Repository navigation
Expand file tree
/
Copy pathps2_visualize.py
More file actions
117 lines (102 loc) · 4.48 KB
/
Copy pathps2_visualize.py
File metadata and controls
117 lines (102 loc) · 4.48 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
# Problem Set 2:
# Visualization code for simulated robots.
#
# See the problem set for instructions on how to use this code.
import math
import time
from Tkinter import *
class RobotVisualization:
def __init__(self, num_robots, width, height, delay = 0.2):
"Initializes a visualization with the specified parameters."
# Number of seconds to pause after each frame
self.delay = delay
self.max_dim = max(width, height)
self.width = width
self.height = height
self.num_robots = num_robots
# Initialize a drawing surface
self.master = Tk()
self.w = Canvas(self.master, width=500, height=500)
self.w.pack()
self.master.update()
# Draw a backing and lines
x1, y1 = self._map_coords(0, 0)
x2, y2 = self._map_coords(width, height)
self.w.create_rectangle(x1, y1, x2, y2, fill = "white")
# Draw gray squares for dirty tiles
self.tiles = {}
for i in range(width):
for j in range(height):
x1, y1 = self._map_coords(i, j)
x2, y2 = self._map_coords(i + 1, j + 1)
self.tiles[(i, j)] = self.w.create_rectangle(x1, y1, x2, y2,
fill = "gray")
# Draw gridlines
for i in range(width + 1):
x1, y1 = self._map_coords(i, 0)
x2, y2 = self._map_coords(i, height)
self.w.create_line(x1, y1, x2, y2)
for i in range(height + 1):
x1, y1 = self._map_coords(0, i)
x2, y2 = self._map_coords(width, i)
self.w.create_line(x1, y1, x2, y2)
# Draw some status text
self.robots = None
self.text = self.w.create_text(25, 0, anchor=NW,
text=self._status_string(0, 0))
self.time = 0
self.master.update()
def _status_string(self, time, num_clean_tiles):
"Returns an appropriate status string to print."
percent_clean = 100 * num_clean_tiles / (self.width * self.height)
return "Time: %04d; %d tiles (%d%%) cleaned" % \
(time, num_clean_tiles, percent_clean)
def _map_coords(self, x, y):
"Maps grid positions to window positions (in pixels)."
return (250 + 450 * ((x - self.width / 2.0) / self.max_dim),
250 + 450 * ((self.height / 2.0 - y) / self.max_dim))
def _draw_robot(self, position, direction):
"Returns a polygon representing a robot with the specified parameters."
x, y = position.getX(), position.getY()
d1 = direction + 165
d2 = direction - 165
x1, y1 = self._map_coords(x, y)
x2, y2 = self._map_coords(x + 0.6 * math.sin(math.radians(d1)),
y + 0.6 * math.cos(math.radians(d1)))
x3, y3 = self._map_coords(x + 0.6 * math.sin(math.radians(d2)),
y + 0.6 * math.cos(math.radians(d2)))
return self.w.create_polygon([x1, y1, x2, y2, x3, y3], fill="red")
def update(self, room, robots):
"Redraws the visualization with the specified room and robot state."
# Removes a gray square for any tiles have been cleaned.
for i in range(self.width):
for j in range(self.height):
if room.isTileCleaned(i, j):
self.w.delete(self.tiles[(i, j)])
# Delete all existing robots.
if self.robots:
for robot in self.robots:
self.w.delete(robot)
self.master.update_idletasks()
# Draw new robots
self.robots = []
for robot in robots:
pos = robot.getRobotPosition()
x, y = pos.getX(), pos.getY()
x1, y1 = self._map_coords(x - 0.08, y - 0.08)
x2, y2 = self._map_coords(x + 0.08, y + 0.08)
self.robots.append(self.w.create_oval(x1, y1, x2, y2,
fill = "black"))
self.robots.append(
self._draw_robot(robot.getRobotPosition(), robot.getRobotDirection()))
# Update text
self.w.delete(self.text)
self.time += 1
self.text = self.w.create_text(
25, 0, anchor=NW,
text=self._status_string(self.time, room.getNumCleanedTiles()))
self.master.update()
time.sleep(self.delay)
def done(self):
"Indicate that the animation is done so that we allow the user to close the window."
mainloop()