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djikstra_DarshitMiteshkumar_Desai_faster algo.py
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# import the pygame module
import pygame as pyg
import numpy as np
#import queue module
from queue import PriorityQueue
import time
#Note: All obstacle dimensions are inflated to cover the point robot radius of 5 mm or 5 pixels. You will see the
#same in the visualisation
#Define the Surface Map
screen = pyg.Surface((600, 250))
#Define the rectangles which make the base map
rect_color = (255, 255, 255)
#Define the rectangle which makes the outer border
rectangle1 = pyg.Rect(5, 5, 590, 240)
screen.fill((255,0,0))
pyg.draw.rect(screen, rect_color, rectangle1)
#Define the rectangle which makes the 2 rectangles
pyg.draw.rect(screen, (255,0,0),pyg.Rect(95,145,60,105))
pyg.draw.rect(screen, (255,0,0),pyg.Rect(95,0,60,105))
#Define the hexagon in the center
hexagon_dim = [(300,44.22649731),(230.04809472,84.61324865),(230.04809472,165.38675135),(300,205.77350269),(369.95190528,165.38675135),(369.95190528,84.61324865)]
pyg.draw.polygon(screen,(255,0,0),hexagon_dim)
triangle_dim = [(455,246.18033989),(455.00,3.81966011),(515.59016994,125)]
pyg.draw.polygon(screen,(255,0,0),triangle_dim)
# Set the caption of the screen
pyg.display.set_caption('Djikstra')
# Variable to keep our game loop running
running = True
#Condition which asks the user for their inputs
while True:
start_x = int(input("Please enter the x coordinate of start:"))
start_y = int(input("Please enter the y coordinate of start:"))
goal_x = int(input("Please enter the x coordinate of goal:"))
goal_y = int(input("Please enter the y coordinate of goal:"))
start_y = 250-(start_y)
goal_y = 250-(goal_y)
if (screen.get_at((goal_x,goal_y))!=(255,0,0,255) and screen.get_at((start_x,start_y))!=(255,0,0,255) and (start_x<600 or start_x>0) and (start_y>0 or start_y<250)and(goal_x<600 or goal_x>0) and (goal_y>0 or goal_y<250)):
print("Valid coordinates received")
break
else:
print("Invalid coordinates try again")
#Djikstra Starts here
#Start time to measure time of run of algorithm
start_time = time.time()
#Definitions of initial conditions of Djikstra like start node goal node indices
start_node = (start_x,start_y)
goal_node = (goal_x,goal_y)
Node_i = 0
Parent_Node_i = -1
initial_c2c = 0
node_state=[initial_c2c, Node_i, Parent_Node_i, start_node]
index=None
Closed_list = {}
goalreached = 0
global_dict = {}
global_dict[start_node]=[initial_c2c, Node_i, Parent_Node_i, start_node]
Open_list = PriorityQueue()
Open_list.put(global_dict[start_node])
#Action set function which updates coordinates and actions
def gen_up(node,nc2c):
nnode = (node[0]+0,node[1]-1)
cost = nc2c+1
return nnode, cost
def gen_down(node,nc2c):
nnode = (node[0]+0,node[1]+1)
cost = nc2c+1
return nnode, cost
def gen_left(node,nc2c):
nnode = (node[0]-1,node[1]+0)
cost = nc2c+1
return nnode, cost
def gen_right(node,nc2c):
nnode = (node[0]+1,node[1]+0)
cost = nc2c+1
return nnode, cost
def gen_up_left(node, nc2c):
nnode = (node[0]-1,node[1]-1)
cost = nc2c + 1.4
return nnode, cost
def gen_up_right(node, nc2c):
nnode = (node[0]+1,node[1]-1)
cost = nc2c + 1.4
return nnode, cost
def gen_down_left(node, nc2c):
nnode = (node[0]-1,node[1]+1)
cost = nc2c + 1.4
return nnode, cost
def gen_down_right(node, nc2c):
nnode = (node[0]+1,node[1]+1)
cost = nc2c + 1.4
return nnode, cost
#Parent Node incremented to be ready for the next node
Parent_Node_i+=1
#Variable used for tracking goal node index
gni=None
Opendir = {}
Closedir ={}
Opendir[start_node]=None
#Main iterator starts
while (Open_list.empty()==False):
#Pop the first node of open list
