pathfinder.py

import pygame
import my_speech
from pygame import *
import pygame.display
import pygame.draw
import pygame.event
import math
from queue import PriorityQueue
from queue import Queue
from collections import deque

##For speech recognition
import speech_recognition as sr
import webbrowser
from time import ctime
import time
import os
import random
from gtts import gTTS
import playsound

WIDTH = 800
WIN = pygame.display.set_mode((WIDTH,WIDTH))
pygame.display.set_caption("Pathfinding algorithm")

RED =(255,0,0)
GREEN = (0,255,0)
BLUE = (0,255,0)
YELLOW = (255,255,0)
WHITE = (255,255,255)
BLACK = (0,0,0)
PURPLE = (128,0,128)
ORANGE = (255,165,0)
GREY = (128,128,128)
TURQUOISE = (64,224,208)

class Node:
    def __init__(self,row,col,width,total_rows):
        self.row=row
        self.col=col
        self.x=row*width
        self.y=col*width
        self.color=WHITE
        self.neighbors=[]
        self.width=width
        self.total_rows=total_rows

    #LOCATION BY ROW AND COLUMN
    def get_pos(self):
        return self.row,self.col

    def is_closed(self):
        return self.color==RED 

    def is_open(self):
        return self.color==GREEN 

    def is_barrier(self):
        return self.color==BLACK 

    def is_start(self):
        return self.color==ORANGE

    def is_end(self):
        return self.color==TURQUOISE 

    def reset(self):
        self.color=WHITE

    def make_close(self):
        self.color=RED

    def make_open(self):
        self.color=GREEN 

    def make_barrier(self):
        self.color=BLACK 

    def make_start(self):
        self.color=ORANGE

    def make_end(self):
        self.color=TURQUOISE  

    def make_path(self):
        self.color=PURPLE

    def draw(self,win):
        pygame.draw.rect(win,self.color,(self.x,self.y,self.width,self.width))

    def update_neighbors(self,grid):
        self.neighbors=[]
        #down
        if self.row<self.total_rows-1 and not grid[self.row+1][self.col].is_barrier():
            self.neighbors.append(grid[self.row+1][self.col])
        #up
        if self.row > 0 and not grid[self.row-1][self.col].is_barrier():
            self.neighbors.append(grid[self.row-1][self.col])
        #left    
        if self.col > 0 and not grid[self.row][self.col-1].is_barrier():
            self.neighbors.append(grid[self.row][self.col-1])
        #right
        if self.col < self.total_rows-1 and not grid[self.row][self.col+1].is_barrier():
            self.neighbors.append(grid[self.row][self.col+1])

    def __lt__(self,other):
        return False

#Expect p1,p2, be like (x,y)
#This is a heuristic function
def h(p1,p2):
    x1,y1=p1
    x2,y2=p2
    return abs(x1 - x2)+ abs(y1 - y2)

def reconstruct_path(came_from,current,draw):
    while current in came_from:
        current=came_from[current]
        current.make_path()
        draw()

def a_star(draw,grid,start,end):
    count=0
    open_set = PriorityQueue()
    open_set.put((0,count,start))
    came_from = {}
    g_score={spot:float("inf") for row in grid for spot in row}
    g_score[start]=0
    f_score = {spot: float("inf") for row in grid for spot in row}
    f_score[start] = h(start.get_pos(),end.get_pos())
    open_set_hash = {start}

    while not open_set.empty():
        for event in pygame.event.get():
            if event.type==pygame.QUIT:
                pygame.quit()

        current = open_set.get()[2]
        open_set_hash.remove(current)

        if current==end:
            reconstruct_path(came_from,end,draw)
            start.make_start()
            end.make_end()
            return True #make_path

        for neighbor in current.neighbors:
            temp_g_score=g_score[current]+1

            if temp_g_score<g_score[neighbor]:
                came_from[neighbor]=current
                g_score[neighbor]=temp_g_score
                f_score[neighbor]=temp_g_score+h(neighbor.get_pos(),end.get_pos())
                if neighbor not in open_set_hash:
                    open_set.put((f_score[neighbor],count,neighbor)) 
                    open_set_hash.add(neighbor)
                    neighbor.make_open()   

        draw()

        if current!=start:
            current.make_close()            

def bfs(draw,grid,start,end):
    q = Queue()
    q.put((0,start,"#"))
    check={}
    came_from={}
    while not q.empty():
        vals=q.get()
        cur = vals[1]
        prev = vals[2]
        dist = vals[0]
        if check.get(cur,False):
            continue
        
        check[cur]=True
        if cur!=start:
            came_from[cur]=prev
        
        if cur==end:
            reconstruct_path(came_from,end,draw)
            start.make_start()
            end.make_end()
            return True

        for neighbor in cur.neighbors:
            if check.get(neighbor,False):
                continue
            q.put((dist+1,neighbor,cur))
            neighbor.make_close()

        draw()    

def dfs(draw,grid,start,end):
    stack=deque([])
    stack.append((0,start,"#"))
    check={}
    came_from={}
    while len(stack)>0:
        vals=stack[-1]
        cur = vals[1]
        prev = vals[2]
        dist = vals[0]
        
        check[cur]=True
        if cur!=start:
            came_from[cur]=prev
        
        if cur==end:
            reconstruct_path(came_from,end,draw)
            start.make_start()
            end.make_end()
            return True

