Added patch to allow app to even start
This commit is contained in:
Magdalena Wilczyńska
parent
265668fa47
commit
b7d463f0ec
@ -104,7 +104,9 @@ class GC(Cell):
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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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output = BestFS(environment, available_movement, [[x,y]], houses_list)
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if(output != None):
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[x,y],result,houses_list = output[0], output[1], output[2]
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self.moves.extend(result[1:])
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self.moves.reverse()
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@ -19,12 +19,12 @@ 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 depth exceeded, return
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if(depth > 30 or len(available_movement) == 0):
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if(depth > 15 or len(available_movement) == 0):
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return
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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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print(depth,min_distance_goal)
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if(min_distance_goal[1] == 1):
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gc_moveset.append("pick_garbage")
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@ -64,7 +64,7 @@ def BestFS(grid, available_movement, gc_moveset, object_list, depth = 0):
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sorted.extend(available_movement)
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available_movement = sorted.copy()
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#print("After sorting: "+str(available_movement))
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print("After sorting: "+str(available_movement))
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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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@ -1,84 +0,0 @@
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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, goal):
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result = sqrt(pow(goal[0]-gc[0],2)+pow(goal[1]-gc[1],2))
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return result
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def BestFS(grid, available_movement, gc_moveset, houses_list, mode = "House", depth=0):
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possible_goals = []
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a = gc_moveset[-1][0]
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b = gc_moveset[-1][1]
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possible_goals.append([a+1,b])
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possible_goals.append([a-1,b])
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possible_goals.append([a,b+1])
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possible_goals.append([a,b-1])
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object_in_area = False
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for location in possible_goals:
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if GRID_WIDTH>location[0]>=0 and GRID_HEIGHT>location[1]>=0:
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cell = grid[location[0]][location[1]]
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if mode == "House":
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if(type(cell) == House and cell.container.is_full and cell.unvisited):
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cell.unvisited = False
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object_in_area = True
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print("***"+str([cell,location])+"***")
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houses_list.remove([cell,location])
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break
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elif mode == "Dump":
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if(type(cell) == Dump and cell.unvisited):
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cell.unvisited = False
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object_in_area = True
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break
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if(object_in_area):
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xy = gc_moveset[-1]
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gc_moveset.append("pick_garbage")
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return (xy, gc_moveset)
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if len(available_movement) == 0 or depth>30:
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return
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x,y = gc_moveset[-1]
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print([x,y])
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print(houses_list)
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#calculate distance to the nearest object
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min_distance_goal = ['-',INF]
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for h in houses_list:
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distance = CalculateDistance([a,b],h[1])
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if(min_distance_goal[1] > distance):
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min_distance_goal = [h[1], distance]
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print(min_distance_goal)
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#set preffered directions based on the closest object
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preffered_directions = []
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if(min_distance_goal[0][0] >= a):
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preffered_directions.append("right")
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if(min_distance_goal[0][0] <= a):
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preffered_directions.append("left")
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if(min_distance_goal[0][1] >= b):
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preffered_directions.append("down")
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if(min_distance_goal[0][1] <= b):
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preffered_directions.append("up")
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print(preffered_directions)
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print(available_movement)
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print("=")
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output_list = available_movement.copy()
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output_list = output_list.sort(key=lambda x: preffered_directions.index(x))
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print(output_list)
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print("------------------------------")
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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, houses_list, "House", depth+1)
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if result!= None:
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return result
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@ -1,96 +0,0 @@
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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, houses_list):
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min_distance_goal = ['-',INF]
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for h in houses_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, houses_list, result, available_movement, mode = "House"):
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#result = [gc_moveset]
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if(len(houses_list) == 0 and depth > 100):
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return result
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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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constraint = 100
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while(len(houses_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(houses_list)
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#calculate distance to the nearest object
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min_distance_goal = CalculateDistance([x,y], houses_list)
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print(min_distance_goal)
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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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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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houses_list.remove([cell,min_distance_goal[0]])
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if(len(houses_list)==0):
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break
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available_movement = check_moves(grid, x, y)
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min_distance_goal = CalculateDistance([x,y], houses_list)
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print(min_distance_goal)
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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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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
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