A* implementation

Astar.py

@@ -0,0 +1,120 @@
+class Node:
+    """A node class for A* Pathfinding"""
+
+    def __init__(self, parent=None, position=None):
+        self.parent = parent
+        self.position = position
+
+        self.g = 0
+        self.h = 0
+        self.f = 0
+
+    def __eq__(self, other):
+        return self.position == other.position
+
+
+def astar(maze, start, end):
+    """Returns a list of tuples as a path from the given start to the given end in the given maze"""
+
+    # Create start and end node
+    start_node = Node(None, start)
+    start_node.g = start_node.h = start_node.f = 0
+    end_node = Node(None, end)
+    end_node.g = end_node.h = end_node.f = 0
+
+    # Initialize both open and closed list
+    open_list = []
+    closed_list = []
+
+    # Add the start node
+    open_list.append(start_node)
+
+    # Loop until you find the end
+    while len(open_list) > 0:
+
+        # Get the current node
+        current_node = open_list[0]
+        current_index = 0
+        for index, item in enumerate(open_list):
+            if item.f < current_node.f:
+                current_node = item
+                current_index = index
+
+        # Pop current off open list, add to closed list
+        open_list.pop(current_index)
+        closed_list.append(current_node)
+
+        # Found the goal
+        if current_node == end_node:
+            path = []
+            current = current_node
+            while current is not None:
+                path.append(current.position)
+                current = current.parent
+            return path[::-1] # Return reversed path
+
+        # Generate children
+        children = []
+        for new_position in [(0, -1), (0, 1), (-1, 0), (1, 0)]: # Adjacent squares
+
+            # Get node position
+            node_position = (current_node.position[0] + new_position[0], current_node.position[1] + new_position[1])
+
+            # Make sure within range
+            if node_position[0] > (len(maze) - 1) or node_position[0] < 0 or node_position[1] > (len(maze[len(maze)-1]) -1) or node_position[1] < 0:
+                continue
+
+            # Make sure walkable terrain
+            if maze[node_position[0]][node_position[1]] != 0:
+                continue
+
+            # Create new node
+            new_node = Node(current_node, node_position)
+
+            # Append
+            children.append(new_node)
+
+        # Loop through children
+        for child in children:
+
+            # Child is on the closed list
+            for closed_child in closed_list:
+                if child == closed_child:
+                    continue
+
+            # Create the f, g, and h values
+            child.g = current_node.g + 1
+            child.h = ((child.position[0] - end_node.position[0]) ** 2) + ((child.position[1] - end_node.position[1]) ** 2)
+            child.f = child.g + child.h
+
+            # Child is already in the open list
+            for open_node in open_list:
+                if child == open_node and child.g > open_node.g:
+                    continue
+
+            # Add the child to the open list
+            open_list.append(child)
+
+
+def main():
+
+    maze = [[0, 0, 0, 0, 1, 0, 0, 0, 0, 0],
+            [0, 0, 0, 0, 1, 0, 0, 0, 0, 0],
+            [0, 0, 0, 0, 1, 0, 0, 0, 0, 0],
+            [0, 0, 0, 0, 1, 0, 0, 0, 0, 0],
+            [0, 0, 0, 0, 1, 0, 0, 0, 0, 0],
+            [0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
+            [0, 0, 0, 0, 1, 0, 0, 0, 0, 0],
+            [0, 0, 0, 0, 1, 0, 0, 0, 0, 0],
+            [0, 0, 0, 0, 1, 0, 0, 0, 0, 0],
+            [0, 0, 0, 0, 0, 0, 0, 0, 0, 0]]
+
+    start = (0, 0)
+    end = (7, 6)
+
+    path = astar(maze, start, end)
+    print(path)
+
+
+if __name__ == '__main__':
+    main()

agent.py

@@ -0,0 +1,43 @@
+import pygame as pg
+import sys
+import numpy as np
+from tile import Tile
+from config import *
+
+
+class Agent:
+    def __init__(self):
+        self.prev = (4, 4)
+        self.pos = (4, 4)
+        self.dir = "E"
+
+    def turn(self, a, b):
+        x_mov = a[0] - b[0]
+        y_mov = a[1] - b[1]
+        if (x_mov, y_mov) == (0, 1):
+            self.dir = "S"
+        if (x_mov, y_mov) == (0, -1):
+            self.dir = "N"
+        if (x_mov, y_mov) == (1, 0):
+            self.dir = "E"
+        if (x_mov, y_mov) == (-1, 0):
+            self.dir = "W"
+
+    def display(self, step=None):
+        pg.time.delay(150)
+        agent_img = pg.image.load('tractor.png').convert_alpha()
+        if step is not None:
+            self.prev = self.pos
+            self.pos = step
+        self.turn(self.pos, self.prev)
+        if self.dir == "N":
+            angle = 270
+        elif self.dir == "E":
+            angle = 180
+        elif self.dir == "S":
+            angle = 90
+        elif self.dir == "W":
+            angle = 0
+        agent_img = pg.transform.rotate(agent_img, angle)
+        screen.blit(agent_img, (self.pos[0] * tile_size, self.pos[1] * tile_size))
+        pg.display.flip()

