def paint_wave_route(self, start):
if self.wave is None:
print("warning: wave pulse is missing.")
return
if self.wave.item(start) < 0:
print("warning: cannot start from wall", start)
return
# print("showing route from", start)
# self.screen.fill(BLACK)
pos = start
finish = self.route_rq[1]
while pos != finish:
# paint current cell
self.paint_cell(pos, WAVES_PALETTE[PATH_MARK])
# pick the next cell
neighbours = [(self.wave.item(nb_pos), nb_pos) for nb_pos in [
Position(pos.row, pos.col + 1),
Position(pos.row - 1, pos.col),
Position(pos.row, pos.col - 1),
Position(pos.row + 1, pos.col),
] if is_inside(nb_pos, self.wave) and self.wave.item(nb_pos) >= 0]
heapq.heapify(neighbours)
_, pos = heapq.heappop(neighbours)
# paint last cell
self.paint_cell(pos, WAVES_PALETTE[PATH_MARK])
def free_neighbours(maze, node, visited):
neighbours = [
pos
for pos in [
Position(node.row - 1, node.col),
Position(node.row, node.col - 1),
Position(node.row + 1, node.col),
Position(node.row, node.col + 1),
]
if is_inside(pos, maze) and pos not in visited and maze.item(pos) == 0
]
return neighbours
def on_mouse_motion(self, event):
if not self.live_routing:
return
x, y = event.pos
col = (x - LEFT_OFFSET - PADDING // 2) // PADDED_CELL
row = (y - TOP_OFFSET - PADDING // 2) // PADDED_CELL
pos = Position(row, col)
if not is_inside(pos, self.maze):
return
self.paint_maze()
self.paint_wave_route(pos)
def on_click(self, event):
x, y = event.pos
col = (x - LEFT_OFFSET - PADDING // 2) // PADDED_CELL
row = (y - TOP_OFFSET - PADDING // 2) // PADDED_CELL
pos = Position(row, col)
if not is_inside(pos, self.maze):
return
if event.button == 1:
self.route_rq = (pos, self.route_rq[1])
self.find_a_route()
elif event.button == 3:
self.route_rq = (self.route_rq[0], pos)
self.wave = propagate_wave(self.maze, pos)
def cross_neighbours_x(maze, node, goal, visited):
goal_value = maze[goal]
neighbours = [
(distance_heuristic(left=pos, right=goal), pos)
for pos in [
Position(node.row - 1, node.col),
Position(node.row, node.col - 1),
Position(node.row + 1, node.col),
Position(node.row, node.col + 1),
]
if is_inside(pos, maze)
and pos not in visited
and maze.item(pos) in {0, goal_value}
]
return neighbours
def new_neighbours(maze, seen, node, target):
pin_value = maze[target]
neighbours = [
(pos, m_distance(left=pos, right=target))
for pos in [
Position(node.row - 1, node.col),
Position(node.row, node.col - 1),
Position(node.row + 1, node.col),
Position(node.row, node.col + 1),
]
if is_inside(pos, maze)
and pos not in seen
and maze.item(pos) in {0, pin_value}
]
return neighbours
def box_neighbour_values(maze, node):
rows, cols = maze.shape
nb = [
maze.item(pos)
for pos in [
# top row, left to right
Position(node.row - 1, node.col - 1),
Position(node.row - 1, node.col),
Position(node.row - 1, node.col + 1),
Position(node.row, node.col + 1), # right node
# bottom row, right to left
Position(node.row + 1, node.col + 1),
Position(node.row + 1, node.col),
Position(node.row + 1, node.col - 1),
Position(node.row, node.col - 1), # left node
]
if is_inside(pos, maze)
]
return nb