graph, queue, k_m = initDStarLite(graph, queue, s_start, s_goal, k_m)
basicfont = pygame.font.SysFont('avenirnext', 20)
print(
'Click to create obstacles or press spacebar to iterate through simulation'
)
# -------- Main Program Loop -----------
while not done:
for event in pygame.event.get(): # User did something
if event.type == pygame.QUIT: # If user clicked close
done = True # Flag that we are done so we exit this loop
elif event.type == pygame.KEYDOWN and event.key == pygame.K_SPACE:
# print('space bar! call next action')
s_new, k_m = moveAndRescan(graph, queue, s_current,
VIEWING_RANGE, k_m)
if s_new == 'goal':
print('Goal Reached!')
done = True
else:
s_current = s_new
pos_coords = stateNameToCoords(s_current)
elif event.type == pygame.MOUSEBUTTONDOWN:
# User clicks the mouse. Get the position
pos = pygame.mouse.get_pos()
# Change the x/y screen coordinates to grid coordinates
column = pos[0] // (WIDTH + MARGIN)
row = pos[1] // (HEIGHT + MARGIN)
if (graph.cells[row][column] == 0):
graph.cells[row][column] = -1
def main():
# Loop until the user clicks the close button.
done = False
graph = GridWorld(dimension_x, dimension_y)
s_start = input("Enter start (xnym, where n,m are coordinates) : ")
s_goal = input("Enter goal (xnym, where n,m are coordinates) : ")
# s_start = 'x1y2'
# s_goal = 'x9y7'
goal_coords = stateNameToCoords(s_goal)
start_coords = stateNameToCoords(s_start)
graph.setStart(s_start)
graph.setGoal(s_goal)
k_m = 0
s_last = s_start
queue = []
graph, queue, k_m = initDStarLite(graph, queue, s_start, s_goal, k_m)
s_current = s_start
pos_coords = stateNameToCoords(s_current)
robot_centers = []
# Initialize pygame
pygame.init()
screen = pygame.display.set_mode(WINDOW_SIZE)
# Set title of screen
pygame.display.set_caption("D* Lite Path Planning")
# Used to manage how fast the screen updates
clock = pygame.time.Clock()
basicfont = pygame.font.SysFont('Comic Sans MS', 22)
# -------- Main Program Loop -----------
while done == False:
for event in pygame.event.get(): # User did something
if event.type == pygame.QUIT: # If user clicked close
done = True # Flag that we are done so we exit this loop
elif event.type == pygame.KEYDOWN and event.key == pygame.K_SPACE:
print('move')
s_new, k_m = moveAndRescan(graph, queue, s_current, k_m)
if s_new == 'goal':
print('Goal Reached!')
done = True
else:
# print('setting s_current to ', s_new)
s_current = s_new
pos_coords = stateNameToCoords(s_current)
# print('got pos coords: ', pos_coords)
elif event.type == pygame.MOUSEBUTTONDOWN:
# User clicks the mouse. Get the position
pos = pygame.mouse.get_pos()
# Change the x/y screen coordinates to grid coordinates
column = pos[0] // (width + margin)
row = pos[1] // (height + margin)
# Set that location to one
if (graph.cells[row][column] == 0):
graph.cells[row][column] = -1
# Set the screen background
screen.fill(BLACK)
# Draw the grid
for row in range(dimension_y):
for column in range(dimension_x):
pygame.draw.rect(
screen, colors[graph.cells[row][column]],
[(margin + width) * column + margin,
(margin + height) * row + margin, width, height])
node_name = 'x' + str(column) + 'y' + str(row)
# fill in goal cell with GREEN
pygame.draw.rect(
screen, GREEN,
[(margin + width) * start_coords[0] + margin,
(margin + height) * start_coords[1] + margin, width, height])
# fill in goal cell with RED
pygame.draw.rect(
screen, RED,
[(margin + width) * goal_coords[0] + margin,
(margin + height) * goal_coords[1] + margin, width, height])
# draw moving robot, based on pos_coords
# Set the new robot centre
robot_center = [
int(pos_coords[0] * (width + margin) + width / 2) + margin,
int(pos_coords[1] * (height + margin) + height / 2) + margin
]
draw_arrow(screen, BLACK, robot_center, robot_center)
# maintain a list of all cells traversed
robot_centers.append(robot_center)
if len(robot_centers) > 1:
for i in range(0, len(robot_centers) - 1):
pygame.draw.line(screen, BLACK, robot_centers[i],
robot_centers[i + 1], 3)
# grey out visible boxes for robot
screen.blit(
transparent,
(robot_center[0] - 1.5 * width - margin, robot_center[1] -
1.5 * height - margin)) # (0,0) are the top-left coordinates
# Limit to 60 frames per second
clock.tick(20)
# Go ahead and update the screen with what we've drawn.
pygame.display.flip()
# Be IDLE friendly. If you forget this line, the program will 'hang'
# on exit.
pygame.quit()