class Game(Widget):
car = ObjectProperty(None)
ball1 = ObjectProperty(None)
ball2 = ObjectProperty(None)
ball3 = ObjectProperty(None)
def move_car(self, position):
self.car.center = position
self.ball1.pos = self.car.sensor1
self.ball2.pos = self.car.sensor2
self.ball3.pos = self.car.sensor3
def rotate_car(self, angle):
self.car.move(angle)
def clear_canvas(self):
global step_size, nrow, ncol
global sand
self.serve_car()
sand = np.zeros((nrow, ncol))
self.init_start()
def serve_car(self):
global step_size, nrow, ncol
self.car.center = self.center
self.car.velocity = Vector(1, 0)
self.car.angle = 0
def init_start(self):
global step_size, nrow, ncol
global sand, lineList
nrow = 10
ncol = 10
if self.width < self.height:
step_size = self.width
else:
step_size = self.height
step_size = int(step_size / 1.2)
step_size = int(step_size / ncol)
init()
no_obs = 20
matrix, start_position = random_matrix(nrow, ncol, no_obs)
for ln in lineList:
self.canvas.remove(ln)
lineList = []
#print(start_position)
with self.canvas:
for i in range(nrow):
for j in range(ncol):
wdt = 1
if matrix[i][j] != 0:
Color(1.0, 0.0, 0.1)
wdt = 3
else:
Color(0.0, 1.0, 0.1, 0.7)
scrX, scrY = self.car.grid_to_screen(i, j, nrow, ncol)
lineList.append(
Line(rectangle=(scrX - step_size / 2,
scrY - step_size / 2, step_size,
step_size),
width=wdt))
sand = matrix.copy()
matrix = [[]]
srX, srY = self.car.grid_to_screen(start_position['x'],
start_position['y'], nrow, ncol)
self.move_car(Vector(srX, srY))
self.car.move_init()
print(sand)
#start_position={'x': self.car.x, 'y': self.car.y}
start_direction = 0
# run with dfs
self.robot = MyRobot(matrix, start_position, start_direction, self.car)
# robot.log()
self.sweeper = Sweeper(self.robot)
self.sweeper.loggable = False
self.robot.loggable = False
def update(self, dt):
global step_size, nrow, ncol
global move_car_now
global lineList
if first_update:
lineList = []
self.init_start()
#if move_car_now == True:
#self.sweeper.get_move()
#move_car_now=False
#print(step_size)
self.sweeper.get_move()
self.ball1.pos = self.car.sensor1
self.ball2.pos = self.car.sensor2
self.ball3.pos = self.car.sensor3
class Game(Widget):
car = ObjectProperty(None)
ball1 = ObjectProperty(None)
ball2 = ObjectProperty(None)
ball3 = ObjectProperty(None)
def clear_canvas(self):
global longueur
global largeur
self.canvas.clear()
self.serve_car()
sand = np.zeros((longueur, largeur))
start_position = {'x': self.car.x, 'y': self.car.y}
start_direction = 0 #random.randint(0, 3)
# run with dfs
self.robot = MyRobot(sand, start_position, start_direction)
# robot.log()
self.sweeper = Sweeper(self.robot)
self.sweeper.loggable = False
self.robot.loggable = False
def serve_car(self):
global longueur
global largeur
self.car.center = self.center
self.car.velocity = Vector(1, 0)
self.car.angle = 0
def update(self, dt):
global brain
global last_reward
global scores
global last_distance
global goal_x
global goal_y
global longueur
global largeur
global last_tm
global time_elapsed
global time_max
global rects
if first_update:
longueur = int(self.width)
largeur = int(self.height)
longueur = int(longueur / size)
largeur = int(largeur / size)
init()
no_obs = int(longueur * largeur / 5)
matrix, start_position = random_matrix(longueur, largeur, no_obs)
sand = matrix
print(sand)
start_position = {'x': self.car.x, 'y': self.car.y}
start_direction = 0 #random.randint(0, 3)
# run with dfs
self.robot = MyRobot(sand, start_position, start_direction)
# robot.log()
self.sweeper = Sweeper(self.robot)
self.sweeper.loggable = False
self.robot.loggable = False
# print("rotation")
rotation = self.sweeper.get_move()
if rotation == -1 or rotation == None:
#self.car.move(0)
pass
#pass #self.car.velocity= Vector(1, 0).rotate(self.car.angle)*0 # Stop the car
else:
self.car.move(rotation)
print(rotation)
#print(rotation)
self.ball1.pos = self.car.sensor1
self.ball2.pos = self.car.sensor2
self.ball3.pos = self.car.sensor3