nodegen = Open_list.get()
# print(nodegen)
nodecoord = nodegen[-1]
nodec2c = nodegen[0]
Closed_list[nodegen[1]]=[nodec2c,nodegen[2],nodecoord]
Closedir[nodecoord]=None
del Opendir[nodecoord]
# print("Latest generated node:",nodegen)
#Check whether we found the goal node or not
if(nodecoord==goal_node):
print("Woohoo we reached the goal")
goalreached=1
gni=nodegen[1]
gnc=nodecoord
break
#Assign the latest popped node index as parent node
Parent_Node_i=nodegen[1]
#Code which generates and checks the up action coordinates for validity to update in open list or modify the cost
new_node_up, new_node_cost_up = gen_up(nodecoord, nodec2c)
if (new_node_up==goal_node):
Node_i+=1
gni = Node_i
Closed_list[Node_i]=[new_node_cost_up,Parent_Node_i,new_node_up]
# print("Goal Reached after doing up operation")
goalreached=1
break
if (screen.get_at(new_node_up)!=(255, 0, 0, 255)):
if new_node_up not in Closedir: #Check if in closed list
if new_node_up not in Opendir: #Check if in open list
Node_i+=1
global_dict[new_node_up]=[new_node_cost_up, Node_i, Parent_Node_i, new_node_up]
# temp_state = [new_node_cost_up, Node_i, Parent_Node_i, new_node_up]
Open_list.put(global_dict[new_node_up])
Opendir[new_node_up]=None
else:
# index = next(i for i, (_, _, _, (x, y)) in enumerate(Open_list.queue) if (x, y) == new_node_up)
# if (round(new_node_cost_up,1)<round(Open_list.queue[index][0],1)): #if in open list update cost
# Open_list.queue[index][0]=new_node_cost_up
# Open_list.queue[index][2]=nodegen[2]
if round(global_dict[new_node_up][0],1)>round(new_node_cost_up,1):
global_dict[new_node_up][2]=nodegen[2]
global_dict[new_node_up][0]=new_node_cost_up
#Code which generates and checks the down action coordinates for validity to update in open list or modify the cost
new_node_down, new_node_cost_down = gen_down(nodecoord, nodec2c)
if (new_node_down==goal_node):
Node_i+=1
gni = Node_i
Closed_list[Node_i]=[new_node_cost_down,Parent_Node_i,new_node_down]
# print("Goal Reached after doing down operation")
goalreached=1
break
if (screen.get_at(new_node_down)!=(255, 0, 0, 255)):
if new_node_down not in Closedir:
if new_node_down not in Opendir:
Node_i+=1
# temp_state = [new_node_cost_down, Node_i, Parent_Node_i, new_node_down]
global_dict[new_node_down]=[new_node_cost_down, Node_i, Parent_Node_i, new_node_down]
Open_list.put(global_dict[new_node_down])
Opendir[new_node_down]=None
else:
# index = next(i for i, (_, _, _, (x, y)) in enumerate(Open_list.queue) if (x, y) == new_node_down)
# if (round(new_node_cost_down,1)<round(Open_list.queue[index][0],1)):
# Open_list.queue[index][0]=new_node_cost_down
# Open_list.queue[index][2]=nodegen[2]
if round(global_dict[new_node_down][0],1)>round(new_node_cost_down,1):
global_dict[new_node_down][2]=nodegen[2]
global_dict[new_node_down][0]=new_node_cost_down
#Code which generates and checks the left action coordinates for validity to update in open list or modify the cost
new_node_left, new_node_cost_left = gen_left(nodecoord, nodec2c)
if (new_node_left==goal_node):
Node_i+=1
gni = Node_i
Closed_list[Node_i]=[new_node_cost_left,Parent_Node_i,new_node_left]
# print("Goal Reached after doing left operation")
goalreached=1
break
if (screen.get_at(new_node_left)!=(255, 0, 0, 255)):
if new_node_left not in Closedir:
if new_node_left not in Opendir:
Node_i+=1
# temp_state = [new_node_cost_left, Node_i, Parent_Node_i, new_node_left]
global_dict[new_node_left]=[new_node_cost_left, Node_i, Parent_Node_i, new_node_left]
Open_list.put(global_dict[new_node_left])
Opendir[new_node_left]=None
else:
# index = next(i for i, (_, _, _, (x, y)) in enumerate(Open_list.queue) if (x, y) == new_node_left)
# if (round(new_node_cost_left,1)<round(Open_list.queue[index][0],1)):
# Open_list.queue[index][0]=new_node_cost_left
# Open_list.queue[index][2]=nodegen[2]
if round(global_dict[new_node_left][0],1)>round(new_node_cost_left,1):
global_dict[new_node_left][2]=nodegen[2]
global_dict[new_node_left][0]=new_node_cost_left
#Code which generates and checks the right action coordinates for validity to update in open list or modify the cost
new_node_right, new_node_cost_right = gen_right(nodecoord, nodec2c)
if (new_node_right==goal_node):
Node_i+=1
gni = Node_i
Closed_list[Node_i]=[new_node_cost_right,Parent_Node_i,new_node_right]
# print("Goal Reached after doing right operation")
goalreached=1
break
if (screen.get_at(new_node_right)!=(255, 0, 0, 255)):
if new_node_right not in Closedir:
if new_node_right not in Opendir:
Node_i+=1
# temp_state = [new_node_cost_right, Node_i, Parent_Node_i, new_node_right]
global_dict[new_node_right]=[new_node_cost_right, Node_i, Parent_Node_i, new_node_right]
Open_list.put(global_dict[new_node_right])
Opendir[new_node_right]=None
else:
# index = next(i for i, (_, _, _, (x, y)) in enumerate(Open_list.queue) if (x, y) == new_node_right)
# if (round(new_node_cost_right,1)<round(Open_list.queue[index][0],1)):
# Open_list.queue[index][0]=new_node_cost_right
# Open_list.queue[index][2]=nodegen[2]
if round(global_dict[new_node_right][0],1)>round(new_node_cost_right,1):
global_dict[new_node_right][2]=nodegen[2]
global_dict[new_node_right][0]=new_node_cost_right
#Code which generates and checks the up left action coordinates for validity to update in open list or modify the cost
new_node_up_left, new_node_cost_up_left = gen_up_left(nodecoord, nodec2c)
if (new_node_up_left==goal_node):
Node_i+=1
gni = Node_i
Closed_list[Node_i]=[new_node_cost_up_left,Parent_Node_i,new_node_up_left]
# print("Goal Reached after doing up left operation")
goalreached=1
break
if (screen.get_at(new_node_up_left)!=(255, 0, 0, 255)):
if new_node_up_left not in Closedir:
if new_node_up_left not in Opendir:
Node_i+=1
# temp_state = [new_node_cost_up_left, Node_i, Parent_Node_i, new_node_up_left]
global_dict[new_node_up_left]=[new_node_cost_up_left, Node_i, Parent_Node_i, new_node_up_left]
Open_list.put(global_dict[new_node_up_left])
Opendir[new_node_up_left] =None
else:
# index = next(i for i, (_, _, _, (x, y)) in enumerate(Open_list.queue) if (x, y) == new_node_up_left)
# if (round(new_node_cost_up_left,1)<round(Open_list.queue[index][0],1)):
# Open_list.queue[index][0]=new_node_cost_up_left
# Open_list.queue[index][2]=nodegen[2]
if round(global_dict[new_node_up_left][0],1)>round(new_node_cost_up_left,1):
global_dict[new_node_up_left][2]=nodegen[2]
global_dict[new_node_up_left][0]=new_node_cost_up_left
#Code which generates and checks the up right action coordinates for validity to update in open list or modify the cost
new_node_up_right, new_node_cost_up_right = gen_up_right(nodecoord, nodec2c)
if (new_node_up_right==goal_node):
Node_i+=1
gni = Node_i
Closed_list[Node_i]=[new_node_cost_up_right,Parent_Node_i,new_node_up_right]
# print("Goal Reached after doing up right operation")
goalreached=1
break
if (screen.get_at(new_node_up_right)!=(255, 0, 0, 255)):
if new_node_up_right not in Closedir:
if new_node_up_right not in Opendir:
Node_i+=1
# temp_state = [new_node_cost_up_right, Node_i, Parent_Node_i, new_node_up_right]
global_dict[new_node_up_right]=[new_node_cost_up_right, Node_i, Parent_Node_i, new_node_up_right]
Open_list.put(global_dict[new_node_up_right])
Opendir[new_node_up_right] =None
else:
# index = next(i for i, (_, _, _, (x, y)) in enumerate(Open_list.queue) if (x, y) == new_node_up_right)
# if (round(new_node_cost_up_right,1)<round(Open_list.queue[index][0],1)):
# Open_list.queue[index][0]=new_node_cost_up_right
# Open_list.queue[index][2]=nodegen[2]
if round(global_dict[new_node_up_right][0],1)>round(new_node_cost_up_right,1):
global_dict[new_node_up_right][2]=nodegen[2]
global_dict[new_node_up_right][0]=new_node_cost_up_right
#Code which generates and checks the down left action coordinates for validity to update in open list or modify the cost
new_node_down_left, new_node_cost_down_left = gen_down_left(nodecoord, nodec2c)
if (new_node_down_left==goal_node):
Node_i+=1
gni = Node_i
Closed_list[Node_i]=[new_node_cost_down_left,Parent_Node_i,new_node_down_left]
# print("Goal Reached after doing down left operation")
goalreached=1
break
if (screen.get_at(new_node_down_left)!=(255, 0, 0, 255)):
if new_node_down_left not in Closedir:
if new_node_down_left not in Opendir:
Node_i+=1
global_dict[new_node_down_left]=[new_node_cost_down_left, Node_i, Parent_Node_i, new_node_down_left]
Open_list.put(global_dict[new_node_down_left])
Opendir[new_node_down_left] =None
else:
# index = next(i for i, (_, _, _, (x, y)) in enumerate(Open_list.queue) if (x, y) == new_node_down_left)
# if (round(new_node_cost_down_left,1)<round(Open_list.queue[index][0],1)):
# Open_list.queue[index][0]=new_node_cost_down_left
# Open_list.queue[index][2]=nodegen[2]
if round(global_dict[new_node_down_left][0],1)>round(new_node_cost_down_left,1):
global_dict[new_node_down_left][2]=nodegen[2]
global_dict[new_node_down_left][0]=new_node_cost_down_left
#Code which generates and checks the down right action coordinates for validity to update in open list or modify the cost
new_node_down_right, new_node_cost_down_right = gen_down_right(nodecoord, nodec2c)
if (new_node_down_right==goal_node):
Node_i+=1
gni = Node_i
Closed_list[Node_i]=[new_node_cost_down_right,Parent_Node_i,new_node_down_right]
# print("Goal Reached after doing down right operation")
goalreached=1
break
if (screen.get_at(new_node_down_right)!=(255, 0, 0, 255)):
if new_node_down_right not in Closedir:
if new_node_down_right not in Opendir:
Node_i+=1
global_dict[new_node_down_right]=[new_node_cost_down_right, Node_i, Parent_Node_i, new_node_down_right]
Open_list.put(global_dict[new_node_down_right])
Opendir[new_node_down_right] =None
else:
# index = next(i for i, (_, _, _, (x, y)) in enumerate(Open_list.queue) if (x, y) == new_node_down_right)
# if (round(new_node_cost_down_right,1)<round(Open_list.queue[index][0],1)):
# Open_list.queue[index][0]=new_node_cost_down_right
# Open_list.queue[index][2]=nodegen[2]
if round(global_dict[new_node_down_right][0],1)>round(new_node_cost_down_right,1):
global_dict[new_node_down_right][2]=nodegen[2]
global_dict[new_node_down_right][0]=new_node_cost_down_right
#Path Backtracking
path=[]
if (goalreached!=0):
while gni!=-1:
path.append(Closed_list[gni][-1])
gni=Closed_list[gni][1]
else:
print("Goal not reached")
path.reverse()
# print(path)
end_time = time.time() #Algorithm end time
total_time = end_time - start_time
print(f"Total runtime: {total_time:.2f} seconds") #Final runtime
#Overlay the final canvas and display the pygame simulation
s1 = pyg.display.set_mode((600, 250))
# Blit the surface onto the Pygame window
s1.blit(screen, (0, 0))
# Update the display
pyg.display.update()
for valu in Closed_list.values():
s1.set_at(valu[-1],(255,0,255))
pyg.display.update()
if goalreached != 0:
for co in path:
s1.set_at(co,(0,0,0))
pyg.time.wait(50)
pyg.display.update()
pyg.time.wait(1000)
while running:
# for loop through the event queue
for event in pyg.event.get():
# Check for QUIT event
if event.type == pyg.QUIT:
running = False