Stats

levels/level0.json

@@ -1,14 +1 @@
-{
-  "nodes": {
-    "1": {
-      "y": 0.5,
-      "x": 0.25,
-      "type": "root"
-    },
-    "2": {
-      "y": 0.5,
-      "x": 0.75,
-      "type": "goal"
-    }
-  }
-}
+{"obstacles": {"3": {"width": 0.50625, "y": 0.7418181818181818, "x": -0.005, "height": 0.045454545454545456}, "0": {"width": 0.4175, "y": 0.48, "x": 0.375, "height": 0.15272727272727274}, "4": {"width": 0.235, "y": 0.2309090909090909, "x": 0.04, "height": 0.3018181818181818}, "1": {"width": 0.0275, "y": 0.09818181818181818, "x": 0.725, "height": 0.29818181818181816}, "2": {"width": 0.0625, "y": 0.6781818181818182, "x": 0.83375, "height": 0.27090909090909093}}, "nodes": {"1": {"type": "root", "y": 0.9618517010841457, "x": 0.9302955500129387}, "2": {"type": "goal", "y": 0.03881026832698498, "x": 0.5987673939370376}}}

levels/level5.json

@@ -0,0 +1 @@
+{"obstacles": {"22": {"height": 0.18181818181818182, "y": 0.3927272727272727, "x": 0.20375, "width": 0.04125}, "25": {"height": 0.04, "y": 0.45636363636363636, "x": 0.3175, "width": 0.09125}, "9": {"height": 0.06545454545454546, "y": 0.8345454545454546, "x": 0.605, "width": 0.03375}, "24": {"height": 0.03636363636363636, "y": 0.5436363636363636, "x": 0.3, "width": 0.11}, "2": {"height": 0.04727272727272727, "y": 0.7818181818181819, "x": 0.31375, "width": 0.07125}, "16": {"height": 0.05454545454545454, "y": 0.7981818181818182, "x": 0.64875, "width": 0.05125}, "14": {"height": 0.04, "y": 0.8454545454545455, "x": 0.68875, "width": 0.0275}, "31": {"height": 0.04, "y": 0.48, "x": 0.5375, "width": 0.0925}, "5": {"height": 0.11454545454545455, "y": 0.8127272727272727, "x": 0.49, "width": 0.045}, "18": {"height": 0.056363636363636366, "y": 0.9181818181818182, "x": 0.815, "width": 0.0875}, "27": {"height": 0.15818181818181817, "y": 0.3890909090909091, "x": 0.45625, "width": 0.02625}, "30": {"height": 0.15454545454545454, "y": 0.4290909090909091, "x": 0.5225, "width": 0.03125}, "7": {"height": 0.04181818181818182, "y": 0.9163636363636364, "x": 0.5775, "width": 0.0325}, "17": {"height": 0.14181818181818182, "y": 0.8090909090909091, "x": 0.80125, "width": 0.0275}, "6": {"height": 0.05818181818181818, "y": 0.92, "x": 0.4175, "width": 0.1225}, "33": {"height": 0.04, "y": 0.5363636363636364, "x": 0.66875, "width": 0.10125}, "4": {"height": 0.04909090909090909, "y": 0.7872727272727272, "x": 0.42375, "width": 0.11125}, "28": {"height": 0.04727272727272727, "y": 0.3781818181818182, "x": 0.52625, "width": 0.08375}, "32": {"height": 0.19090909090909092, "y": 0.38545454545454544, "x": 0.6625, "width": 0.03625}, "13": {"height": 0.04, "y": 0.8709090909090909, "x": 0.7, "width": 0.02875}, "37": {"height": 0.19272727272727272, "y": 0.38, "x": 0.89625, "width": 0.03}, "29": {"height": 0.1, "y": 0.3890909090909091, "x": 0.60375, "width": 0.03625}, "19": {"height": 0.04727272727272727, "y": 0.8290909090909091, "x": 0.8075, "width": 0.09375}, "11": {"height": 0.04, "y": 0.9218181818181819, "x": 0.71, "width": 0.03625}, "39": {"height": 0.04363636363636364, "y": 0.33454545454545453, "x": 0.8075, "width": 0.1375}, "23": {"height": 0.17636363636363636, "y": 0.39636363636363636, "x": 0.3025, "width": 0.03125}, "3": {"height": 0.14545454545454545, "y": 0.7854545454545454, "x": 0.41375, "width": 0.035}, "8": {"height": 0.03636363636363636, "y": 0.889090909090909, "x": 0.595, "width": 0.03625}, "26": {"height": 0.04, "y": 0.5454545454545454, "x": 0.43375, "width": 0.07875}, "12": {"height": 0.04181818181818182, "y": 0.8963636363636364, "x": 0.7075, "width": 0.03125}, "0": {"height": 0.18, "y": 0.7709090909090909, "x": 0.2025, "width": 0.03375}, "20": {"height": 0.08181818181818182, "y": 0.7490909090909091, "x": 0.8, "width": 0.03}, "34": {"height": 0.1618181818181818, "y": 0.3890909090909091, "x": 0.74625, "width": 0.03125}, "10": {"height": 0.04909090909090909, "y": 0.8, "x": 0.6325, "width": 0.0275}, "36": {"height": 0.2018181818181818, "y": 0.37636363636363634, "x": 0.81125, "width": 0.035}, "21": {"height": 0.056363636363636366, "y": 0.72, "x": 0.80625, "width": 0.1}, "38": {"height": 0.045454545454545456, "y": 0.5363636363636364, "x": 0.80375, "width": 0.135}, "1": {"height": 0.16, "y": 0.7836363636363637, "x": 0.28375, "width": 0.03}, "40": {"height": 0.04, "y": 0.4309090909090909, "x": 0.79875, "width": 0.14875}, "15": {"height": 0.05090909090909091, "y": 0.8163636363636364, "x": 0.675, "width": 0.0425}, "35": {"height": 0.05272727272727273, "y": 0.38181818181818183, "x": 0.66875, "width": 0.0975}}, "nodes": {"1": {"y": 0.040133394017625945, "x": 0.6433954861617589, "type": "root"}, "2": {"y": 0.9167312382997375, "x": 0.34488187650465124, "type": "goal"}}}

