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Yakudami 2020-04-27 22:14:07 +02:00
parent 976d285e4b
commit b2463050bc
6 changed files with 90 additions and 118 deletions
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__pycache__/agent.cpython-37.pyc Normal file
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__pycache__/attributes.cpython-37.pyc Normal file
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__pycache__/warehouse.cpython-37.pyc Normal file
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181
agent.py
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@ -1,96 +1,91 @@
from warehouse import Coordinates, Tile, Pack
from attributes import PackStatus, TURN_LEFT_DIRECTIONS, TURN_RIGHT_DIRECTIONS
class Node:
def __init__(self, coord_x, coord_y):
self.x = coord_x
self.y = coord_y
self.parent = None
self.g_cost = 0
self.h_cost = 0
def __eq__(self, other):
if isinstance(other, Node):
return self.x == other.x and self.y == self.y
return False
class Agent:
def __init__(self, start_x, start_y, assigned_warehouse, radius=5):
self.x = start_x
self.y = start_y
self.direction = 'down'
self.radius = radius
self.assigned_warehouse = assigned_warehouse
self.is_loaded = False
self.transported_package = None
def demo_agent_move(self, demo_agent_step, demo_step_max=5):
demo_agent_sign = 0
next_coords = self.get_next_move_coordinates()
can_move = self.check_if_can_move(next_coords)
if demo_agent_step >= demo_step_max:
demo_agent_sign = -1
self.direction = 'up'
elif demo_agent_step == 0:
demo_agent_sign = 1
self.direction = 'down'
if not can_move:
alternative_move = ('left' if self.check_if_can_move(self.move_left()) else None) or ('right' if self.check_if_can_move(self.move_right()) else self.direction)
self.direction = alternative_move
else:
self.x = next_coords.x
self.y = next_coords.y
def turn_left(self):
new_direction = TURN_LEFT_DIRECTIONS.get(self.direction, self.direction)
self.direction = new_direction
def turn_right(self):
new_direction = TURN_RIGHT_DIRECTIONS.get(self.direction, self.direction)
self.direction = new_direction
def move(self):
next_coords = self.get_next_move_coordinates()
can_move = self.check_if_can_move(next_coords)
if can_move:
self.x = next_coords.x
self.y = next_coords.y
def get_next_move_coordinates(self):
direction_moves = {
'up': self.move_up(),
'down': self.move_down(),
'left': self.move_left(),
'right': self.move_right()
}
next_coords = direction_moves.get(self.direction, Coordinates(self.x, self.y))
return next_coords
def check_if_can_move(self, next_coords: Coordinates):
next_tile = self.assigned_warehouse.tiles[next_coords.x][next_coords.y]
tile_passable = isinstance(next_tile, Tile) and next_tile.category.passable
tile_on_map = 0 <= next_coords.x < self.assigned_warehouse.width and 0 <= next_coords.y < self.assigned_warehouse.height
return tile_passable and tile_on_map
def move_right(self):
pos_x = self.x + 1
if pos_x > self.assigned_warehouse.width - 1:
pos_x = self.assigned_warehouse.width - 1
return Coordinates(x=pos_x, y=self.y)
def move_left(self):
pos_x = self.x - 1
if pos_x < 0:
pos_x = 0
return Coordinates(x=pos_x, y=self.y)
def move_down(self):
pos_y = self.y + 1
if pos_y > self.assigned_warehouse.height - 1:
pos_y = self.assigned_warehouse.height - 1
return Coordinates(x=self.x, y=pos_y)
def move_up(self):
pos_y = self.y - 1
if pos_y < 0:
pos_y = 0
return Coordinates(x=self.x, y=pos_y)
def package_ahead(self):
next_coords = self.get_next_move_coordinates()
potential_package = self.assigned_warehouse.tiles[next_coords.x][next_coords.y]
return isinstance(potential_package, Pack) and potential_package.status != PackStatus.STORED
def pick_up_package(self, pack):
tile = pack.lays_on_field
