Tried really hard to make recursion work
This commit is contained in:
Magdalena Wilczyńska
parent
5790a923f0
commit
265668fa47
@ -53,7 +53,7 @@ class GC(Cell):
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self.moves.extend(result)
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self.moves.reverse()
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def find_houses_BestFS(self,enviromnent, house_count):
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"""def find_houses_BestFS(self,enviromnent, house_count):
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x = self.x
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y = self.y
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result = []
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@ -73,14 +73,40 @@ class GC(Cell):
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a += 1
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available_movement = check_moves(enviromnent, x, y)
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result, [x, y] = BestFS(enviromnent, [x, y], houses_list)
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result, [x, y] = BestFS(enviromnent, [[x, y]], houses_list)
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self.moves.extend(result)
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available_movement = check_moves(enviromnent, x, y)
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result, [x, y] = BestFS(enviromnent, [x, y], dump_list)
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result, [x, y] = BestFS(enviromnent, [[x, y]], dump_list)
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print("IM ALIVEEEEEEEEEEEEEEEE")
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self.moves.extend(result[1:])
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self.moves.reverse()
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self.moves.reverse()"""
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def find_houses_BestFS(self, environment):
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x = self.x
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y = self.y
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result = [[x,y]]
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houses_list = []
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dump_list = []
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a = 0
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for row in environment:
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b = 0
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for col in row:
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print(col)
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if (type(col) is House):
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houses_list.append([col,[a,b]])
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if (type(col) is Dump):
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dump_list.append([col,[a,b]])
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b += 1
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a += 1
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x, y = self.x, self.y
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for i in range(len(houses_list)):
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available_movement = check_moves(environment, x, y)
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[x,y],result,houses_list = BestFS(environment, available_movement, [[x,y]], houses_list)
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self.moves.extend(result[1:])
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self.moves.reverse()
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def make_actions_from_list(self,environment):
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now = pygame.time.get_ticks()
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@ -14,113 +14,64 @@ def CalculateDistance(gc, object_list):
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min_distance_goal = [h[1], distance]
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return min_distance_goal
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def BestFS(grid, gc_moveset, object_list):
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def BestFS(grid, available_movement, gc_moveset, object_list, depth = 0):
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x, y = gc_moveset[-1][0], gc_moveset[-1][1]
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if(len(object_list) == 0):
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return result
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#if depth exceeded, return
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if(depth > 30 or len(available_movement) == 0):
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return
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result = [gc_moveset]
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print(gc_moveset)
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x, y = gc_moveset[0], gc_moveset[1]
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available_movement = check_moves(grid, x, y)
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#calculate distance to the nearest object
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min_distance_goal = CalculateDistance([x,y], object_list)
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print(min_distance_goal)
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decision_stack = []
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if(min_distance_goal[1] == 1):
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gc_moveset.append("pick_garbage")
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cell = grid[min_distance_goal[0][0]][min_distance_goal[0][1]]
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print("***"+str([cell,min_distance_goal[0]])+"***")
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object_list.remove([cell,min_distance_goal[0]])
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return([x, y], gc_moveset, object_list)
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constraint = 100
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while(len(object_list) > 0 and constraint > 0):
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#set preffered directions based on the closest object
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preffered_directions = []
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discouraged_directions = []
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print("================")
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print("iteracja: "+str(100-constraint))
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print("GC: "+str([x,y]))
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print(object_list)
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if(min_distance_goal[0][0] > x):
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preffered_directions.append("right")
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if(min_distance_goal[0][0] < x):
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preffered_directions.append("left")
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if(min_distance_goal[0][1] > y):
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preffered_directions.append("down")
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if(min_distance_goal[0][1] < y):
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preffered_directions.append("up")
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#calculate distance to the nearest object
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min_distance_goal = CalculateDistance([x,y], object_list)
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print(min_distance_goal)
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if(len(preffered_directions) == 1):
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discouraged_directions.append(movement(grid, x, y)[1][preffered_directions[0]])
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#set preffered directions based on the closest object
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preffered_directions = []
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discouraged_directions = []
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if(min_distance_goal[1] == 1):
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result.append("pick_garbage")
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decision_stack = []
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cell = grid[min_distance_goal[0][0]][min_distance_goal[0][1]]
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print("***"+str([cell,min_distance_goal[0]])+"***")
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object_list.remove([cell,min_distance_goal[0]])
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if(len(object_list)==0):
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break
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available_movement = check_moves(grid, x, y)
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"""print("Preferred: "+str(preffered_directions))
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print("Discouraged: "+str(discouraged_directions))
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print("Available: "+str(available_movement))"""
