135 lines
4.5 KiB
Python
135 lines
4.5 KiB
Python
import pygame as pg
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import numpy as np
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import random
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from math import hypot
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import itertools as it
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from UI.grid import Grid, Node
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from Logic.Apath import a_path
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class Window():
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def __init__(self, grid: Grid,start: (int,int),end: (int,int)):
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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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# assign to variables for brevity
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cols = self.grid.cols
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rows = self.grid.rows
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width = Node.r_width
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height = Node.r_height
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margin = Node.r_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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self.screen = pg.display.set_mode([screen_width, screen_height])
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self.end = False
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self.clock = pg.time.Clock()
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def random_trash(grid: Grid):
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for x in range(len(grid.table)*2):
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grid.generate_trash(random.randint(1,len(grid.table)-1),random.randint(1,len(grid.table)-1))
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#generate trash
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random_trash(grid)
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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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garbage = grid.garbage_to_collect()
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#all obstacles, remove from list objects to collect
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obs = [3,5,6,7,8]
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for x in garbage:
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obs.remove(x)
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#list of garbage to collect
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to_collect = []
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for x in garbage:
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to_collect.extend(grid.get_trash_possition(x))
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print("\n",len(to_collect)," garbage to collect.")
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print(to_collect)
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#sort list of tuples to get minimum distance betwen all of them
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#fajnie jakby sie udalo to zrobic wydajniej ale narazie niech bedzie tak
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#dzielimy plansze na 4 cwiartki
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to_collect_sorted = []
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q = [[],[],[],[]]
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distance = []
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for point in to_collect:
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if point[0]<10 and point[1] < 10:
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q[0].append(point)
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elif point[0] < 10 and point[1] >=10 :
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q[1].append(point)
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elif point[0] >= 10 and point[1] < 10:
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q[2].append(point)
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elif point[0] >= 10 and point[1] >= 10:
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q[3].append(point)
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for ind, y in enumerate(q):
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di = []
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def dist(x,y):
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return hypot(y[0]-x[0],y[1]-x[1])
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paths = [ p for p in it.permutations(y) ]
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path_distances = [ sum(map(lambda x: dist(x[0],x[1]),zip(p[:-1],p[1:]))) for p in paths ]
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min_index = np.argmin(path_distances)
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print (paths[min_index], path_distances[min_index])
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to_collect_sorted.extend(paths[min_index])
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#window init
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pg.init() # pylint: disable=no-member
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# setup window
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pg.display.set_caption('Inteligentna śmieciarka')
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#draw starting map
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self.grid.draw_map(self.screen)
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#move of the truck
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def move_truck(path):
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for index, t in enumerate(path):
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x,y =t
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if index != 0:
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self.grid.change_field(path[index-1][0],path[index-1][1],4)
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self.grid.change_field(x, y, 1)
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self.grid.draw_node(self.screen, path[index-1][0],path[index-1][1])
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self.grid.draw_node(self.screen, x, y)
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pg.time.delay(500)
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print("collected:",grid.table[x][y].house.trash[2],"on possition: (",x,",",y,") ", grid.table[x][y].house.trash_file)
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#visit all points from to_collect
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for ind, x in enumerate(to_collect_sorted):
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if ind == 0:
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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 = a_path(array,(start[0],start[1]),(x[0],x[1]),obs)
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#print("Path:",path)
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else:
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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 = a_path(array,(to_collect_sorted[ind-1][0],to_collect_sorted[ind-1][1]),(x[0],x[1]),obs)
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#print("Path:",path)
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#draw movement of garbage truck
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move_truck(path)
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#last move
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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 = a_path(array,(to_collect_sorted[len(to_collect)-1][0],to_collect_sorted[len(to_collect)-1][1]),(end[0],end[1]),obs)
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#print("Path:",path)
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move_truck(path)
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pg.quit() # pylint: disable=no-member
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