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4642d1d86e
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065bcf1839
12
Trac.py
12
Trac.py
@ -27,3 +27,15 @@ class Trac:
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def get_rotation(self):
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return self.__rotation
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def move(self):
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x = self.get_position().get_x()
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y = self.get_position().get_y()
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if self.__rotation == 'N':
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self.set_position((x - 1 ,y))
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elif rotation == 'S':
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self.set_position((x + 1 ,y))
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elif rotation == 'W':
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self.set_position((x, y - 1))
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else:
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self.set_position((x, y + 1))
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30
env.py
30
env.py
@ -24,19 +24,20 @@ def initialize_field():
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for j in range(7):
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if i == 0 or i == 10 or j == 0 \
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or j == 3 or j == 6:
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# row.append((Point((i, j)), None))
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row.append(None)
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elif j < 3:
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# row.append((Point((i, j)), Cucumber()))
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row.append(Cucumber())
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else:
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# row.append((Point((i, j)), Tomato()))
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row.append(Tomato())
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field.append(row)
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return field
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def print_field(field, tractor):
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if sys.platform == "win32":
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os.system("cls")
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else:
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os.system("clear")
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sys.stdout.write(OKBLUE)
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sys.stdout.write("$")
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sys.stdout.write(" ")
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@ -102,26 +103,15 @@ if __name__ == "__main__":
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if message[0] == "rotate":
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tractor.set_rotation(message[1])
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writer.write("OK\n".encode())
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elif try_move(field, tractor):
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x = tractor.get_position().get_x()
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y = tractor.get_position().get_y()
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rotation = tractor.get_rotation()
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if rotation == 'N':
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x -= 1
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elif rotation == 'S':
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x += 1
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elif rotation == 'W':
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y -= 1
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else:
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y += 1
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tractor.set_position((x,y))
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writer.write(("OK " + rotation + "\n").encode())
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elif message[0] == "try":
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if try_move(field, tractor):
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writer.write("OK\n".encode())
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else:
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writer.write("FAIL\n".encode())
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if sys.platform == "win32":
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os.system("cls")
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else:
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os.system("clear")
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tractor.move()
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writer.write(("OK\n").encode())
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print_field(field, tractor)
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# print(tractor.get_position().get_x())
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# print(tractor.get_position().get_y())
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115
prezentacja.md
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115
prezentacja.md
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@ -0,0 +1,115 @@
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# O algorytmie
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Algorytm A* od wierzchołka początkowego tworzy ścieżkę, za każdym razem wybierając wierzchołek x z
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dostępnych w danym kroku niezbadanych wierzchołków tak, by minimalizować funkcję f ( x ) f(x) zdefiniowaną:
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f ( x ) = g ( x ) + h ( x ) ,
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gdzie:
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g ( x ) – droga pomiędzy wierzchołkiem początkowym a x.
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h ( x ) - przewidywana przez heurystykę droga od x do wierzchołka docelowego.
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W każdym kroku algorytm dołącza do ścieżki wierzchołek o najniższym współczynniku f.
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Kończy w momencie natrafienia na wierzchołek będący wierzchołkiem docelowym.
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\pagebreak
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### Inicjalizacja parametrów
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```python
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async def tractor():
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directions = ['N', 'W', 'S', 'E']
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current_rotation = 'N'
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last_rotation = None
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start = (0,0)
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current_position = start
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goal = (10,6)
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frontier = PriorityQueue()
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frontier.put(start, 0)
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cost_so_far = {}
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cost_so_far[start] = 0
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start_flag = True
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```
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```python
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while not frontier.empty():
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local_graph = []
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current = frontier.get()
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last_position = current
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if not start_flag:
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if current[0] == last_position[0] and current[1] > last_position[1]:
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current_rotation = 'E'
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elif current[0] == last_position[0] and current[1] < last_position[1]:
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current_rotation = 'W'
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elif current[0] > last_position[0]:
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current_rotation = 'S'
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elif current[0] < last_position[0]:
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current_rotation = 'N'
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last_rotation = current_rotation
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```
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### budawanie "lokalnego drzewa"
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```python
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for i, direction in enumerate(directions):
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reader, writer = await asyncio.open_connection('127.0.0.1', 8888)
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writer.write(("rotate " + direction + "\n").encode())
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data = await reader.readline()
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time.sleep(0.7)
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writer.write("move\n".encode())
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data = await reader.readline()
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result = data.decode().split()
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time.sleep(0.7)
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if result[0] == "OK":
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if direction == 'N':
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local_graph.append((current[0] - 1, current[1]))
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elif direction == 'S':
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local_graph.append((current[0] + 1, current[1]))
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elif direction == 'W':
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local_graph.append((current[0], current[1] - 1 ))
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else:
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local_graph.append((current[0], current[1] + 1 ))
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writer.write(("rotate " + directions[((i + 2) % 4)] + "\n").encode())
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data = await reader.readline()
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time.sleep(0.7)
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writer.write("move\n".encode())
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data = await reader.readline()
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time.sleep(0.7)
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```
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### właściwa część algorytmu
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```python
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writer.write(("rotate " + current_rotation + "\n").encode())
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data = await reader.readline()
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time.sleep(0.7)
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writer.write("move\n".encode())
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data = await reader.readline()
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time.sleep(0.7)
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if current == goal:
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break
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for next in local_graph:
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new_cost = cost_so_far[current] + 1
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if next not in cost_so_far or new_cost < cost_so_far[next]:
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cost_so_far[next] = new_cost
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priority = new_cost + heuristic(goal, next)
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frontier.put(next, priority)
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start_flag = False
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writer.close()
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```
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### heurestyka
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```python
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def heuristic(a, b):
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(x1, y1) = a
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(x2, y2) = b
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return abs(x1 - x2) + abs(y1 - y2)
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```
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BIN
prezentacja.pdf
Normal file
BIN
prezentacja.pdf
Normal file
Binary file not shown.
