main.py

import pygame
import env
import sensor

environment = env.buildEnvironment((600, 1200))
environment.originalMap = environment.map.copy()
laser = sensor.LaserSensor(200, environment.originalMap, uncertainty=(0.5, 0, 0.1))
environment.map.fill((0, 0, 0))
environment.infomap = environment.map.copy()
running = True

while running:
    sensorOn = False
    for event in pygame.event.get():
        if event.type == pygame.QUIT:
            running = False
        if pygame.mouse.get_focused():
            sensorOn = True
        elif not pygame.mouse.get_focused():
            sensorOn = False
    if sensorOn:
        position = pygame.mouse.get_pos()
        laser.position = position
        sensor_data = laser.senseObstacles()
        environment.dataStorage(sensor_data)
        environment.showSensorData()
    environment.map.blit(environment.infomap, (0, 0))
    pygame.display.update()