117 lines
3.6 KiB
Python
117 lines
3.6 KiB
Python
from warehouse import Coordinates, Tile, Pack
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from queue import PriorityQueue
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from math import sqrt
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class Node:
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def __init__(self, coord_x, coord_y):
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self.x = coord_x
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self.y = coord_y
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self.parent = None
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self.g_cost = 0
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self.h_cost = 0
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def __eq__(self, other):
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if isinstance(other, Node):
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return self.x == other.x and self.y == self.y
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return False
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def __lt__(self, other):
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return isinstance(other, Node) and self.g_cost < other.g_cost
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def __repr__(self):
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return "Node:{}x{}".format(self.x, self.y)
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class Agent:
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def __init__(self, start_x, start_y, assigned_warehouse, radius=5):
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self.x = start_x
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self.y = start_y
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self.radius = radius
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self.warehouse = assigned_warehouse
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self.is_loaded = False
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self.transported_package = None
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self.dest = Node(1, 1)
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self.closed = list()
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self.open = PriorityQueue()
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self.path = list()
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def find_path(self):
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self.closed = []
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self.open = PriorityQueue()
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import pdb
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start_node = Node(self.x, self.y)
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self.open.put((0, start_node))
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while self.open:
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_, current_node = self.open.get()
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print(current_node.x, current_node.y)
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self.closed.append(current_node)
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if current_node.x == self.dest.x and current_node.y == self.dest.y:
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# pdb.set_trace()
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while current_node.x != start_node.x and current_node.y != start_node.y:
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self.path.append(current_node)
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current_node = current_node.parent
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return True
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neighbour_list = self.get_neighbours(current_node)
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for neighbour in neighbour_list:
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cost = current_node.g_cost + self.heuristic(current_node, neighbour)
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if self.check_if_closed(neighbour):
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continue
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if self.check_if_open(neighbour):
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if neighbour.g_cost > cost:
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neighbour.g_cost = cost
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neighbour.parent = current_node
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else:
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neighbour.g_cost = cost
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neighbour.h_cost = self.heuristic(neighbour, self.dest)
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neighbour.parent = current_node
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self.open.put((neighbour.g_cost, neighbour))
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# pdb.set_trace()
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return False
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def heuristic(self, nodeA: Node, nodeB: Node):
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diff_x = pow(nodeB.x - nodeA.x, 2)
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diff_y = pow(nodeB.y - nodeA.y, 2)
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return round(sqrt(diff_x + diff_y), 3)
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def check_if_open(self, node: Node):
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return (node.x, node.y) in [(n.x, n.y) for (_,n) in self.open.queue]
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def check_if_closed(self, node: Node):
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return (node.x, node.y) in [(n.x, n.y) for n in self.closed]
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def get_neighbours(self, node: Node):
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neighbours = []
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print(neighbours)
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if self.check_if_can_move(Coordinates(node.x + 1, node.y)):
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neighbours.append(Node(node.x + 1, node.y))
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if self.check_if_can_move(Coordinates(node.x - 1, node.y)):
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neighbours.append(Node(node.x - 1, node.y))
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if self.check_if_can_move(Coordinates(node.x, node.y + 1)):
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neighbours.append(Node(node.x, node.y + 1))
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if self.check_if_can_move(Coordinates(node.x, node.y - 1)):
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neighbours.append(Node(node.x, node.y - 1))
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return neighbours
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def move(self):
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if not self.path:
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if not self.find_path():
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return
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else:
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next = self.path.pop()
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self.x = next.x
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self.y = next.y
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self.closed = []
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def check_if_can_move(self, next_coords: Coordinates):
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tile_on_map = 0 <= next_coords.x < self.warehouse.width and 0 <= next_coords.y < self.warehouse.height
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if not tile_on_map:
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return False
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next_tile = self.warehouse.tiles[next_coords.x][next_coords.y]
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tile_passable = isinstance(next_tile, Tile) and next_tile.category.passable
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return tile_passable
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def pick_up_package(self, pack):
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tile = pack.lays_on_field
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self.assigned_warehouse.tiles[tile.x_position][tile.y_position] = tile
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self.is_loaded = True
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pack.lays_on_field = None
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self.transported_package = pack
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