        
        pushed=False 
        for neighbor in cur.neighbors:
            if check.get(neighbor,False):
                continue
            stack.append((dist+1,neighbor,cur))
            neighbor.make_close()
            pushed=True
            break

        if pushed==False:
            stack.pop()
        
        draw()   

    return False     

def make_grid(rows,width):
    grid = []
    gap =width//rows
    for i in range(rows):
        grid.append([])
        for j in range(rows):
            spot=Node(i,j,gap,rows)
            grid[i].append(spot)
    return grid        

def draw_grid_lines(win,rows,width):
    gap=width//rows
    for i in range(rows):
        pygame.draw.line(win,GREY,(0,i*gap),(width,i*gap)) 
        pygame.draw.line(win,GREY,(i*gap,0),(i*gap,width))   

def draw(win,grid,rows,width):
    win.fill(WHITE)

    for row in grid:
        for spot in row:
            spot.draw(win)

    draw_grid_lines(win,rows,width)
    pygame.display.update()        


def get_clicked_pos(pos,rows,width):
    gap = width//rows
    x,y=pos
    
    row = x//gap
    col = y//gap
   
    return row,col

#************************Some stuff I need to take care**********

def get_coor(grid,question,cat):
    temp='$'
    vals=[]
    while temp=='$' :
        temp=my_speech.record_audio(question)
        vals=temp.split(' ')
        print(vals)
        if len(vals)>=3:
            print(vals[0].isnumeric())
            print(vals[2].isnumeric())
        if len(vals)>=3 and vals[0].isnumeric() and vals[2].isnumeric():
            vals[0]=int(vals[0])
            vals[2]=int(vals[2])
            if vals[0]>=len(grid) or vals[2]>=len(grid[0]):
                my_speech.speak('Invalid coordinates, please try again') 
                temp='$'
        else:
            if temp!='$':
                my_speech.speak("Sorry didn't get that")
                temp='$'

    my_speech.speak(f"Ok marking the {cat} coordinates as ({vals[0]},{vals[2]})")
    return grid[vals[0]][vals[2]]


def dummy():
    my_speech.record_audio()
    print()
    print()
    time.sleep(1)


#****************************************************************

def main(win,width):
    ROWS = 50
    grid=make_grid(ROWS,width)

    start=None
    end=None

    done=False
    run=True
    draw(win, grid, ROWS, width)
    
    #**********************************************************
    #Dummy is just useless
    # dummy() 
    
    # opt='$'
    # print("*****************************************")
    # print("We have two options:")
    # print("Option 1: Enable voice recognition mode")
    # print("Option 2: Mark the coordinates manually") 

    # while opt=='$':
    #     opt=input("Select an option")

    # print(f"option is {opt}")
    # if '1' in opt or 'one' in opt:
    #     my_speech.speak("Ok enabling voice recognition mode")
    # else:
    #     my_speech.speak("Ok enabling manual mode")

    #***********************************************************

    while run:
        draw(win,grid,ROWS,width)
        # if not start and ('1' in opt or 'one' in opt):
        #     opt='$'
        #     start=get_coor(grid,'Enter the start coordinates','start')
        #     start.make_start()
        #     continue
        # if not end and '1' in opt:
        #     opt='$'
        #     end = get_coor(grid, 'Enter the end coordinates','end')
        #     end.make_end()
            

        for event in pygame.event.get():
            if event.type==pygame.QUIT:
                run=False
            if pygame.mouse.get_pressed()[0] and not done:#Left
                pos=pygame.mouse.get_pos()
                row,col=get_clicked_pos(pos,ROWS,width)
                spot=grid[row][col]
                #print(spot.get_pos())
                if not start and spot!=end:
                    start=spot
                    start.make_start()
                elif not end and spot!=start:
                    end=spot
                    end.make_end()

                elif spot!=end and spot!=start:
                    spot.make_barrier()        

            elif pygame.mouse.get_pressed()[2]:#Right
                pos=pygame.mouse.get_pos()
                row,col=get_clicked_pos(pos,ROWS,width)
                spot=grid[row][col]
                spot.reset()
                if spot==start:
                    start=None
                if spot==end:
                    end=None    

            if event.type==pygame.KEYDOWN:
                if event.key == pygame.K_SPACE and start and end:
                    for row in grid:
                        for spot in row:
                            spot.update_neighbors(grid)

                    print("Select a pathfinding algorithm: ")
                    print("Option1: dfs")
                    print("Option2: bfs")
                    print("Option3: A*")
                    opt=input()

                    if opt=='1':
                        dfs(lambda: draw(win,grid,ROWS,width),grid,start,end)
                    elif opt=='2':
                        bfs(lambda: draw(win,grid,ROWS,width),grid,start,end)       
                    else:
                        a_star(lambda: draw(win, grid, ROWS, width), grid, start, end)
                    done=True     

                if event.key == pygame.K_c:
                    done= False
                    start = None
                    end= None
                    grid=make_grid(ROWS,width)

                if event.key == pygame.K_b:
                    done = False
                    for row in grid:
                        for spot in row:
                            spot.neighbors=[]
                            if not spot.is_barrier() and spot!=start and spot!=end:
                                spot.reset()
                                
            
    pygame.quit() 

main(WIN,WIDTH)