131
tractor.py
131
tractor.py
@ -8,109 +8,87 @@ def heuristic(a, b):
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(x2, y2) = b
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return abs(x1 - x2) + abs(y1 - y2)
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def addnode(local_graph, direction):
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if direction == 'N':
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local_graph.append((current[0] - 1, current[1]))
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elif direction == 'S':
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local_graph.append((current[0] + 1, current[1]))
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elif direction == 'W':
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local_graph.append((current[0], current[1] - 1 ))
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else:
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local_graph.append((current[0], current[1] + 1 ))
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async def tractor():
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return local_graph
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def getrotation(a, b):
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y = b[0] - a[0]
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x = b[1] - a[1]
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if y > 0:
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return 'S'
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elif y < 0:
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return 'N'
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elif x > 0:
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return 'E'
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else:
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return 'W'
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async def move_tractor(start_position, goal):
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directions = ['N', 'W', 'S', 'E']
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current_rotation = 'N'
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last_rotation = None
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start = (0,0)
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current_position = start
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goal = (10,6)
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last_node = None
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current_position = start_position
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frontier = PriorityQueue()
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frontier.put(start, 0)
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came_from = {}
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cost_so_far = {}
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came_from[start] = None
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cost_so_far[start] = 0
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start_flag = True
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while not frontier.empty():
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local_graph = []
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# is_already_moved = False
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current = frontier.get()
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print(start_flag)
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last_position = current
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if not start_flag:
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if current[0] == last_position[0] and current[1] > last_position[1]:
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current_rotation = 'E'
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elif current[0] == last_position[0] and current[1] < last_position[1]:
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current_rotation = 'W'
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elif current[0] > last_position[0]:
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current_rotation = 'S'
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elif current[0] < last_position[0]:
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current_rotation = 'N'
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last_rotation = current_rotation
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for i, direction in enumerate(directions):
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if direction == last_rotation:
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for direction in directions:
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if direction == last_node:
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continue
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reader, writer = await asyncio.open_connection('127.0.0.1', 8888)
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# current_rotation = directions[((i - 1) % 4)]
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writer.write(("rotate " + direction + "\n").encode())
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data = await reader.readline()
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writer.close()
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await reader.readline()
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time.sleep(0.7)
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reader, writer = await asyncio.open_connection('127.0.0.1', 8888)
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writer.write("move\n".encode())
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data = await reader.readline()
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result = data.decode().split()
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writer.close()
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time.sleep(0.7)
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if result[0] == "OK":
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print("Jade na "+result[1])
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# print("ok"+result[1])
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if direction == 'N':
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local_graph.append((current_position[0] - 1, current_position[1]))
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elif direction == 'S':
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local_graph.append((current_position[0] + 1, current_position[1]))
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elif direction == 'W':
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local_graph.append((current_position[0], current_position[1] - 1 ))
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else:
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local_graph.append((current_position[0], current_position[1] + 1 ))
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print(local_graph)
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# print("nawrót")
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reader, writer = await asyncio.open_connection('127.0.0.1', 8888)
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writer.write(("rotate " + directions[((i + 2) % 4)] + "\n").encode())
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writer.write("try\n".encode())
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data = await reader.readline()
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# print(current_rotation)
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writer.close()
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result = data.decode()
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time.sleep(0.7)
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reader, writer = await asyncio.open_connection('127.0.0.1', 8888)
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writer.write("move\n".encode())
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print("hop -nawrót")
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data = await reader.readline()
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writer.close()
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time.sleep(0.7)
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# reader, writer = await asyncio.open_connection('127.0.0.1', 8888)
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# current_rotation = directions[((i - 1) % 4)]
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# writer.write(("rotate " + current_rotation + "\n").encode())
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# data = await reader.readline()
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# writer.close()
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# time.sleep(0.7)
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# else:
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# reader, writer = await asyncio.open_connection('127.0.0.1', 8888)
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# current_rotation = directions[((i + 1) % 4)]
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# writer.write(("rotate " + current_rotation + "\n").encode())
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# data = await reader.readline()
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# writer.close()
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# time.sleep(0.7)
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# print(":(")
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if result == "OK":
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local_graph = addnode(local_graph, direction)
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current_rotation = directions[(directions.index(current_rotation) - 1) % 4]
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current = frontier.get()
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if not start_flag:
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print("jaaazda")
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rotation = getrotation(current_position, current)
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if rotation != current_rotation:
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reader, writer = await asyncio.open_connection('127.0.0.1', 8888)
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writer.write(("rotate " + current_rotation + "\n").encode())
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data = await reader.readline()
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writer.close()
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writer.write(("rotate " + rotation + "\n").encode())
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await reader.readline()
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current_rotation = rotation
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time.sleep(0.7)
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writer.close()
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last_node = directions[(directions.index(rotation) - 2) % 4]
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reader, writer = await asyncio.open_connection('127.0.0.1', 8888)
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writer.write("move\n".encode())
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data = await reader.readline()
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writer.close()
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await reader.readline()
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current_position = current
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time.sleep(0.7)
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writer.close()
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if current == goal:
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break
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@ -121,7 +99,12 @@ async def tractor():
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cost_so_far[next] = new_cost
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priority = new_cost + heuristic(goal, next)
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frontier.put(next, priority)
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came_from[next] = current
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print(next)
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start_flag = False
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asyncio.run(tractor())
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writer.close()
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if __name__ == "__main__":
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start = (0,0)
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goal = (10,6)
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asyncio.run(move_tractor(start, goal))
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