BFS Alg

src/main.py

@@ -1,18 +1,18 @@
 import os
+import os
 import random
-import time
-import threading
 
 import pygame
 
-FPS = 60
+FPS = 2
 
-WINDOW_HEIGHT = 720
+DEFAULT_ASSET_SIZE = 64
-WINDOW_WIDTH = 1280
+DEFAULT_MAP_SIZE = 16
+
+WINDOW_HEIGHT = DEFAULT_ASSET_SIZE * DEFAULT_MAP_SIZE
+WINDOW_WIDTH = DEFAULT_ASSET_SIZE * DEFAULT_MAP_SIZE
 PADDING = 64
 
-DEFAULT_ASSET_SIZE = 128
-
 TRASHES_COUNT = 4
 
 WHITE_COLOR = (255, 255, 255)
@@ -20,13 +20,49 @@ WHITE_COLOR = (255, 255, 255)
 TRASH_BOTTLE = "TRASH_BOTTLE"
 TRASH_CAN = "TRASH_CAN"
 
+FREE_SPACE = 0
+OBSTACLE = 1
+
+D_RIGHT = "D_RIGHT"
+D_LEFT = "D_LEFT"
+D_UP = "D_UP"
+D_DOWN = "D_DOWN"
+
+R_RIGHT = "R_RIGHT"
+R_LEFT = "R_LEFT"
+R_UP = "R_UP"
+R_DOWN = "R_DOWN"
+
+NAVIAGTION_EVENT = pygame.USEREVENT + 1
+
+
+class Space:
+    def __init__(self, x, y):
+        self.abstractX = x
+        self.abstractY = y
+        self.object = pygame.Rect(self.abstractX * DEFAULT_ASSET_SIZE, self.abstractY * DEFAULT_ASSET_SIZE,
+                                  DEFAULT_ASSET_SIZE, DEFAULT_ASSET_SIZE)
+        self.asset = pygame.Surface((64, 64))
+        self.asset.fill((21, 30, 40))
+
+
+class Obs:
+    def __init__(self, x, y):
+        self.abstractX = x
+        self.abstractY = y
+        self.object = pygame.Rect(self.abstractX * DEFAULT_ASSET_SIZE, self.abstractY * DEFAULT_ASSET_SIZE,
+                                  DEFAULT_ASSET_SIZE, DEFAULT_ASSET_SIZE)
+        self.asset = pygame.Surface((64, 64))
+        self.asset.fill((171, 48, 74))
+
 
 class Trash:
-    def __init__(self):
+    def __init__(self, x, y):
-        self.generate_random_trash()
+        self.abstractX = x
-        self.get_random_coordinates()
+        self.abstractY = y
+        self.generate_random_trash(x, y)
 
-    def generate_random_trash(self):
+    def generate_random_trash(self, x, y):
         random_index = random.randint(1, 2)
 
         if random_index == 1:
@@ -36,98 +72,320 @@ class Trash:
             self.type = TRASH_CAN
             asset_path = os.path.join(os.path.dirname(__file__), '..', 'assets', 'trashes', 'can.png')
 
-        self.asset = pygame.image.load(asset_path)
+        self.asset = pygame.transform.scale(pygame.image.load(asset_path), (DEFAULT_ASSET_SIZE, DEFAULT_ASSET_SIZE))
-        coordinates = self.get_random_coordinates()
+        self.object = pygame.Rect(self.abstractX * DEFAULT_ASSET_SIZE, self.abstractY * DEFAULT_ASSET_SIZE,
-        self.object = pygame.Rect(coordinates["x"], coordinates["y"], DEFAULT_ASSET_SIZE, DEFAULT_ASSET_SIZE)
+                                  DEFAULT_ASSET_SIZE, DEFAULT_ASSET_SIZE)
-
-    def get_random_coordinates(self):
-        return {
-            "x": random.randint(PADDING, WINDOW_WIDTH - PADDING),
-            "y": random.randint(PADDING, WINDOW_HEIGHT - PADDING)
-        }
 
 
 class Truck:
-    def __init__(self):
+    def __init__(self, x=0, y=0):
+        self.abstractX = x
+        self.abstractY = y
+        self.direction = D_RIGHT
         asset_path = os.path.join(os.path.dirname(__file__), '..', 'assets', 'garbage-truck.png')
-        self.asset = pygame.image.load(asset_path)
+        self.backAsset = pygame.transform.scale(pygame.image.load(asset_path), (DEFAULT_ASSET_SIZE, DEFAULT_ASSET_SIZE))
-        self.object = pygame.Rect(WINDOW_WIDTH // 2, WINDOW_HEIGHT // 2, DEFAULT_ASSET_SIZE, DEFAULT_ASSET_SIZE)
+        self.asset = pygame.transform.scale(pygame.image.load(asset_path), (DEFAULT_ASSET_SIZE, DEFAULT_ASSET_SIZE))
-        self.velocity = 5
+        self.object = pygame.Rect(self.abstractX * DEFAULT_ASSET_SIZE, self.abstractY * DEFAULT_ASSET_SIZE,
+                                  DEFAULT_ASSET_SIZE, DEFAULT_ASSET_SIZE)
+        self.velocity = DEFAULT_ASSET_SIZE
 
