68 lines
2.5 KiB
Python
68 lines
2.5 KiB
Python
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, 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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#calculate distance to the nearest object
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min_distance_goal = CalculateDistance([x,y], object_list)
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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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object_list.remove([cell,min_distance_goal[0]])
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return([x, y], gc_moveset, object_list)
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#if depth exceeded, return
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if(depth > 15 or len(available_movement) == 0):
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return
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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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#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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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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if result!= None:
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return result |