Update app.py

app.py

@@ -2,6 +2,7 @@ import gradio as gr
 import matplotlib.pyplot as plt
 import numpy as np
 import random
+import os
 
 # Robot and environment variables
 pose = [250, 250, 0]
@@ -19,6 +20,12 @@ def generate_obstacles(num_obstacles=5):
         h = random.randint(20, 50)
         obstacles.append((x, y, w, h))
 
+def check_collision(x, y):
+    for (ox, oy, ow, oh) in obstacles:
+        if ox <= x <= ox + ow and oy <= y <= oy + oh:
+            return True
+    return False
+
 def move_robot(direction):
     global pose, trajectory
     dx, dy = 0, 0
@@ -31,20 +38,27 @@ def move_robot(direction):
         dx = -step_size
     elif direction == "D":
         dx = step_size
-    pose[0] += dx
-    pose[1] += dy
-    trajectory.append(tuple(pose[:2]))
-    return render_env(), render_slam_map(), None, f"Moved {direction}"
+
+    new_x = pose[0] + dx
+    new_y = pose[1] + dy
+
+    if check_collision(new_x, new_y):
+        return render_env(), render_slam_map(), "collision1.mp3", "🚫 Collision detected!"
+
+    pose[0] = new_x
+    pose[1] = new_y
+    trajectory.append((pose[0], pose[1]))
+
+    return render_env(), render_slam_map(), None, f"✅ Moved {direction}"
 
 def render_env():
     fig, ax = plt.subplots(figsize=(5, 5))
     ax.set_xlim(0, 500)
     ax.set_ylim(0, 500)
     ax.set_aspect('equal')
-    # Draw robot
     ax.plot(pose[0], pose[1], 'bo', label="Robot")
-    ax.plot(*zip(*trajectory), 'b--', label="Trajectory")
-    # Draw obstacles
+    if trajectory:
+        ax.plot(*zip(*trajectory), 'b--', label="Trajectory")
     for (x, y, w, h) in obstacles:
         ax.add_patch(plt.Rectangle((x, y), w, h, color='red'))
     ax.legend()
@@ -62,7 +76,7 @@ def render_slam_map():
     return fig
 
 def toggle_auto(auto_state):
-    return not auto_state, "Auto mode ON" if not auto_state else "Auto mode OFF"
+    return not auto_state, "✅ Auto mode ON" if not auto_state else "❌ Auto mode OFF"
 
 def auto_step(auto_state):
     if auto_state:
@@ -72,10 +86,10 @@ def auto_step(auto_state):
 
 # Build Gradio UI
 with gr.Blocks() as demo:
-    gr.Markdown("## SLAM Robot Demo with Auto Mode")
+    gr.Markdown("## 🤖 SLAM Robot Demo with Auto Mode")
     env_plot = gr.Plot()
     slam_plot = gr.Plot()
-    collision_audio = gr.Audio(type="auto", label="Collision")
+    collision_audio = gr.Audio(value=None, type="filepath", label="Collision", interactive=False, visible=False)
     status_text = gr.Textbox(label="Status")
 
     auto_state = gr.State(False)
@@ -87,16 +101,13 @@ with gr.Blocks() as demo:
         gr.Button("➡️").click(fn=move_robot, inputs=gr.Textbox(value="D", visible=False), outputs=[env_plot, slam_plot, collision_audio, status_text])
         auto_button = gr.Button("Toggle Auto Mode")
 
-    # Auto mode toggle updates state
     auto_button.click(fn=toggle_auto, inputs=auto_state, outputs=[auto_state, status_text])
 
-    # Periodic polling that runs every second to check auto state
     demo.load(fn=auto_step, inputs=auto_state, outputs=[env_plot, slam_plot, collision_audio, status_text], every=1)
 
-    demo.load(fn=lambda: (render_env(), render_slam_map(), None, "Ready"),
+    demo.load(fn=lambda: (render_env(), render_slam_map(), None, "✅ Ready"),
               outputs=[env_plot, slam_plot, collision_audio, status_text])
 
-    # Reset obstacles and robot pose
     generate_obstacles()
 
 demo.launch()