main.py

@@ -2,6 +2,7 @@
 __author__ = 'Murray Tannock'
 import sys
 import random
+import time
 from itertools import cycle
 
 import pyglet
@@ -17,13 +18,18 @@
 import rrtstarinformed
 import shared
 import jsonify
+import json
+import glob
+
 
 
 methods = [rrt.step, rrtstar.step, rrtstarconstricted.step, rrtstarinformed.step]
 meth_cycle = cycle(methods)
 
 fps_display = pyglet.clock.ClockDisplay()
-
+autoMode = False
+outputFile = ""
+inputMap = ""
 
 def method_cycle():
     """
@@ -33,6 +39,22 @@ def method_cycle():
     return next(meth_cycle)
 
 
+class Timer:
+    fstStop = 0
+    def run(self):
+        shared.method()
+    def goal(self, nodeCount):
+        if self.fstStop == 0:
+            self.fstStop = nodeCount
+    def stop(self):
+        if(outputFile != ""):
+            with open(outputFile, 'w+') as f:
+                f.write(json.dumps({'algo':shared.method.__name__, 'map':inputMap, 'time':shared.node_count, 'cost':shared.root_path_length, 'firstFind':self.fstStop }))
+        exit()
+
+
+timer = Timer()
+
 # noinspection PyUnusedLocal
 def update(dt):
     """
@@ -43,10 +65,13 @@ def update(dt):
     path_cost = None
     if shared.running:
         if shared.node_count < shared.max_nodes:
-            shared.method()
+            timer.run()
+
     gl.glClear(gl.GL_COLOR_BUFFER_BIT)
     gl.glLoadIdentity()
     if shared.root_path_length != sys.maxsize:
+        shared.running = autoMode
+        timer.goal(shared.node_count)
         path_cost = pyglet.text.Label("Path Cost: %6.2f" % shared.root_path_length,
                                       font_size=18,
                                       x=shared.window_width // 3, y=24,
@@ -82,6 +107,7 @@ def update(dt):
                                           0.5, 0.25, 0.0, 0.5,
                                           0.5, 0.25, 0.0, 0.5,
                                           0.5, 0.25, 0.0, 0.5)))
+            timer.stop()
         else:
             pyglet.graphics.draw(4, gl.GL_QUADS,
                                  ('v2f', (shared.window_width // 5 - 20, 24 - 10,
@@ -156,6 +182,7 @@ def setup(is_set=(False, False)):
     shared.goal = goal
     shared.root_path = []
     shared.root_path_length = sys.maxsize
+    shared.running = autoMode
 
 
 def main(set_nodes):
@@ -168,6 +195,9 @@ def main(set_nodes):
     window.set_fullscreen(shared.fullscreen, shared.screen)
     window.set_location(shared.screen.x, shared.screen.height - shared.default_screen.height)
     window.set_caption("Rapidly-exploring Random Trees - RRT - Stopped")
+
+    for filename in glob.iglob('data/*.json'):
+        json.parse(open(filename))
 
     # noinspection PyUnusedLocal
     @window.event
@@ -271,10 +301,19 @@ def on_mouse_release(x, y, button, modifiers):
                         help="use this file to set the environment up")
     parser.add_argument("-f", "--fullscreen",
                         help="run fullscreen on last screen available", action="store_true")
+    parser.add_argument("-o", "--output",
+                        help="the name of the output file, for the test data")
+    parser.add_argument("-a", "--algorithm", type=int,
+                        help="0=rrt, 1=rrtstar, 2=rrtstarconstricted, 3=rrtstarinformed") 
     args = parser.parse_args()
+    print(args) 
+
     shared.continual = args.screensaver
+    autoMode = True
     if shared.continual:
         shared.base_max = sys.maxsize
+    else:
+        shared.base_max = 2000
     shared.fullscreen = args.fullscreen
     if shared.fullscreen:
         shared.window_width, shared.window_height = shared.screen_width, shared.screen_height
@@ -284,4 +323,11 @@ def on_mouse_release(x, y, button, modifiers):
         shared.y_range = shared.y_domain[1] - shared.y_domain[0]
     if args.infile:
         nodes_set = jsonify.parse_infile(args.infile)
+        inputMap = args.infile
+    if args.algorithm:
+        shared.method = methods[int(args.algorithm)]
+
+    if args.output:
+        outputFile = args.output
+
     main(nodes_set)