-    def move_up(self):
+    def rotate_up(self):
+        self.asset = self.backAsset
+        self.asset = pygame.transform.rotate(self.asset, 90)
+        self.direction = D_UP
+
+    def rotate_down(self):
+        self.asset = self.backAsset
+        self.asset = pygame.transform.rotate(self.asset, -90)
+        self.direction = D_DOWN
+
+    def rotate_right(self):
+        self.asset = self.backAsset
+        self.direction = D_RIGHT
+
+    def rotate_left(self):
+        self.asset = self.backAsset
+        self.asset = pygame.transform.rotate(self.asset, 180)
+        self.asset = pygame.transform.flip(self.asset, False, True)
+        self.direction = D_LEFT
+
+    def move(self, map):
+        if self.direction == D_UP:
+            self.move_up(map)
+        if self.direction == D_DOWN:
+            self.move_down(map)
+        if self.direction == D_RIGHT:
+            self.move_right(map)
+        if self.direction == D_LEFT:
+            self.move_left(map)
+
+    def replace(self, map, oldX, oldY):
+        map[oldX][oldY] = Space(oldX, oldY)
+        map[self.abstractX][self.abstractY] = self
+
+    def move_up(self, map):
+        if self.abstractY == 0:
+            return
+        oldX = self.abstractX
+        oldY = self.abstractY
+        if isinstance(map[self.abstractX][self.abstractY - 1], Obs):
+            return
+        self.abstractY -= 1
         self.object.y -= self.velocity
+        self.replace(map, oldX, oldY)
 
-    def move_down(self):
+    def move_down(self, map):
+        if self.abstractY == DEFAULT_MAP_SIZE - 1:
+            return
+        oldX = self.abstractX
+        oldY = self.abstractY
+        if isinstance(map[self.abstractX][self.abstractY + 1], Obs):
+            return
+        self.abstractY += 1
         self.object.y += self.velocity
+        self.replace(map, oldX, oldY)
 
-    def move_right(self):
+    def move_right(self, map):
+        if self.abstractX == DEFAULT_MAP_SIZE - 1:
+            return
+        oldX = self.abstractX
+        oldY = self.abstractY
+        if isinstance(map[self.abstractX + 1][self.abstractY], Obs):
+            return
+        self.abstractX += 1
         self.object.x += self.velocity
+        self.replace(map, oldX, oldY)
 
-    def move_left(self):
+    def move_left(self, map):
+        if self.abstractX == 0:
+            return
+        oldX = self.abstractX
+        oldY = self.abstractY
+        if isinstance(map[self.abstractX - 1][self.abstractY], Obs):
+            return
+        self.abstractX -= 1
         self.object.x -= self.velocity
+        self.replace(map, oldX, oldY)
+
+
+class EnvMap:
+    def __init__(self):
+        self.map = self.generate_map()
+
+    def generate_map_field(self, x, y):
+        random_index = random.randint(0, 100)
+        if random_index == -1:
+            return Trash(x, y)
+        elif random_index < 80:
+            return Space(x, y)
+        else:
+            return Obs(x, y)
+
+    def generate_map(self):
+        temp_map = []
+        for x in range(DEFAULT_MAP_SIZE):
+            temp_map.append([self.generate_map_field(x, y) for y in range(16)])
+
+        temp_map[12][14] = Trash(12, 14)
+        return temp_map
+
+
+class Node():
+    def __init__(self, state):
+        self.state = state
+        self.parent = None
+        self.action = None
 
 
 class Environment:
     def __init__(self):
         self.truck = Truck()
+        self.envMap = EnvMap()
+        self.envMap.map[0][0] = self.truck
         self.run = True
         self.clock = pygame.time.Clock()
         self.WINDOW = pygame.display.set_mode((WINDOW_WIDTH, WINDOW_HEIGHT))
         self.trashes_list = []
-        self.generate_trashes(TRASHES_COUNT)
         self.trashes_collected = []
 
         while self.run:
+            self.update()
+
+    def update(self):
         self.clock.tick(FPS)
         for event in pygame.event.get():
             if event.type == pygame.QUIT:
                 self.run = False
+            if event.type == pygame.KEYDOWN:
+                self.handle_keyboard(event.key)
 
-            self.keys_pressed = pygame.key.get_pressed()
         self.draw_objects()
-            self.handle_keyboard()
-            self.handle_collisions()
 
     def draw_objects(self):
         self.WINDOW.fill(WHITE_COLOR)
-        self.draw_trashes()
+        self.draw_map()
-        self.WINDOW.blit(self.truck.asset, (self.truck.object.x, self.truck.object.y))
         pygame.display.update()
 