config.py

@@ -1,38 +1,43 @@
 import pygame as pg
 import numpy as np
 
-screen_height = 560
-screen_width = 700
+screen_height = 890
+screen_width = 720
 tile_size = 80
 
 screen = pg.display.set_mode([screen_width, screen_height])
+black_surface = pg.Surface((720, 170))
+black_surface.fill((0, 0, 0))
 
-# agent
-agent_img = pg.image.load('tractor.png').convert()
+# # agent
+# agent_img = pg.image.load('tractor.png').convert_alpha()
 
 # background
 road = 0
 ground = 1
+wall = 2
 
 bg_textures = {
     road: pg.image.load('road.png').convert(),
-    ground: pg.image.load('ground.png').convert()}
+    ground: pg.image.load('ground.png').convert(),
+    wall: pg.image.load('wall.png').convert()}
 
-background = np.array([[1, 1, 1, 0, 1, 1, 1],
-                       [1, 1, 1, 0, 1, 1, 1],
-                       [1, 1, 1, 0, 1, 1, 1],
-                       [0, 0, 0, 0, 0, 0, 0],
-                       [1, 1, 1, 0, 1, 1, 1],
-                       [1, 1, 1, 0, 1, 1, 1],
-                       [1, 1, 1, 0, 1, 1, 1]])
+background = np.array([[1, 1, 1, 0, 0, 0, 1, 1, 1],
+                       [1, 1, 1, 2, 0, 2, 1, 1, 1],
+                       [1, 1, 1, 2, 0, 2, 1, 1, 1],
+                       [0, 2, 2, 2, 0, 2, 2, 2, 0],
+                       [0, 0, 0, 0, 0, 0, 0, 0, 0],
+                       [0, 2, 2, 2, 0, 2, 2, 2, 0],
+                       [1, 1, 1, 2, 0, 2, 1, 1, 1],
+                       [1, 1, 1, 2, 0, 2, 1, 1, 1],
+                       [1, 1, 1, 0, 0, 0, 1, 1, 1]])
 
 # objects
-rose = 2
-tulip = 3
-orchid = 4
-sunflower = 5
-barn = 6
-disease = 7
+rose = 3
+tulip = 4
+orchid = 5
+sunflower = 6
+barn = 7
 
 ob_textures = {
     0: pg.image.load('none.png').convert_alpha(),
@@ -40,13 +45,14 @@ ob_textures = {
     tulip: pg.image.load('tulip.png').convert_alpha(),
     orchid: pg.image.load('orchid.png').convert_alpha(),
     sunflower: pg.image.load('sunflower.png').convert_alpha(),
-    barn: pg.image.load('barn.png').convert(),
-    disease: pg.image.load('disease.png').convert_alpha()}
+    barn: pg.image.load('barn.png').convert()}
 
-objects = np.array([[2, 2, 2, 0, 3, 3, 3],
-                    [2, 2, 2, 0, 3, 3, 3],
-                    [2, 2, 2, 0, 3, 3, 3],
-                    [0, 0, 0, 6, 0, 0, 0],
-                    [4, 4, 4, 0, 5, 5, 5],
-                    [4, 4, 4, 0, 5, 5, 5],
-                    [4, 4, 4, 0, 5, 5, 5]])
+objects = np.array([[3, 3, 3, 0, 0, 0, 4, 4, 4],
+                    [3, 3, 3, 0, 0, 0, 4, 4, 4],
+                    [3, 3, 3, 0, 0, 0, 4, 4, 4],
+                    [0, 0, 0, 0, 0, 0, 0, 0, 0],
+                    [0, 0, 0, 0, 7, 0, 0, 0, 0],
+                    [0, 0, 0, 0, 0, 0, 0, 0, 0],
+                    [5, 5, 5, 0, 0, 0, 6, 6, 6],
+                    [5, 5, 5, 0, 0, 0, 6, 6, 6],
+                    [5, 5, 5, 0, 0, 0, 6, 6, 6]])

main.py

@@ -3,36 +3,128 @@ import sys
 import numpy as np
 from tile import Tile
 from config import *
+from agent import Agent
+from Astar import *
 
 done = False
 
 clock = pg.time.Clock()
 pg.display.set_caption('Intelligent Tractor')
-tiles = []
-
-for y in range(0, 7):
-    for x in range(0, 7):
-        t = Tile(background[x][y], objects[x][y], x, y)
-        tiles.append(t)
+pg.init()
+pg.font.init()
 
