', 'gray30', 'gray31', 'gray32', 'gray33', 'gray34', 'gray35', 'gray36', 'gray37',
'gray38', 'gray39', 'gray40', 'gray42', 'gray43', 'gray44', 'gray45', 'gray46', 'gray47',
'gray48', 'gray49', 'gray50', 'gray51', 'gray52', 'gray53', 'gray54', 'gray55', 'gray56',
'gray57', 'gray58', 'gray59', 'gray60', 'gray61', 'gray62', 'gray63', 'gray64', 'gray65',
'gray66', 'gray67', 'gray68', 'gray69', 'gray70', 'gray71', 'gray72', 'gray73', 'gray74',
'gray75', 'gray76', 'gray77', 'gray78', 'gray79', 'gray80', 'gray81', 'gray82', 'gray83',
'gray84', 'gray85', 'gray86', 'gray87', 'gray88', 'gray89', 'gray90', 'gray91', 'gray92',
'gray93', 'gray94', 'gray95', 'gray97', 'gray98', 'gray99']
def direction(current, target):
x, y = target
x0, y0 = current
hor, vert = None, None
# new is on our left
if x < x0:
hor = -1
elif x > x0:
hor = 1
else:
hor = 0
if y < y0:
vert = -1
elif y > y0:
vert = 1
else:
vert = 0
return (hor, vert)
def goalTest(loc, goal):
return loc[0] == goal[0] and loc[1] == goal[1]
def testCollision(points, obstacles):
result = []
for obs in obstacles:
# were any of the points in an obstacle?
temp = map(lambda pt: obs.containsPoint(pt), points)
#if so, then note that
result.append(True in temp)
# if there was ever a point in an obstacle, then this is a collision
return True in result
def drawPath(path, delta_x, delta_y):
global COLORS, window
color = choice(COLORS)
for i in range( len(path) - 1):
x1, y1 = path[i]
x1 *= delta_x
y1 *= delta_y
x2, y2 = path[i+1]
x2 *= delta_x
y2 *= delta_y
window.drawLineSeg(x1, y1, x2, y2, color, width=3)
window.update()
if __name__ == "__main__":
window = DrawingWindow(800,800,0,800,0,800,"test")
grid_size = 50
delta_x = window.windowWidth / grid_size
delta_y = window.windowHeight / grid_size
pts = [ (0,0), (0,20), (20,20) ]
robot = Robot(window, (0,0), pts, (delta_x, delta_y))#, multi=True)
pts = [(100,210), (150,350), (250, 300)]
o = Obstacle(window, pts)
pts = [ (400, 325), (450, 325), (450, 375)]
o1 = Obstacle(window, pts)
goal = [27, 40]
cells = node.all_points(robot.loc, grid_size, grid_size)
t0 = time.clock()
# robot.plan = node.search(robot.loc, goal, dfs=True)
robot.plan = node.dijkstra(robot.loc, goal, cells, grid_size)
# heuristic = lambda x: (((x[0] - goal[0]) ** 2 + (x[1] - goal[1]) ** 2)) ** 0.5
# robot.plan = node.ucSearch(robot.loc, goal, heuristic)
print "delta", time.clock() - t0
if robot.plan is None:
print "No plan was found."
sys.exit()
drawPath(robot.plan, delta_x, delta_y)
obstacles = [o]#,o1]
safe = [robot.loc]
# while it's not at the goal state
while goalTest(robot.loc, goal) == False:
target = robot.plan.pop(0)
targetx = target[0] * delta_x
targety = target[1] * delta_y
# make sure that point itself has space
obsCheck = map(lambda o: o.containsPoint((targetx, targety)), obstacles)
if True in obsCheck:
x, y = safe.pop()
robot.translate(x, y)
robot.plan = node.search(robot.loc, goal)
drawPath(robot.plan, delta_x, delta_y)
node.BadLocations.addBadLoc(target)
continue
# make sure every place along that path is possible
targetx = target[0] * delta_x
targety = target[1] * delta_y
currentx = robot.loc[0] * delta_x
currenty = robot.loc[1] * delta_y
# we're headed
_dir = direction(robot.loc, target)
dx, dy = _dir
points = []
for i in range(abs(targetx - currentx)):
for j in range(abs(targety - currenty)):
points += [robot.potentialPoints(dx * i, dy * j)]
check = map(lambda s: testCollision(s, obstacles), points)
if True in check:
x, y = safe.pop()
robot.translate(x, y)
robot.plan = node.search(robot.loc, goal)
drawPath(robot.plan, delta_x, delta_y)
node.BadLocations.addBadLoc(target)
continue
# otherwise we're clear
robot.translate(target[0], target[1])
safe.append(target)
print len(safe)
#