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#sort available moves according to preferences
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sorted = [o for o in preffered_directions if o in available_movement]
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for o in sorted:
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available_movement.remove(o)
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sorted.extend([o for o in available_movement if o not in discouraged_directions])
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for o in sorted:
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if(o in available_movement):
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available_movement.remove(o)
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sorted.extend(available_movement)
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available_movement = sorted.copy()
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min_distance_goal = CalculateDistance([x,y], object_list)
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print(min_distance_goal)
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#print("After sorting: "+str(available_movement))
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print(min_distance_goal[0])
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if(min_distance_goal[0][0] > x):
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preffered_directions.append("right")
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if(min_distance_goal[0][0] < x):
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preffered_directions.append("left")
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if(min_distance_goal[0][1] > y):
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preffered_directions.append("down")
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if(min_distance_goal[0][1] < y):
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preffered_directions.append("up")
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if(len(preffered_directions) == 1):
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discouraged_directions.append(movement(grid, x, y)[1][preffered_directions[0]])
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print("Preferred: "+str(preffered_directions))
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print("Discouraged: "+str(discouraged_directions))
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print("Available: "+str(available_movement))
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possible_routes = len([i for i in available_movement if i in preffered_directions ])
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print("Preferred to available count: "+str(possible_routes))
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#HOTFIX
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if(possible_routes > 1):
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if(len(decision_stack) > 0):
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if(decision_stack[0] == [x,y]):
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preffered_directions.pop(1)
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else:
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decision_stack = [[x,y]]
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preffered_directions.pop(0)
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print("Decision stack: "+str(decision_stack))
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""" if(possible_routes > 1):
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for move in available_movement:
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if (move in preffered_directions):
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x_next, y_next = movement(grid, x, y)[0][move]
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route = BestFS(grid, [x_next,y_next], houses_list, [[x_next, y_next]], check_moves(grid, x_next, y_next, move), "House", depth + 1)
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print("DIRECTION: "+str(move)+", GIVEN "+str(len(houses_list))+" HOUSES, RECURSION ON DEPTH "+str(depth+1)+" returned "+str(route))
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if (route == None):
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break
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if (route.count("pick_garbage") - 1 == len(houses_list)):
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print(str(route.count("pick_garbage"))+" / "+str(len(houses_list)))
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print("ROUTE ADDED")
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result.extend(route)
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break
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break """
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if(len(available_movement) == 0):
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available_movement = check_moves(grid, x, y)
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if(len(available_movement)>0):
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next_move = available_movement[0]
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for move in available_movement:
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if (move not in discouraged_directions):
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next_move = move
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break
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for move in preffered_directions:
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if(move in available_movement):
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next_move = move
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break
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print("Next move: "+str(next_move))
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x_next, y_next = movement(grid, x, y)[0][next_move]
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print("Next moving to "+str(x_next)+" "+str(y_next))
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result.append([x_next,y_next])
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x, y = x_next, y_next
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available_movement = check_moves(grid, x, y, next_move)
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print("------------------------------")
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constraint -= 1
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return result, [x,y]
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for direction in available_movement:
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x_next, y_next = movement(grid,x,y)[0][direction]
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available_movement_next = check_moves(grid, x_next,y_next,direction)
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gc_moveset_next = gc_moveset.copy()
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gc_moveset_next.append([x_next,y_next])
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result = BestFS(grid, available_movement_next, gc_moveset_next, object_list, depth + 1)
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print(type(result))
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if result!= None:
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return result
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131
Traversal/BestFS_nope.py
Normal file
131
Traversal/BestFS_nope.py
Normal file
@ -0,0 +1,131 @@
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from utilities import movement,check_moves
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from DataModels.House import House
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from DataModels.Container import Container
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from config import GRID_WIDTH, GRID_HEIGHT
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from math import sqrt
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INF = float('Inf')
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def CalculateDistance(gc, object_list):
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min_distance_goal = ['-',INF]
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for h in object_list:
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distance = sqrt(pow(h[1][0]-gc[0],2)+pow(h[1][1]-gc[1],2))
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if(min_distance_goal[1] > distance):
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min_distance_goal = [h[1], distance]
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return min_distance_goal
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def BestFS(grid, gc_moveset, object_list):
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print(gc_moveset)
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x, y = gc_moveset[-1][0], gc_moveset[-1][1]
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available_movement = check_moves(grid, x, y)
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if(len(object_list) == 0):
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return gc_moveset
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decision_stack = []
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constraint = 100
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while(len(object_list) > 0 and constraint > 0):
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print("================")
