Update AStar algorithm
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5e8bab126f
commit
2fba7e8c7f
43
UI/Apath.py
43
UI/Apath.py
@ -27,14 +27,16 @@ def APath(table, start, end):
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# Add the start node
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# Add the start node
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open_list.append(start_node)
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open_list.append(start_node)
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# Loop until you find the end
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while len(open_list) > 0:
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# Get the current node
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# Loop until you find the end
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i = 0
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while len(open_list) > 0:
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print(i)
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i=i+1
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current_node = open_list[0]
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current_node = open_list[0]
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current_index = 0
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current_index = 0
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for index, item in enumerate(open_list):
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for index, item in enumerate(open_list):
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if item.f < current_node.f:
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if(item.f < current_node.f):
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current_node = item
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current_node = item
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current_index = index
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current_index = index
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@ -75,20 +77,39 @@ def APath(table, start, end):
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# Loop through children
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# Loop through children
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for child in children:
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for child in children:
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def InClosedlist(child: AStarNode):
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for closed_child in closed_list:
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if child.position == closed_child.position:
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return True
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def InOpenlist(child: AStarNode):
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for open_node in open_list:
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if child == open_node: # and child.g > open_node.g:
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return True
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# Child is on the closed list
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# Child is on the closed list
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for closed_child in closed_list:
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if InClosedlist(child)==True:
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if child == closed_child:
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continue
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continue
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# Create the f, g, and h values
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# Create the f, g, and h values
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child.g = current_node.g + 1
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child.g = current_node.g + 1
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child.h = ((child.position[0] - end_node.position[0]) ** 2) + ((child.position[1] - end_node.position[1]) ** 2)
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child.h = max(abs(child.position[0] - end_node.position[0]), abs(child.position[1] - end_node.position[1]))
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child.f = child.g + child.h
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child.f = child.g + child.h
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# Child is already in the open list
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# Child is already in the open list
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for open_node in open_list:
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if InOpenlist(child)==True:
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if child == open_node and child.g > open_node.g:
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continue
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continue
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# Add the child to the open list
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# Add the child to the open list
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open_list.append(child)
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open_list.append(child)
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39
UI/window.py
39
UI/window.py
@ -7,12 +7,15 @@ from UI.Apath import APath
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class Window():
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class Window():
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def __init__(self, grid: Grid):
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def __init__(self, grid: Grid,start: (int,int),end: (int,int)):
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pg.init() # pylint: disable=no-member
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pg.init() # pylint: disable=no-member
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# setup window
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# setup window
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pg.display.set_caption('Inteligentna śmieciarka')
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pg.display.set_caption('Inteligentna śmieciarka')
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self.start = start
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self.end = end
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self.grid = grid
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self.grid = grid
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# assign to variables for brevity
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# assign to variables for brevity
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cols = self.grid.cols
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cols = self.grid.cols
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rows = self.grid.rows
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rows = self.grid.rows
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@ -20,6 +23,7 @@ class Window():
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height = Node.r_height
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height = Node.r_height
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margin = Node.r_margin
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margin = Node.r_margin
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screen_width = cols * (width + margin) + 2 * margin
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screen_width = cols * (width + margin) + 2 * margin
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screen_height = rows * (height + margin) + 2 * margin
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screen_height = rows * (height + margin) + 2 * margin
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@ -28,21 +32,32 @@ class Window():
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self.end = False
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self.end = False
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self.clock = pg.time.Clock()
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self.clock = pg.time.Clock()
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grid.change_field(0, 0, 1)
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grid.change_field(19, 19, 2)
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#random obsticle
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def Obstacles(self, grid: Grid,option: int):
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for x in range(200):
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if option == 1:
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grid.change_field(random.randint(1,18),random.randint(1,18),3)
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for x in range(len(grid.table)*5):
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grid.change_field(random.randint(1,len(grid.table)-1),random.randint(1,len(grid.table)-1),3)
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elif option ==2:
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for x in range (13):
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grid.change_field(x,14,3)
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for x in range (8):
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grid.change_field(12,x+6,3)
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#path
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path = [(i, i) for i in range(1, 20, 1)]
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Obstacles(self,grid,2)
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grid.change_field(start[0], start[1], 1)
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grid.change_field(end[0], end[1], 2)
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#draw starting map
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self.grid.draw_map(self.screen)
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self.grid.draw_map(self.screen)
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#copy table
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#copy table
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array = [[self.grid.table[col][row] for row in range(cols)] for col in range(rows)]
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array = [[self.grid.table[col][row] for row in range(cols)] for col in range(rows)]
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path = APath(array,(0,0),(19,19))
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path = APath(array,(start[0],start[1]),(end[0],end[1]))
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print("Path:",path)
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#draw movement of garbage truck
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#draw movement of garbage truck
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for index, t in enumerate(path):
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for index, t in enumerate(path):
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x,y =t
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x,y =t
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@ -56,4 +71,6 @@ class Window():
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