self.assigned_warehouse.tiles[tile.x_position][tile.y_position] = tile
self.is_loaded = True
pack.lays_on_field = None
self.transported_package = pack
def __init__(self, start_x, start_y, assigned_warehouse, radius=5):
self.x = start_x
self.y = start_y
self.radius = radius
self.warehouse = assigned_warehouse
self.is_loaded = False
self.transported_package = None
self.dest = Node(0, 0)
self.closed = list()
self.open = list()
self.path = list()
def find_path(self):
start_node = Node(self.x, self.y)
self.open.append(start_node)
while self.open:
current_node = self.open.pop()
self.closed.append(current_node)
if current_node.x == self.dest.x and current_node.y == self.dest.y:
while current_node != start_node:
path.append(current_node)
current_node = current_node.parent
return True
neighbour_list = self.get_neighbours(current_node)
for neighbour in neighbour_list:
if neighbour in self.closed:
continue
cost = current_node.g_cost + self.heur_cost_est(current_node, neighbour)
if cost < neighbour.g_cost or neighbour not in self.open:
neighbour.g_cost = cost
neighbour.h_cost = self.heur_cost_est(neighbour, self.dest)
neighbour.parent = current_node
if neighbour not in self.open:
self.open.append(neighbour);
return False
def heur_cost_est(self, nodeA: Node, nodeB: Node):
deltaX = abs(nodeA.x - nodeB.x)
deltaY = abs(nodeA.y - nodeB.y)
if deltaX > deltaY:
return (14 * deltaY) + (10 * (deltaX - deltaY))
return (14 * deltaX) + (10 *(deltaY - deltaX))
def get_neighbours(self, node: Node):
neighbours = list()
#if self.check_if_can_move(Coordinates(node.x + 1, node.y)):
neighbours.append(Node(node.x + 1, node.y))
#if self.check_if_can_move(Coordinates(node.x - 1, node.y)):
neighbours.append(Node(node.x - 1, node.y))
#if self.check_if_can_move(Coordinates(node.x, node.y + 1)):
neighbours.append(Node(node.x, node.y + 1))
#if self.check_if_can_move(Coordinates(node.x, node.y - 1)):
neighbours.append(Node(node.x, node.y - 1))
return neighbours
def move(self):
if not self.path:
if not self.find_path():
return
else:
next = self.path.pop()
self.x = next.x
self.y = next.y
def check_if_can_move(self, next_coords: Coordinates):
next_tile = self.warehouse.tiles[next_coords.x][next_coords.y]
tile_passable = isinstance(next_tile, Tile) and next_tile.category.passable
tile_on_map = 0 <= next_coords.x < self.warehouse.width and 0 <= next_coords.y < self.warehouse.height
return tile_passable and tile_on_map
def pick_up_package(self, pack):
tile = pack.lays_on_field
self.assigned_warehouse.tiles[tile.x_position][tile.y_position] = tile
self.is_loaded = True
pack.lays_on_field = None
self.transported_package = pack

15
attributes.py
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@ -26,18 +26,3 @@ COLORS = {
'lightgreen': (70, 238, 70),
'red': (255, 0, 0)
}
TURN_LEFT_DIRECTIONS = {
"left": "down",
"down": "right",
"right": "up",
"up": "left"
}
TURN_RIGHT_DIRECTIONS = {
"left": "up",
"up": "right",
"right": "down",
"down": "left"
}

12
main.py
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@ -25,8 +25,6 @@ class MainGameFrame:
self.clock = pygame.time.Clock()
def run(self):
demo_agent_step = 1
demo_agent_sign = 1
while True:
for event in pygame.event.get():
if event.type == pygame.QUIT:
@ -35,13 +33,7 @@ class MainGameFrame:
self.draw_floor()
self.draw_packages()
self.draw_agent()
self.agent.demo_agent_move(demo_agent_step, 8) #linijka w celu zademonstrowania poruszania się agenta
# self.agent.move() #oryginalna linijka
demo_agent_step += (1*demo_agent_sign)
if demo_agent_step >= 8:
demo_agent_sign = -1
if demo_agent_step == 0:
demo_agent_sign = 1
self.agent.move()
pygame.display.update()
self.clock.tick(5)
@ -90,4 +82,4 @@ class MainGameFrame:
if __name__ == '__main__':
maingame = MainGameFrame()
maingame.run()
maingame.run()