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print("iteracja: "+str(100-constraint))
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print("GC: "+str([x,y]))
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print(object_list)
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#calculate distance to the nearest object
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min_distance_goal = CalculateDistance([x,y], object_list)
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print(min_distance_goal)
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#check if can pick garbage
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if(min_distance_goal[1] == 1):
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gc_moveset.append("pick_garbage")
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decision_stack = []
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#remove object from goals list
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cell = grid[min_distance_goal[0][0]][min_distance_goal[0][1]]
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print("***"+str([cell,min_distance_goal[0]])+"***")
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object_list.remove([cell,min_distance_goal[0]])
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#if that was the last object, return
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if(len(object_list)==0):
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break
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#look for a new goal
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available_movement = check_moves(grid, x, y)
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min_distance_goal = CalculateDistance([x,y], object_list)
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print(min_distance_goal)
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print(min_distance_goal[0])
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#set preffered directions based on the closest object
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preffered_directions = []
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discouraged_directions = []
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if(min_distance_goal[0][0] > x):
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preffered_directions.append("right")
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if(min_distance_goal[0][0] < x):
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preffered_directions.append("left")
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if(min_distance_goal[0][1] > y):
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preffered_directions.append("down")
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if(min_distance_goal[0][1] < y):
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preffered_directions.append("up")
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if(len(preffered_directions) == 1):
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discouraged_directions.append(movement(grid, x, y)[1][preffered_directions[0]])
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print("Preferred: "+str(preffered_directions))
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print("Discouraged: "+str(discouraged_directions))
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print("Available: "+str(available_movement))
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#if agent finds more than 1 optimal route
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possible_routes = len([i for i in available_movement if i in preffered_directions ])
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print("Preferred to available count: "+str(possible_routes))
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#HOTFIX
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if(possible_routes > 1):
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if(len(decision_stack) > 0):
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if(decision_stack[0] == [x,y]):
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preffered_directions.pop(1)
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else:
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decision_stack = [[x,y]]
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preffered_directions.pop(0)
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print("Decision stack: "+str(decision_stack))
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""" if(possible_routes > 1):
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for move in available_movement:
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if (move in preffered_directions):
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x_next, y_next = movement(grid, x, y)[0][move]
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route = BestFS(grid, [x_next,y_next], houses_list, [[x_next, y_next]], check_moves(grid, x_next, y_next, move), "House", depth + 1)
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print("DIRECTION: "+str(move)+", GIVEN "+str(len(houses_list))+" HOUSES, RECURSION ON DEPTH "+str(depth+1)+" returned "+str(route))
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if (route == None):
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break
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if (route.count("pick_garbage") - 1 == len(houses_list)):
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print(str(route.count("pick_garbage"))+" / "+str(len(houses_list)))
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print("ROUTE ADDED")
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gc_moveset.extend(route)
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break
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break """
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#if got no available moves but still has goals to visit
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if(len(available_movement) == 0):
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available_movement = check_moves(grid, x, y)
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#selecting next move based on preferences (starting with the worst option)
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if(len(available_movement)>0):
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next_move = available_movement[0] #pick any
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for move in available_movement:
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if (move not in discouraged_directions): #pick any not discouraged move if possible
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next_move = move
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break
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for move in preffered_directions:
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if(move in available_movement): #pick any preferred move if possible
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next_move = move
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break
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print("Next move: "+str(next_move))
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x_next, y_next = movement(grid, x, y)[0][next_move]
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print("Next moving to "+str(x_next)+" "+str(y_next))
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gc_moveset.append([x_next,y_next])
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x, y = x_next, y_next
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available_movement = check_moves(grid, x, y, next_move)
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print("------------------------------")
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constraint -= 1
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return gc_moveset, [x,y]
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6
main.py
6
main.py
@ -101,15 +101,15 @@ while True:
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elif event.key == pygame.K_0:
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gc.find_houses(map_objects,house_count,dump_count)
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elif event.key == pygame.K_9:
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gc.find_houses_BestFS(map_objects,house_count)
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gc.find_houses_BestFS(map_objects)
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gc.make_actions_from_list(map_objects)
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pygame_sprites.update()
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pygame_sprites.draw(GAME_WINDOW)
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#draw GC moves
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bg_rect = pygame.Surface((105,30), pygame.SRCALPHA) # per-pixel alpha
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bg_rect.fill((0,0,0,160)) # notice the alpha value in the color
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bg_rect = pygame.Surface((105,30), pygame.SRCALPHA)
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bg_rect.fill((0,0,0,160))
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GAME_WINDOW.blit(bg_rect, (0, WINDOW_HEIGHT-30))
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font = pygame.font.SysFont("monospace", 15)
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