main.py

import argparse
import random

from grid import Grid
from rover import Rover
from visualizer import animate


def parse_args():
    parser = argparse.ArgumentParser(description="Autonomous Rover Navigator")
    parser.add_argument("--width",         type=int,   default=20)
    parser.add_argument("--height",        type=int,   default=20)
    parser.add_argument("--obstacles",     type=float, default=0.25)
    parser.add_argument("--seed",          type=int,   default=None)
    parser.add_argument("--sensor-radius", type=int,   default=4)
    parser.add_argument("--interval",      type=int,   default=120)
    return parser.parse_args()


def main():
    args = parse_args()
    if args.seed is not None:
        random.seed(args.seed)

    grid = Grid(args.width, args.height, args.obstacles)
    start = (0, 0)
    goal = (args.width - 1, args.height - 1)

    print(f"Grid: {args.width}x{args.height}  Obstacles: {args.obstacles*100:.0f}%  Sensor radius: {args.sensor_radius}")

    rover = Rover(grid, start, goal, sensor_radius=args.sensor_radius)
    result = rover.run()

    messages = {
        'success':     f"Goal reached! Steps: {len(rover.history)}  Replans: {rover.replans}",
        'unreachable': "Goal is unreachable on this map. Try a different --seed.",
        'stuck':       f"Rover got stuck. Steps: {len(rover.history)}  Replans: {rover.replans}",
    }
    print(messages[result])

    animate(grid, rover, interval=args.interval)


if __name__ == "__main__":
    main()