488 lines
16 KiB
Python
488 lines
16 KiB
Python
import pygame
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import random
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import time
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import queue
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import math
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from tkinter import messagebox
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import tkinter as tk
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root = tk.Tk()
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root.withdraw() #ukrycie okna tworzonego przez tkinter
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pygame.init()
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def heuristic(current, goal):
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dx = abs(current[0] - goal[0])
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dy = abs(current[1] - goal[1])
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return math.sqrt(dx * dx + dy * dy)
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class Node():
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def __init__(self, parent = None, position = None):
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self.parent = parent
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self.position = position
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self.g = 0
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self.h = 0
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self.f = 0
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def __eq__(self, other):
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return self.position == other.position
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def aStar(start, end):
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if end in cantwalk:
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print("Wybrano nieodpowiednie pole!")
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return []
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start_node = Node(None, start)
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start_node.g = start_node.h = start_node.f = 0
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end_node = Node(None, end)
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end_node.g = end_node.h = end_node.f = 0
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open_list = []
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closed_list = []
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open_list.append(start_node)
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while len(open_list) > 0:
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current_node = open_list[0]
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current_index = 0
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for index, item in enumerate(open_list):
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if item.f < current_node.f:
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current_node = item
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current_index = index
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open_list.pop(current_index)
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closed_list.append(current_node)
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if current_node == end_node:
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path = []
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current = current_node
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while current is not None:
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path.append(current.position)
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current = current.parent
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return list(map(lambda t: (t[0], t[1]), path[::-1])) #zwraca odwróconą ściezkę
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children = []
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# można dodać (-1, -1), (-1, 1), (1, -1), (1, 1) dla poruszania się po przekątnej
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for new_position in [(0, -1), (0, 1), (-1, 0), (1, 0)]:
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node_position = (current_node.position[0] + new_position[0], current_node.position[1]
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+ new_position[1])
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if node_position[0] >= (rows - 1) or node_position[0] <= 0 or node_position[1] >= (rows - 1) \
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or node_position[1] <= 0: #spr. czy w kracie
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continue
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if node_position in cantwalk: #spr. czy można przejść
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continue
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new_node = Node(current_node, node_position)
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children.append(new_node)
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didBreak = False
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for child in children:
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didBreak = False
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for closed_child in closed_list:
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if child == closed_child:
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didBreak = True
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break
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if didBreak:
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continue
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if child.position in cantwalk:
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child.g = current_node.g + 99999
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elif child.position in puddles:
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child.g = current_node.g + 3
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else:
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child.g = current_node.g + 1
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child.h = heuristic(child.position, end_node.position)
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child.f = child.g + child.h
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for open_node in open_list:
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if child == open_node and child.g > open_node.g:
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didBreak = True
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break
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if didBreak:
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continue
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open_list.append(child)
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class Dish(object):
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def __init__(self, dishName, prepTime, eatTime, price):
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self.dishName = dishName
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self.preparationTime = prepTime
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self.eatingTime = eatTime
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self.price = price
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class Plate(object):
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def __init__(self, dish):
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self.dishName = dish.dishName
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self.isEmpty = False
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self.preparationTime = dish.preparationTime
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self.eatingTime = dish.eatingTime
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self.price = dish.price
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def eat(self):
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time.sleep(self.eatingTime)
