# The MIT License (MIT)
# Copyright (c) 2015 INSPIRE Lab, BITS Pilani
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.
"""
Defines a Tkinter based GUI class for visualizing the simulation
"""
from math import floor
from time import sleep
from Tkinter import Tk, Canvas, Frame, BOTH
# The GridUI class
class GridUI(Frame):
def __init__(self, parent, height, width, cellSize, grid, robots, frontier):
Frame.__init__(self, parent)
self.parent = parent
self.initialize(height, width, cellSize, grid, robots, frontier)
# Method to draw a grid of specified height and width
def initialize(self, height, width, cellSize, grid, robots, frontier):
self.parent.title('Grid')
self.pack(fill = BOTH, expand = 1)
self.canvas = Canvas(self)
startX = cellSize
startY = cellSize
endX = startX + (cellSize * width)
endY = startY + (cellSize * height)
curX = startX
curY = startY
rectIdx = 0
xIdx = 0
yIdx = 0
while curX != endX and curY != endY:
# print 'x, y:', xIdx, yIdx
# First, check if the current location corresponds to that of any robot
robotFlag = False
for robot in robots:
if robot.curX == xIdx and robot.curY == yIdx:
robotFlag = True
self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = '#00FF00', width = 2)
# Then check if it corresponds to an obstacle
if grid.cells[xIdx][yIdx].obstacle == True:
self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = '#000000', width = 2)
elif robotFlag == False:
# Then check if it corresponds to a frontier cell
frontierFlag = False
for pt in frontier:
if pt[0] == xIdx and pt[1] == yIdx:
self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = '#00FFFF', width = 2)
frontierFlag = True
if frontierFlag == False:
if grid.cells[xIdx][yIdx].visited == True:
self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = '#FFFFFF', width = 2)
else:
self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = '#777777', width = 2)
curX = curX + cellSize
if curX == endX and curY != endY:
curX = startX
xIdx += 1
curY = curY + cellSize
yIdx = 0
# Move to the next iteration of the loop
continue
elif curX == endX and curY == endY:
break
rectIdx += 1
yIdx += 1
self.canvas.pack(fill = BOTH, expand = 1)
# Method to redraw the positions of the robots and the frontier
def redraw(self, height, width, cellSize, grid, robots, frontier):
self.parent.title('Grid2')
self.pack(fill = BOTH, expand = 1)
# canvas = Canvas(self.parent)
self.canvas.delete('all')
startX = cellSize
startY = cellSize
endX = startX + (cellSize * width)
endY = startY + (cellSize * height)
curX = startX
curY = startY
rectIdx = 0
xIdx = 0
yIdx = 0
while curX != endX and curY != endY:
# print 'x, y:', xIdx, yIdx
# First, check if the current location corresponds to that of any robot
robotFlag = False
if grid.cells[xIdx][yIdx].centroid == True:
self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = 'indian red', width = 2)
else:
for robot in robots:
if robot.curX == xIdx and robot.curY == yIdx:
robotFlag = True
self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = '#00FF00', width = 2)
# Then check if it corresponds to an obstacle
if grid.cells[xIdx][yIdx].obstacle == True:
self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = '#000000', width = 2)
elif robotFlag == False:
# Then check if it corresponds to a frontier cell
frontierFlag = False
for pt in frontier:
if pt[0] == xIdx and pt[1] == yIdx:
if grid.cells[xIdx][yIdx].cluster==-1:
self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = '#00FFFF', width = 2)
if grid.cells[xIdx][yIdx].cluster == 0:
self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = 'midnight blue', width = 2)
if grid.cells[xIdx][yIdx].cluster == 1:
self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = 'peach puff', width = 2)
if grid.cells[xIdx][yIdx].cluster == 2:
self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = 'gold', width = 2)
if grid.cells[xIdx][yIdx].cluster == 3:
self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = 'slate blue', width = 2)
if grid.cells[xIdx][yIdx].cluster == 4:
self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = 'royal blue', width = 2)
if grid.cells[xIdx][yIdx].cluster == 5:
self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = 'red', width = 2)
if grid.cells[xIdx][yIdx].cluster == 6:
self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = 'dark green', width = 2)
if grid.cells[xIdx][yIdx].cluster == 7:
self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = 'yellow', width = 2)
if grid.cells[xIdx][yIdx].cluster == 8:
self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = 'orange', width = 2)
if grid.cells[xIdx][yIdx].cluster == 9:
self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = 'hot pink', width = 2)
frontierFlag = True
if frontierFlag == False:
if grid.cells[xIdx][yIdx].visited == True:
self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = '#FFFFFF', width = 2)
#else:
#if grid.cells[xIdx][yIdx].cluster != -1:
# if grid.cells[xIdx][yIdx].cluster == 0:
# self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = 'midnight blue', width = 2)
# if grid.cells[xIdx][yIdx].cluster == 1:
# self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = 'peach puff', width = 2)
# if grid.cells[xIdx][yIdx].cluster == 2:
# self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = 'dim gray', width = 2)
# if grid.cells[xIdx][yIdx].cluster == 3:
# self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = 'slate blue', width = 2)
# if grid.cells[xIdx][yIdx].cluster == 4:
# self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = 'royal blue', width = 2)
# if grid.cells[xIdx][yIdx].cluster == 5:
# self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = 'red', width = 2)
# if grid.cells[xIdx][yIdx].cluster == 6:
# self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = 'dark green', width = 2)
# if grid.cells[xIdx][yIdx].cluster == 7:
# self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = 'gold', width = 2)
# if grid.cells[xIdx][yIdx].cluster == 8:
# self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = 'orange', width = 2)
# if grid.cells[xIdx][yIdx].cluster == 9:
# self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = 'hot pink', width = 2)
else :
self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = '#777777', width = 2)
curX = curX + cellSize
if curX == endX and curY != endY:
curX = startX
xIdx += 1
curY = curY + cellSize
yIdx = 0
# Move to the next iteration of the loop
continue
elif curX == endX and curY == endY:
break
rectIdx += 1
yIdx += 1
self.canvas.pack(fill = BOTH, expand = 1)
def mapper(self, height, width, cellSize, grid, robot, path ):
self.parent.title('Grid')
self.pack(fill = BOTH, expand = 1)
self.canvas.delete('all')
(startX,startY) = robot
(endX,endY) = goal
curX = startX
curY = startY
self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = 'dark green', width = 2)
for i in path:
(curX,curY)=i
self.canvas.create_rectangle(curX, curY, curX + cellSize, curY + cellSize, outline = '#0000FF', fill = '#777777', width = 2)
curX+=cellSize;curY+=cellSize
self.canvas.pack(fill = BOTH, expand = 1)
