def load_map(self, map):
startx, starty, endx, endy, self.search_thread.map = self.gui_grid.load_map(
map)
self.gui_grid.calculate_rect_size(self.window.size[0],
self.window.size[1])
self.start = dict(position=search_map.Position(startx, starty),
added=True)
self.end = dict(position=search_map.Position(endx, endy), added=True)
def clear_start_end(self):
if self.start["added"]:
self.gui_grid.push_grid_value(self.start["position"].x,
self.start["position"].y,
grid.Grid.NO_WALL_ID)
self.start["position"] = search_map.Position(-1, -1)
self.start["added"] = False
if self.end["added"]:
self.gui_grid.push_grid_value(self.end["position"].x,
self.end["position"].y,
grid.Grid.NO_WALL_ID)
self.end["position"] = search_map.Position(-1, -1)
self.end["added"] = False
def choose_start_end(self, x, y):
if not self.start["added"]:
self.start["position"] = search_map.Position(x, y)
self.start["added"] = True
self.gui_grid.push_grid_value(self.start["position"].x,
self.start["position"].y,
grid.Grid.START_END_ID)
elif not self.end["added"]:
self.end["position"] = search_map.Position(x, y)
self.end["added"] = True
self.gui_grid.push_grid_value(self.end["position"].x,
self.end["position"].y,
grid.Grid.START_END_ID)
else:
self.prompt_message("Start and Goal already chosen", "WARNING")
def modify_wall(self, x, y):
if not self.gui_grid.is_valid_position(x, y):
return
position = search_map.Position(x, y)
if position == self.start["position"] or position == self.end[
"position"]:
return
if self.add:
self.gui_grid.push_grid_value(x, y, grid.Grid.WALL_ID)
else:
self.gui_grid.pop_grid_value(x, y, grid.Grid.WALL_ID)
def remove_start_end(self, x, y):
pos = search_map.Position(x, y)
if self.start["position"] != pos and self.end["position"] != pos:
return False
if self.start["added"] and self.end["added"]:
# If start is clicked, swap it's position with end
if self.start["position"] == pos:
self.end["position"], self.start["position"] = self.start[
"position"], self.end["position"]
# Remove end
self.gui_grid.pop_grid_value(self.end["position"].x,
self.end["position"].y,
grid.Grid.START_END_ID)
self.end["position"] = search_map.Position(-1, -1)
self.end["added"] = False
elif self.start["added"]:
self.gui_grid.pop_grid_value(self.start["position"].x,
self.start["position"].y,
grid.Grid.START_END_ID)
self.start["position"] = search_map.Position(-1, -1)
self.start["added"] = False
def __init__(self):
self.window = Window()
self.is_done = False
self.clock = pygame.time.Clock()
self.current_time = 0
self.input_lock = False
self.heuristic = heuristic.Heuristic.euclidian_distance
self.epsilon = 1.0
self.message_queue = queue.Queue()
self.time_limited = True
self.limit = -1
# Create thread for searching
if self.prompt_algorithm():
while self.limit == -1:
self.limit = self.prompt_time_limit()
self.search_thread = search_thread.ARAThread(
limit=self.limit, message_queue=self.message_queue)
self.epsilon = 3.0
else:
self.search_thread = search_thread.AStarThread(
message_queue=self.message_queue)
self.time_limited = False
self.search_thread.heuristic = self.heuristic
self.search_thread.epsilon = self.epsilon
# Check whether to add or remove walls
self.add = True
# Start point and End point
self.start = dict(position=search_map.Position(-1, -1), added=False)
self.end = dict(position=search_map.Position(-1, -1), added=False)
# Create grid for drawing
self.gui_grid = grid.Grid(50)
self.gui_grid.calculate_rect_size(self.window.size[0],
self.window.size[1])
def search_map(map, heuristic, epsilon=1, message_queue=None):
# Create a map for checking if a block is in queue
check_map = utilities.Utilities.create_matrix(map.size, -1)
check_map[map.start.x][map.start.y] = 0
# Run algorithm
path_found = False
open_list = []
queue = PriorityQueue()
# Lock user input
if message_queue != None:
message_queue.put_nowait(message.Message(action="LOCK"))
# Clear path
if message_queue != None:
message_queue.put_nowait(message.Message(action="CLEAR"))
node = SearchNode(map.start, None)
queue.push(node, heuristic(map.start, map.end))
while not queue.empty():
node = queue.pop()
# Request drawing
if message_queue != None:
pop_message = message.Message(action="PUSH",
param=grid.Grid.POP_ID)
pop_message.x = node.data.position.x
pop_message.y = node.data.position.y
message_queue.put_nowait(pop_message)
node = node.data
x = node.position.x
y = node.position.y
if not map.is_valid(x, y) or map.is_wall(x, y):
break
open_list.append(node)
# If current node is end, stop
if x == map.end.x and y == map.end.y:
path_found = True
break
g_value = check_map[x][y] + 1
dxdyrange = [
(-1, -1),
(-1, 0),
(-1, 1),
(0, 1),
(1, 1),
(1, 0),
(1, -1),
(0, -1),
]
for (dx, dy) in dxdyrange:
tempx = x + dx
tempy = y + dy
# Child is a wall or not valid
if not map.is_valid(tempx, tempy) or map.is_wall(tempx, tempy):
continue
# Child is already in queue and has smaller g(x)
if check_map[tempx][tempy] != -1 and check_map[tempx][
tempy] <= g_value:
continue
# Otherwise, add child to queue
check_map[tempx][tempy] = g_value
child_pos = search_map.Position(tempx, tempy)
f_value = g_value + heuristic(child_pos, map.end) * epsilon
queue.push(SearchNode(child_pos, node), f_value)
# Request drawing
if message_queue != None:
in_queue_message = message.Message(
action="PUSH", param=grid.Grid.IN_QUEUE_ID)
in_queue_message.x = tempx
in_queue_message.y = tempy
message_queue.put_nowait(in_queue_message)
return map, open_list, path_found
def __init__(self, position=search_map.Position(), parent=None):
self.position = position
self.parent = parent