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self.isEmpty = True #zjadanie dania jest oznaczeniem talerza jako pusty (metoda będzie wywoływana przez klienta)
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class Kitchen(object):
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def __init__(self, pos):
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self.readyDishes = queue.Queue(32) #kolejka o maksymalnej długości 32
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self.orders = queue.Queue(32) #wyskakiwał mi tu błąd - poprawiłam na dużą literę i jest ok
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self.pos = pos
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def makeDish(self):
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if not self.orders.empty():
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plate = self.orders.get()
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time.sleep(plate.preparationTime) #kuchnia przygotowuje danie przez określony czas
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self.readyDishes.put(plate)
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def giveDish(self):
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if not self.readyDishes.empty():
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plate = self.readyDishes.get()
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return plate
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else:
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return None
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def draw(self, surface):
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image1 = pygame.image.load(r'kitchen1.png')
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image1 = pygame.transform.scale(image1, (sizeBetween - 1, sizeBetween - 1))
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surface.blit(image1, (13*sizeBetween+1, 0*sizeBetween+1))
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image2 = pygame.image.load(r'kitchen2.png')
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image2 = pygame.transform.scale(image2, (sizeBetween - 1, sizeBetween - 1))
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surface.blit(image2, (14*sizeBetween+1, 0*sizeBetween+1))
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image3 = pygame.image.load(r'kitchen3.png')
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image3 = pygame.transform.scale(image3, (sizeBetween - 1, sizeBetween - 1))
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surface.blit(image3, (13*sizeBetween+1, 1*sizeBetween+1))
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image4 = pygame.image.load(r'kitchen4.png')
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image4 = pygame.transform.scale(image4, (sizeBetween - 1, sizeBetween - 1))
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surface.blit(image4, (14*sizeBetween+1, 1*sizeBetween+1))
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class Client(object):
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def __init__(self, age, sex, budget):
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self.age = age
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self.sex = sex
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self.myPlate = None
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self.budget = budget
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self.myTable = 0 #domyślnie klient nie siedzi przy żadnym stole
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def takePlateAndEat(self, plate):
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self.myPlate = plate
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plate.eat()
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def takeASeat(self, table):
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self.myTable = table
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class Table(object):
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def __init__(self, pos, capacity):
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self.pos = pos
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self.capacity = capacity
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def move(self, newx, newy): #metoda do ustawiania stołów poprzez podanie nowych współrzędnych
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self.pos[0] = newx
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self.pos[1] = newy
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def draw(self, surface):
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image = pygame.image.load(r'Table-croped.png')
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image = pygame.transform.scale(image, (sizeBetween - 1, sizeBetween - 1))
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i = self.pos[0]
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j = self.pos[1]
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surface.blit(image, (i*sizeBetween+1, j*sizeBetween+1))
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class Waiter(object):
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def __init__(self, color, pos, direction):
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self.color = color
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self.pos = pos #pozycja agenta, zapisana w formie dwuelementowej listy
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self.posx = pos[0]
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self.posy = pos[1]
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self.dirnx = 0 #zmienne dirnx i dirny używane są do ruchu bota i ustalania, w którą stronę jest zwrócony
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self.dirny = 1
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self.plates = [] #lista niesionych przez agenta talerzy, planowo lista par: (talerz, klient)
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self.direction = direction #kierunek, w ktory jest skierowany bot
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self.currentRotation = 0
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self.rotate = "forward"
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self.rotationNumber = 0
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def moveRandomly(self, noWalkable):
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rand = random.randrange(1, 5, 1) #losuje w zakresie 1-4
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#print(rand)
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if rand == 1:
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self.dirnx = -1
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self.dirny = 0
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self.direction = 'left'
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if self.pos[0] == 0 or ([self.pos[0] + self.dirnx, self.pos[1] + self.dirny] in noWalkable): #zabezpieczenie przed wyjściem bota poza obszar okna w ruchu losowym
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self.dirnx *= (-1) #oraz w miejsce, na ktore nie moze wejsc (stoły, kuchania)
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self.direction = 'right'
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self.pos = [self.pos[0] + self.dirnx, self.pos[1] + self.dirny]
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elif rand == 2:
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self.dirnx = 1
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self.dirny = 0
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self.direction = 'right'
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if self.pos[0] == 14 or ([self.pos[0] + self.dirnx, self.pos[1] + self.dirny] in noWalkable):
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self.dirnx *= (-1)
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self.direction = 'left'
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self.pos = [self.pos[0] + self.dirnx, self.pos[1] + self.dirny]
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elif rand == 3:
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self.dirnx = 0
