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import time
# Constants
MAPWIDTH = 4
MAPHEIGHT = 5
STARTPOINT = [0, 2]
ENDPOINT = [1, 4]
checkpointList = [
STARTPOINT,
[0, 0],
[1, 4],
[3, 2],
[3, 4],
ENDPOINT
]
wallList = [ # Each of these walls' locations are based on their neighboring squares (Ex. wall #1 is between (2, 0) and (3, 0)
[[2, 0], [3, 0]],
[[1, 0], [1, 1]],
[[3, 0], [3, 1]],
[[0, 1], [0, 2]],
[[0, 2], [1, 2]],
[[2, 2], [3, 2]],
[[1, 3], [1, 4]],
[[3, 3], [3, 4]],
[[1, 4], [2, 4]]
]
courseMap = []
def populateCourse(course, width, height):
for x in range(width):
for y in range(height):
course.append([x, y])
def queryNeighbors(node):
# Right Down Left Up
directions = [[1, 0], [0, 1], [-1, 0], [0, -1]]
result = []
for dir in directions: # for x in range(4)
neighbor = [node[0] + dir[0], node[1] + dir[1]] # [nodeX + DirectionModifierX, nodeY + DirectionModifierY]
if neighbor in courseMap: # Makes sure the neighbor is within bounds
result.append(neighbor)
for x in range(len(wallList)):
if node in wallList[x] and neighbor in wallList[x]: # TBD: Optimize determining if wall is present
result.remove(neighbor)
return result
def getShortestPath(courseMap, startPos, endPos):
searchPaths = [[startPos]]
visitedCoordinates = [startPos]
while searchPaths != []:
currentPath = searchPaths.pop(0)
currentPos = currentPath[-1]
if currentPos == endPos:
return currentPath
for nextPos in queryNeighbors(currentPos):
if nextPos in visitedCoordinates:
continue
searchPaths.append(currentPath + [nextPos])
visitedCoordinates += nextPos
def move(direction):
# if direction = 'right':
# moving = True
# while moving:
# Motors.moving etc
# when motors.stop:
# moving = False
# if direction = 'left':
# moving = True
# while moving:
# Motors.moving etc
# when motors.stop:
# moving = False
# if direction = 'right':
# moving = True
# while moving:
# Motors.moving etc
# when motors.stop:
# moving = False
# if direction = 'up':
# moving = True
# while moving:
# Motors.moving etc
# when motors.stop:
# moving = False
return 0
def solveCourse(course, obstacles, checkpoints):
stepsLength = 0
for x in range(len(checkpoints) - 1):
shortestPath = getShortestPath(course, checkpoints[x], checkpoints[x + 1])
# if x != 0:
# del shortestPath[0]
for i in range(len(shortestPath) - 1):
diffX = shortestPath[i + 1][0] - shortestPath[i][0]
if diffX == 1:
move('right')
elif diffX == -1:
move('left')
diffY = shortestPath[i + 1][1] - shortestPath[i][1]
if diffY == 1:
move('down')
elif diffY == -1:
move('up')
stepsLength += 1
print(shortestPath)
print("Amount of steps: %d" % (stepsLength))
populateCourse(courseMap, MAPWIDTH, MAPHEIGHT)
startTime = time.time()
solveCourse(courseMap, wallList, checkpointList)
endTime = time.time()
executionTime = endTime - startTime
print("Execution Time: %.4f seconds" % executionTime)
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