 
-def display_background():
-    for tile in tiles:
+class Game:
+    def __init__(self):
+        self.tiles = []
+        self.water_lvl = []
+        self.day = 1
+
+        for y in range(0, 9):
+            for x in range(0, 9):
+                pos = (x, y)
+                t = Tile(background[x][y], objects[x][y], pos)
+                t.water_usage()
+                self.tiles.append(t)
+
+    def display_background(self):
+        for tile in self.tiles:
             screen.blit(bg_textures[tile.ground], (tile.x * tile_size, tile.y * tile_size))
 
-
-def display_objects():
-    for tile in tiles:
+    def display_objects(self):
+        for tile in self.tiles:
             screen.blit(ob_textures[tile.object], (tile.x * tile_size, tile.y * tile_size))
-    pg.display.flip()
+
+    def display_legend(self):
+        screen.blit(black_surface, (0, 720))
+        self.water_lvl = []
+        for tile in self.tiles:
+            if tile.pos == (1, 1):
+                rose_w = tile.w
+                self.water_lvl.append((rose_w, (0, 3)))
+            if tile.pos == (7, 1):
+                orchid_w = tile.w
+                self.water_lvl.append((orchid_w, (5, 0)))
+            if tile.pos == (1, 7):
+                tulip_w = tile.w
+                self.water_lvl.append((tulip_w, (3, 8)))
+            if tile.pos == (7, 7):
+                sunflower_w = tile.w
+                self.water_lvl.append((sunflower_w, (8, 5)))
+        font = pg.font.SysFont('ubuntumono', 40)
+        text = font.render("water levels", 1, (255, 255, 255))
+        text1 = font.render("roses: " + str(rose_w) + "%", 1, (255, 255, 255))
+        text2 = font.render("orchids: " + str(orchid_w) + "%", 1, (255, 255, 255))
+        text3 = font.render("tulips: " + str(tulip_w) + "%", 1, (255, 255, 255))
+        text4 = font.render("sunflowers: " + str(sunflower_w) + "%", 1, (255, 255, 255))
+        text5 = font.render("day: " + str(self.day), 1, (255, 255, 255))
+        screen.blit(text, (10, 720))
+        screen.blit(text1, (10, 760))
+        screen.blit(text2, (360, 760))
+        screen.blit(text3, (10, 800))
+        screen.blit(text4, (360, 800))
+        screen.blit(text5, (10, 840))
+
+    def water_target(self):
+        o = None
+        for lvl in self.water_lvl:
+            if lvl[0] < 10:
+                o = lvl[1]
+                break
+        return o
+
+    def watering(self, plants):
+        if plants == (0, 3):
+            for tile in self.tiles:
+                if tile.object == rose:
+                    tile.w = 100
+        if plants == (5, 0):
+            for tile in self.tiles:
+                if tile.object == orchid:
+                    tile.w = 100
+        if plants == (3, 8):
+            for tile in self.tiles:
+                if tile.object == tulip:
+                    tile.w = 100
+        if plants == (8, 5):
+            for tile in self.tiles:
+                if tile.object == sunflower:
+                    tile.w = 100
+
+    def add_day(self):
+        pg.time.delay(1000)
+        self.day = self.day + 1
+        for tile in self.tiles:
+            tile.w = tile.w - tile.wu
+            if tile.w < 0:
+                tile.w = 0
 
 
+def game_loop():
+    path = None
+    g.display_background()
+    g.display_objects()
+    g.display_legend()
+    if g.water_target() is None:
+        g.add_day()
+    else:
+        path = astar(background, a.pos, g.water_target())
+    if path is not None:
+        if len(path) == 1:
+            g.watering(path[0])
+            path = None
+        else:
+            a.display(path[1])
+    a.display()
+    clock.tick(60)
+
+
+g = Game()
+a = Agent()
 while not done:
     for event in pg.event.get():
         if event.type == pg.QUIT:
             done = True
-    display_background()
-    display_objects()
-    clock.tick(60)
+    game_loop()
 
 pg.quit()

tile.py

@@ -1,7 +1,22 @@
+from config import *
+
+
 class Tile:
-    def __init__(self, a, b, x, y):
+    def __init__(self, a, b, pos, parent=None):
         self.ground = a
         self.object = b
-        self.x = x
-        self.y = y
-        self.h = 0
+        self.pos = pos
+        self.x = self.pos[0]
+        self.y = self.pos[1]
+        self.w = 100
+        self.wu = 0
+
+    def water_usage(self):
+        if self.object == rose:
+            self.wu = 30
+        elif self.object == tulip:
+            self.wu = 10
+        elif self.object == orchid:
+            self.wu = 20
+        elif self.object == sunflower:
+            self.wu = 40