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self.dirny = -1
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if self.pos[1] == 0 or ([self.pos[0] + self.dirnx, self.pos[1] + self.dirny] in noWalkable):
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self.dirny *= (-1)
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self.pos = [self.pos[0] + self.dirnx, self.pos[1] + self.dirny]
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elif rand == 4:
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self.dirnx = 0
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self.dirny = 1
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if self.pos[1] == 14 or ([self.pos[0] + self.dirnx, self.pos[1] + self.dirny] in noWalkable):
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self.dirny *= (-1)
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self.pos = [self.pos[0] + self.dirnx, self.pos[1] + self.dirny]
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def moveWithKeyboard(self, noWalkable): #funkcja testowa - bot sterowany z klawiatury
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for event in pygame.event.get():
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if event.type == pygame.QUIT:
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pygame.quit()
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quit()
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keys = pygame.key.get_pressed()
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for key in keys:
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if keys[pygame.K_LEFT]:
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self.dirnx = -1
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self.dirny = 0
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self.direction = 'left'
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if self.pos[0] == 0 or ([self.pos[0] + self.dirnx, self.pos[1] + self.dirny] in noWalkable): # zabezpieczenie przed wyjściem bota poza obszar okna w ruchu losowym
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#self.dirnx *= (-1)
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break
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else:
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self.pos = [self.pos[0] + self.dirnx, self.pos[1] + self.dirny]
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break
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# te break musiałam dodać, bo w przeciwnym wypadku zamiast jednego kroku robił 303 - jeden za drugim
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# nie wiem dlaczego tak było, po zmianie sterowania z klawiatury na bota samego w sobie nie powinno
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# być z tym problemów, to jest na razie tylko, żeby pokazać, że ten ruch jest
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elif keys[pygame.K_RIGHT]:
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self.dirnx = 1
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self.dirny = 0
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self.direction = 'right'
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if self.pos[0] == 14 or ([self.pos[0] + self.dirnx, self.pos[1] + self.dirny] in noWalkable):
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#self.dirnx *= (-1)
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break
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else:
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self.pos = [self.pos[0] + self.dirnx, self.pos[1] + self.dirny]
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break
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elif keys[pygame.K_UP]:
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self.dirnx = 0
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self.dirny = -1
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if self.pos[1] == 0 or ([self.pos[0] + self.dirnx, self.pos[1] + self.dirny] in noWalkable):
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#self.dirny *= (-1)
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break
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else:
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self.pos = [self.pos[0] + self.dirnx, self.pos[1] + self.dirny]
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break
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elif keys[pygame.K_DOWN]:
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self.dirnx = 0
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self.dirny = 1
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if self.pos[1] == 14 or ([self.pos[0] + self.dirnx, self.pos[1] + self.dirny] in noWalkable):
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#self.dirny *= (-1)
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break
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else:
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self.pos = [self.pos[0] + self.dirnx, self.pos[1] + self.dirny]
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break
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def resetPosition(self, pos):
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self.pos = pos
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def takePlates(self, kitchen):
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for i in range(2):
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plate = kitchen.giveDish()
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if plate == None:
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break
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else:
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self.plates.append(plate)
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def giveClientPlate(self, client):
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plate = self.plates.pop(0)
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client.takePlateAndEat(plate)
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def rotateRight(self):
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self.currentRotation += 90
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def rotateLeft(self):
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self.currentRotation -= 90
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def goForward(self, movex, movey):
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self.posx += movex
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self.posy += movey
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self.pos = (self.posx, self.posy)
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def draw(self, surface):
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image = pygame.image.load(r'waiter_right.png')
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image = pygame.transform.scale(image, (sizeBetween - 1, sizeBetween - 1))
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if self.rotate == "right":
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self.rotateRight()
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elif self.rotate == "left":
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self.rotateLeft()
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elif self.direction == "forward":
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pass
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image = pygame.transform.rotate(image, self.currentRotation)
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i = self.pos[0]
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j = self.pos[1]
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surface.blit(image, (i * sizeBetween + 1, j * sizeBetween + 1))
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def goByAStar(self, end):
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positionList = aStar(self.pos, end)
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print(positionList)
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if len(positionList) == 0:
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messagebox.showerror("BŁĄD!", "Wybrano nieosiągalne pole!")
