def draw_menu(stdscr, agents):
k = 0
# Clear and refresh the screen for a blank canvas
# Start colors in curses
curses.start_color()
curses.init_pair(1, curses.COLOR_CYAN, curses.COLOR_BLACK)
curses.init_pair(2, curses.COLOR_RED, curses.COLOR_BLACK)
curses.init_pair(3, curses.COLOR_BLACK, curses.COLOR_WHITE)
stdscr.clear()
cur_map = map_parser.add_agent_to_map(agents, STATIC_MAP)
map = print_map.render_map(cur_map, False)
stdscr.addstr(0, 0, map, curses.color_pair(1))
stdscr.refresh()
# Loop where k is the last character pressed
while (k != ord('q')):
# Initialization
stdscr.clear()
# height, width = stdscr.getmaxyx()
dir = ''
if k == curses.KEY_DOWN:
dir = 'S'
elif k == curses.KEY_UP:
dir = 'N'
elif k == curses.KEY_RIGHT:
dir = 'E'
elif k == curses.KEY_LEFT:
dir = 'W'
elif k == ord('p'):
m1 = map_parser.remove_robot_map(cur_map)
m2 = FINAL_MAP
stdscr.addstr(0, 0, print_map.render_map(m1, False),
curses.color_pair(2))
dir = None
else:
dir = None
if dir:
new_agents, _ = next_state(dir, agents)
agents = deepcopy(new_agents)
cur_map = map_parser.add_agent_to_map(agents, STATIC_MAP)
map = print_map.render_map(cur_map, False)
stdscr.addstr(1, 0, map, curses.color_pair(1))
if map_parser.remove_robot_map(cur_map) == FINAL_MAP:
stdscr.addstr(0, 0, "SUCCESS", curses.color_pair(2))
# Rendering some text
stdscr.refresh()
# Wait for next input
k = stdscr.getch()
def step(agents):
cur_map = map_parser.add_agent_to_map(agents, STATIC_MAP)
print(print_map.render_map(cur_map))
scenario = ''
while map_parser.remove_robot_map(cur_map) != FINAL_MAP:
cur_map = map_parser.add_agent_to_map(agents, STATIC_MAP)
print('heur', heuristic2(agents, GOALS))
print(print_map.render_map(cur_map))
if len(scenario) < 1:
scenario = user_input(DIRS)
print("scenario", scenario)
dir = scenario[0]
scenario = scenario[1:]
new_agents, _ = next_state(dir, agents)
agents = deepcopy(new_agents)
input('continue?\n\n')
def bfs(agents):
visited.append(agents)
queue.append((agents, ''))
while queue:
agents, path = queue.pop(0)
cur_map = map_parser.add_agent_to_map(agents, STATIC_MAP)
debug(print_map.render_map(cur_map))
debug(agents)
if map_parser.remove_robot_map(cur_map) == FINAL_MAP:
SOLUTIONS.append(agents)
debug(SOLUTIONS)
debug(SHORTEST_PATH_TO_STATE[hash_agent(agents)])
return
# input("enter to continue")
elif diam_on_corner(cur_map):
continue
elif diam_on_empty_edge(cur_map):
continue
# if nb diam on edge > nb goal
else:
neighbours = []
for d in DIRS:
new_agents, has_changed = next_state(d, agents)
if has_changed:
new_path = path + d
neighbours.append((new_agents, new_path))
# sort by heuristic here
for neighbour, path in neighbours:
if neighbour not in visited:
visited.append(neighbour)
queue.append((neighbour, path))
SHORTEST_PATH_TO_STATE[hash_agent(neighbour)].append(path)
debug("*** FINISHED ***")
for agents in SOLUTIONS:
debug("---")
paths = SHORTEST_PATH_TO_STATE[hash_agent(agents)]
sols = sorted(paths, key=lambda x: len(x))
sols.reverse()
debug(sols)
def rec_tick(agents, path='', it=0):
cur_map = map_parser.add_agent_to_map(agents, STATIC_MAP)
print(it, path)
print(print_map.render_map(cur_map))
# if len(SOLUTIONS) > 0:
# return True
if map_parser.remove_robot_map(cur_map) == FINAL_MAP:
SOLUTIONS.append(min(SHORTEST_PATH_TO_STATE[hash_agent(agents)]))
debug(SHORTEST_PATH_TO_STATE[hash_agent(agents)])
debug(len(SHORTEST_PATH_TO_STATE[hash_agent(agents)]))
debug(len(SHORTEST_PATH_TO_STATE[hash_agent(agents)][0]))
input("enter to continue")
return True
elif diam_on_corner(cur_map):
pass
elif diam_on_empty_edge(cur_map):
pass
else:
it = it + 1
candidats = []
for d in DIRS:
new_path = path + d
new_agents, _ = next_state(d, agents)
SHORTEST_PATH_TO_STATE[hash_agent(new_agents)].append(new_path)
if not new_agents in PREVIOUS_STATES:
PREVIOUS_STATES.append(new_agents)
# input('continue?')
candidats.append((new_agents, new_path, it))
sorted_candidats = sorted(
candidats, key=lambda x: heuristic2(x[0], GOALS))
for candidat in sorted_candidats:
rec_tick(*candidat)
scenario = user_input(DIRS)
print("scenario", scenario)
dir = scenario[0]
scenario = scenario[1:]
new_agents, _ = next_state(dir, agents)
agents = deepcopy(new_agents)
input('continue?\n\n')
if __name__ == '__main__':
from pprint import pprint
import sys
MAP = map_parser.parse_from_text_file('./compet.txt')
# MAP = MAPS.init
print(MAP)
print_map.render_map(MAP)
FINAL_MAP = map_parser.create_final(MAP)
STATIC_MAP, AGENTS, GOALS = map_parser.parse_map(MAP)
cur_map = deepcopy(MAP)
PREVIOUS_STATES.append(AGENTS)
if sys.argv[1] == 'step':
step(AGENTS)
elif sys.argv[1] == 'bfs':
sys.setrecursionlimit(10**6)
bfs(AGENTS)
elif sys.argv[1] == 'ia':
sys.setrecursionlimit(10**6)
# from ia import split_map