pathplanning.py

from pynput import keyboard
import random
import time

class Pathplanning:
    def __init__(self):
        self.width = 7
        self.height = 7
        self.robot_width = 0
        self.robot_height = 0
        self.regenerate = 0

        self.robot_start = (self.robot_height, self.robot_width)
        self.robot_end = (self.height - 1, self.width - 1)

        self.listener = None
        self.map = None
        self.path = []
        self.build_map()


    def build_map(self):
        self.map = []
        for i in range(self.height):
            inner_grid = []
            for j in range(self.width):
                r = random.random()
                if r < 0.4:
                    inner_grid.append('#')
                else:
                    inner_grid.append('.')
            self.map.append(inner_grid)

        # Start and Goal Positions
        self.map[self.robot_height][self.robot_width] = 'S'
        self.map[self.height - 1][self.width - 1] = 'G'

        if not self.is_solvable(self.robot_start, self.robot_end):
            self.build_map()
            self.regenerate += 1

        # For how many times the map needed to regenerate due to probability
        # print(self.regenerate)


    def is_solvable(self, start, end):
        self.path = []
        came_from = {}
        visited = []
        to_visit = [start]
        while to_visit:
            current = to_visit.pop(0)
            visited.append(current)
            if current == end:

                # Path Finding
                while current != start:
                    self.path.append(current)
                    current = came_from[current]
                self.path.append(start)
                self.path.reverse()
                print(self.path)
                return True

            UP = (current[0] - 1, current[1])
            RIGHT = (current[0], current[1] + 1)
            DOWN = (current[0] + 1, current[1])
            LEFT = (current[0], current[1] - 1)


            # DIRECTIONS are in the order: UP, RIGHT, DOWN, LEFT
            DIRECTIONS = [UP, RIGHT, DOWN, LEFT]

            for direction in DIRECTIONS:
                if 0 <= direction[0] <= self.height - 1 and 0 <= direction[1] <= self.width - 1 and self.map[direction[0]][direction[1]] != '#':
                    if direction not in visited:
                        to_visit.append(direction)
                        came_from[direction] = current
        return False


    def print_map(self):
        print()
        for index, row in enumerate(self.map):
            display_row = list(row)
            if index == self.robot_height:
                display_row[self.robot_width] = 'R'
            print(index, display_row)


    def robot_traversal(self):
        self.print_map() # Initial draw

        for points in self.path:
            self.robot_height = points[0]
            self.robot_width = points[1]
            self.print_map()
            time.sleep(0.3)

        print("Done!")


    # For player traversal (for fun)
    def run(self):
        self.print_map() # Initial draw
        # This creates the "Listener" loop for you
        with keyboard.Listener(on_press=self.robot_movement) as self.listener:
            self.listener.join()


    def robot_movement(self, key):
        # UP
        if key == keyboard.Key.up and self.robot_height > 0 and self.map[self.robot_height - 1][self.robot_width] != '#':
            self.robot_height -= 1

        # DOWN
        elif key == keyboard.Key.down and self.robot_height < self.height - 1 and self.map[self.robot_height + 1][self.robot_width] != '#':
            self.robot_height += 1

        # LEFT
        elif key == keyboard.Key.left and self.robot_width > 0 and self.map[self.robot_height][self.robot_width - 1] != '#':
            self.robot_width -= 1

        # RIGHT
        elif key == keyboard.Key.right and self.robot_width < self.width - 1 and self.map[self.robot_height][self.robot_width + 1] != '#':
            self.robot_width += 1

        # QUIT KEY
        elif key == keyboard.Key.esc:
            self.listener.stop()
            return

        self.print_map()

    def menu(self):
        print("Welcome to Pathplanning!")
        print("1. Manual Mode")
        print("2. Auto Solve")
        print(f"Please Select One Option: ", end='')
        choice = input()

        while choice != "1" or choice != "2":

            if choice == "1":
                self.run()
            elif choice == "2":
                self.robot_traversal()
                return

            print()
            print("Please select one:")
            print("1. Manual Mode")
            print("2. Auto Solve")
            print(f"Please Select One Option: ", end='')
            choice = int(input())

if __name__ == "__main__":
    P = Pathplanning()
    P.robot_traversal()