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pygame.quit()
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exit()
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else:
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lenght = len(positionList) - 1
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for i in range(lenght):
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movex = positionList[i + 1][0] - positionList[i][0]
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movey = positionList[i + 1][1] - positionList[i][1]
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prevDirection = self.direction
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if movex == -1 and movey == 0:
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self.direction = 1 #"left"
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elif movex == 1 and movey == 0:
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self.direction = 3 #"right"
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elif movey == 1 and movex == 0:
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self.direction = 4 #"down"
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else:
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self.direction = 2 #"up"
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howToRotate = prevDirection - self.direction #działa!
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if howToRotate < 0:
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self.rotate = "left"
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self.rotationNumber = abs(howToRotate)
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elif howToRotate > 0:
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self.rotate = "right"
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self.rotationNumber = abs(howToRotate)
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elif howToRotate == 0:
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self.rotate = "forward"
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self.rotationNumber = 0
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#print(self.rotate)
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for i in range(self.rotationNumber):
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redrawWindow(window)
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time.sleep(0.5)
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self.rotate = "forward"
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self.rotationNumber = 0
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self.goForward(movex, movey)
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redrawWindow(window)
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time.sleep(0.5)
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def drawGrid(width, rows, surface):
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x = 0
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y = 0
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for i in range(rows):
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x = x + sizeBetween
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y = y + sizeBetween
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pygame.draw.line(surface, (255, 255, 255), (x, 0), (x, width))
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pygame.draw.line(surface, (255, 255, 255), (0, y), (width, y))
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def redrawWindow(surface):
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surface.fill(beige)
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bot.draw(surface)
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kitchen.draw(surface)
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for i in range(len(tables)):
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tables[i].draw(surface)
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for i in range(len(puddles)):
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image = pygame.image.load(r'puddle.png')
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image = pygame.transform.scale(image, (sizeBetween - 1, sizeBetween - 1))
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surface.blit(image, (puddles[i][0]* sizeBetween + 1, puddles[i][1]* sizeBetween + 1))
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drawGrid(width, rows, surface)
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pygame.display.update()
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def noWalkable(tables, kitchen):
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list = []
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for i in range(len(tables)):
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list.append(tables[i].pos)
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list.append(kitchen.pos)
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return list
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def main():
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global width, rows, bot, beige, white, black, sizeBetween, tables, kitchen, cantwalk, puddles, window
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# skróty do kolorów
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beige = (255, 205, 178)
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white = (255, 255, 255)
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black = (0, 0, 0)
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width = 600
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rows = 15
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sizeBetween = width // rows #wielkość pojedynczej kratki
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window = pygame.display.set_mode((width, width))
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bot = Waiter((255, 0, 0), (12, 8), 2)
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tables = []
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tables.append(Table((0, 3), 1))
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tables.append(Table((0, 6), 1))
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tables.append(Table((0, 9), 2))
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tables.append(Table((0, 12), 2))
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tables.append(Table((4, 4), 2))
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tables.append(Table((4, 7), 2))
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tables.append(Table((4, 10), 2))
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tables.append(Table((4, 13), 2))
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tables.append(Table((8, 3), 1))
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tables.append(Table((8, 6), 1))
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tables.append(Table((8, 9), 2))
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tables.append(Table((8, 12), 2))
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flag = True
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clock = pygame.time.Clock()
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kitchen = Kitchen((13, 1))
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cantwalk = noWalkable(tables, kitchen) # lista pozycji, na ktore bot nie moze wejsc
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puddles = []
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puddles.append((7, 10))
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puddles.append((2, 5))
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puddles.append((3, 12))
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puddles.append((10, 3))
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puddles.append((6, 2))
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puddles.append((12, 10))
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puddles.append((1, 4))
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while flag:
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redrawWindow(window)
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#bot.moveRandomly()
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goal = (1, 3)
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bot.goByAStar(goal)
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time.sleep(5)
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flag = False
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pygame.quit()
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exit()
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main()
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