hacky GUI

kapal/algo.py

@@ -1,6 +1,7 @@
 import heapq
 from state import *
 from world import *
+import sys
 
 class Algo:
     def __init__(self, world, start, goal):
@@ -55,7 +56,7 @@ def plan_gen(self):
                 if n.g > s.g + cost:
                     # s improves n
                     n.g = s.g + cost
-                    n.h = self.h(n, self.goal)
+                    n.h = self.h(n, goal)
                     n.bp = s
                     heapq.heappush(self.open, n)
             yield s

kapal/state.py

@@ -1,3 +1,5 @@
+import kapal
+
 class State:
     pass
 
@@ -9,15 +11,14 @@ def __str__(self):
         return "(" + str(self.y) + ", " + str(self.x) + ")"
 
 class State2dAStar(State2d):
-    inf = 1e100 # = float('inf')
-    def __init__(self, y=0, x=0, g=inf, h=0, bp=None):
+    def __init__(self, y=0, x=0, g=kapal.inf, h=0, bp=None):
         State2d.__init__(self, y, x)
         self.g = g
         self.h = h
         self.bp = bp
 
     def reset(self):
-        self.g = State2dAStar.inf
+        self.g = kapal.inf
 
     def __cmp__(self, other):
         # TODO: allow any key function?

kapal/world.py

@@ -1,5 +1,4 @@
 from state import *
-import math
 
 class World:
     """
@@ -67,9 +66,12 @@ def c(self, s1, s2):
         return costs[s2.y][s2.x]
 
     def h(self, s1, s2):
-        dy = abs(s2.y - s1.y)
-        dx = abs(s2.x - s1.x)
-        return math.sqrt(dx**2 + dy**2)
+        if self.diags:
+            dy = abs(s2.y - s1.y)
+            dx = abs(s2.x - s1.x)
+            return math.sqrt(dx**2 + dy**2)
+        else:
+            return abs(s2.y-s1.y) + abs(s2.x-s1.x)
 
     def change_c(self, s1, s2, c):
         if not self.in_bounds(s2.y, s2.x):

seaship/seaship.pyw

@@ -0,0 +1,71 @@
+import sys
+import PyQt4
+from PyQt4 import QtGui, QtCore
+from PyQt4.QtGui import *
+from PyQt4.QtCore import *
+import kapal
+import kapal.algo
+import kapal.state
+import kapal.world
+import kapal.tools
+import copy
+
+class SeashipMainWindow(QMainWindow):
+    def __init__(self, parent=None):
+        QtGui.QMainWindow.__init__(self, parent)
+
+        self.setGeometry(100, 100, 400, 400)
+        self.setWindowTitle('Seaship')
+        self.painter = QtGui.QPainter()
+
+        # A* test
+        width = 10
+        self.c = kapal.tools.rand_cost_map(width, width, 1, kapal.inf,
+                flip=True, flip_chance=.0)
+        self.c2 = copy.deepcopy(self.c)
+        w = kapal.world.World2d(self.c, state_type = kapal.state.State2dAStar)
+
+        start_y = 2
+        start_x = 2
+        goal_y = 8
+        goal_x = 4
+        astar = kapal.algo.AStar(w, w.state(start_y,start_x),
+                w.state(goal_y, goal_x))
+        num_popped = 0
+        for s in astar.plan_gen():
+            self.c2[s.y][s.x] = -1
+            num_popped += 1
+        print num_popped
+        for s in astar.path():
+            self.c2[s.y][s.x] = -2
+
+    def paintEvent(self, event):
+        self.draw_world2d(self.painter, self.c2)
+
+    def draw_world2d(self, painter, world,
+            x_start=0, y_start=0, x_goal=0, y_goal=0):
+        for r in range(len(world)):
+            for c in range(len(world[r])):
+                color = (0, 80, 255, 255)       # blue
+                if world[r][c] == -1:
+                    color = (255, 0, 0, 255)    # red
+                elif world[r][c] == -2:
+                    color = (0, 255, 0, 255)    # green
+                elif world[r][c] == kapal.inf:
+                    color = (0, 0, 128, 255)       # blue
+                self.draw_square(painter, c, r, color=color)
+
+    def draw_square(self, painter, x=0, y=0, color=(0, 0, 0, 0), size=32, brush=None):
+        painter.begin(self)
+        if brush is None:
+            brush = QtGui.QBrush(QtCore.Qt.SolidPattern)
+            r, g, b, a = color
+            brush.setColor(QtGui.QColor(r, g, b, a))
+        painter.setBrush(brush)
+        painter.drawRect(x*size, y*size, size, size)
+        painter.end()
+
+app = QtGui.QApplication(sys.argv)
+seawin = SeashipMainWindow()
+seawin.show()
+app.exec_()

tests/astar.py

@@ -5,7 +5,7 @@
 from kapal.state import *
 import kapal.tools
 import time
-import matplotlib.pyplot as plt
+#import matplotlib.pyplot as plt
 
 def main():
     """
@@ -23,7 +23,7 @@ def main():
     while width < max_width:
         print width
 
-        c = tools.rand_cost_map(width, width, 1, 3, flip=True)
+        c = kapal.tools.rand_cost_map(width, width, 1, 3, flip=True)
         w = World2d(c, state_type = State2dAStar)
 
         astar = AStar(w, w.state(0,0), w.state(width-1, width-1))
@@ -38,8 +38,8 @@ def main():
         width += 50
     print x_axis
     print y_axis
-    plt.plot(x_axis, y_axis)
-    plt.ylabel('time (s)')
-    plt.xlabel('world size (width and height)')
-    plt.show()
+    #plt.plot(x_axis, y_axis)
+    #plt.ylabel('time (s)')
+    #plt.xlabel('world size (width and height)')
+    #plt.show()
 main()