from asyncio.windows_events import NULL
import sys
from MapNode import MapNode
class PlannerNode:
def __init__(self):
self.current_obj=MapNode()
# Since we know that the first step the bot will take will be down, we can simply do it here
self.current_obj.direction_callback("down") # example 1
notDir = 'up'
self.stack = []
self.dead =[]
self.directions = ['up', 'down', 'left', 'right']
self.found = False
self.wall_callback(notDir)
self.getDirections(self.stack)
@staticmethod
def getDirections(stack):
finalDirections = [0] * len(stack)
finalDirections[0] = 1
for i in range(1, len(stack)):
x = stack[i][0]
y = stack[i][1]
if (x < stack[i-1][0]):
finalDirections[i] = 0
if (x > stack[i-1][0]):
finalDirections[i] = 1
if (y < stack[i-1][1]):
finalDirections[i] = 2
if (y > stack[i-1][1]):
finalDirections[i] = 3
print(finalDirections)
def wall_callback(self, notDir):
current_coords = self.current_obj.current
end_coords = self.current_obj.map.end
tileNum = self.current_obj.array[current_coords[0]][current_coords[1]]
print(self.current_obj.current)
# current_obj has all the attributes to help you in in your path planning !
self.stack.append(current_coords)
if(current_coords == self.current_obj.map.end):
self.found = True
return
if (current_coords[0] > end_coords[0]):
if (notDir != self.directions[0] and not self.current_obj.map.check_top_wall(current_coords) and ((current_coords[0] - 1, current_coords[1]) not in (self.stack + self.dead))):
self.current_obj.direction_callback(self.directions[0])
self.wall_callback(self.directions[1])
if(self.found):
return
if (current_coords[0] < end_coords[0]):
if (notDir != self.directions[1] and not self.current_obj.map.check_bottom_wall(current_coords) and ((current_coords[0] + 1, current_coords[1]) not in (self.stack + self.dead))):
self.current_obj.direction_callback(self.directions[1])
self.wall_callback(self.directions[0])
if(self.found):
return
if (current_coords[1] > end_coords[1]):
if (notDir != self.directions[2] and not self.current_obj.map.check_left_wall(current_coords) and ((current_coords[0], current_coords[1] - 1) not in (self.stack + self.dead))):
self.current_obj.direction_callback(self.directions[2])
self.wall_callback(self.directions[3])
if(self.found):
return
if (current_coords[1] < end_coords[1]):
if (notDir != self.directions[3] and not self.current_obj.map.check_right_wall(current_coords) and ((current_coords[0], current_coords[1] + 1) not in (self.stack + self.dead))):
self.current_obj.direction_callback(self.directions[3])
self.wall_callback(self.directions[2])
if(self.found):
return
else:
if (notDir != self.directions[0] and not self.current_obj.map.check_top_wall(current_coords) and ((current_coords[0] - 1, current_coords[1]) not in (self.stack + self.dead))):
self.current_obj.direction_callback(self.directions[0])
self.wall_callback(self.directions[1])
if(self.found):
return
if (notDir != self.directions[1] and not self.current_obj.map.check_bottom_wall(current_coords) and ((current_coords[0] + 1, current_coords[1]) not in (self.stack + self.dead))):
self.current_obj.direction_callback(self.directions[1])
self.wall_callback(self.directions[0])
if(self.found):
return
if (notDir != self.directions[2] and not self.current_obj.map.check_left_wall(current_coords) and ((current_coords[0], current_coords[1] - 1) not in (self.stack + self.dead))):
self.current_obj.direction_callback(self.directions[2])
self.wall_callback(self.directions[3])
if(self.found):
return
if (notDir != self.directions[3] and not self.current_obj.map.check_right_wall(current_coords) and ((current_coords[0], current_coords[1] + 1) not in (self.stack + self.dead))):
self.current_obj.direction_callback(self.directions[3])
self.wall_callback(self.directions[2])
if(self.found):
return
self.stack.pop()
if (tileNum == 0 or tileNum == 2 or tileNum == 4 or tileNum == 8):
self.dead.append(current_coords)
self.current_obj.direction_callback(notDir)
if __name__ == '__main__':
start_obj=PlannerNode()
start_obj.current_obj.print_root.mainloop()