-    def draw_trashes(self):
+    def draw_map(self):
-        for trash in self.trashes_list:
+        for x in range(DEFAULT_MAP_SIZE):
-            self.WINDOW.blit(trash.asset, (trash.object.x, trash.object.y))
+            for y in range(DEFAULT_MAP_SIZE):
+                obj = self.envMap.map[x][y]
+                self.WINDOW.blit(obj.asset, (obj.object.x, obj.object.y))
 
-    def handle_keyboard(self):
+    def handle_keyboard(self, key):
-        if self.keys_pressed[pygame.K_w]:
+        if key == pygame.K_SPACE:
-            self.truck.move_up()
+            self.truck.move(self.envMap.map)
-        if self.keys_pressed[pygame.K_s]:
+        if key == pygame.K_w:
-            self.truck.move_down()
+            self.truck.rotate_up()
-        if self.keys_pressed[pygame.K_d]:
+        if key == pygame.K_s:
-            self.truck.move_right()
+            self.truck.rotate_down()
-        if self.keys_pressed[pygame.K_a]:
+        if key == pygame.K_d:
-            self.truck.move_left()
+            self.truck.rotate_right()
+        if key == pygame.K_a:
+            self.truck.rotate_left()
+        if key == pygame.K_o:
+            cpy = self.get_map_copy(self.envMap.map)
+            actions = self.graphsearch([], [], cpy, self.succ, self.goal_test)
+            self.navigate(actions)
 
-    def generate_trashes(self, count):
-        for i in range(count):
-            trash = Trash()
-            self.WINDOW.blit(trash.asset, (trash.object.x, trash.object.y))
-            self.trashes_list.append(trash)
 
-    def add_trashes(self):
+    def get_map_copy(self, map):
-        time.sleep(1)
+        newMap = []
-        trash = Trash()
+        for x in range(DEFAULT_MAP_SIZE):
-        self.WINDOW.blit(trash.asset, (trash.object.x, trash.object.y))
+            newMap.append([None for y in range(16)])
-        self.trashes_list.append(trash)
+        for x in range(DEFAULT_MAP_SIZE):
+            for y in range(DEFAULT_MAP_SIZE):
+                o = map[x][y]
+                no = None
+                if o.__class__.__name__ == 'Truck':
+                    no = Truck(x, y)
 
-    def handle_collisions(self):
+                if o.__class__.__name__ == 'Trash':
-        for trash in self.trashes_list:
+                    no = Trash(x, y)
-            if self.truck.object.colliderect(trash.object):
+
-                self.trashes_collected.append(trash)
+                if o.__class__.__name__ == 'Obs':
-                self.trashes_list.remove(trash)
+                    no = Obs(x, y)
-                timer = threading.Thread(target=self.add_trashes)
+
-                timer.daemon = True
+                if o.__class__.__name__ == 'Space':
-                timer.start()
+                    no = Space(x, y)
+
+                newMap[x][y] = no
+
+        return newMap
+
+    def goal_test(self, state):
+        for x in range(DEFAULT_MAP_SIZE):
+            for y in range(DEFAULT_MAP_SIZE):
+                if isinstance(state[x][y], Trash):
+                    return False
+        return True
+
+    def succ(self, state):
+        pack = []
+        truck = None
+        for x in range(DEFAULT_MAP_SIZE):
+            for y in range(DEFAULT_MAP_SIZE):
+                if isinstance(state[x][y], Truck):
+                    truck = state[x][y]
+
+        print("x: {} y: {}".format(truck.abstractX, truck.abstractY))
+
+        altState1 = self.get_map_copy(state)
+        t1 = altState1[truck.abstractX][truck.abstractY]
+        t1.rotate_up()
+        t1.move(altState1)
+
+        altState2 = self.get_map_copy(state)
+        t2 = altState2[truck.abstractX][truck.abstractY]
+        t2.rotate_down()
+        t2.move(altState2)
+
+        altState3 = self.get_map_copy(state)
+        t3 = altState3[truck.abstractX][truck.abstractY]
+        t3.rotate_right()
+        t3.move(altState3)
+
+        altState4 = self.get_map_copy(state)
+        t4 = altState4[truck.abstractX][truck.abstractY]
+        t4.rotate_left()
+        t4.move(altState4)
+
+        pack.append([R_UP, altState1])
+        pack.append([R_DOWN, altState2])
+        pack.append([R_RIGHT, altState3])
+        pack.append([R_LEFT, altState4])
+
+        return pack
+
+    def are_states_the_same(self, s1, s2):
+        for x in range(DEFAULT_MAP_SIZE):
+            for y in range(DEFAULT_MAP_SIZE):
+                a = s1[x][y]
+                b = s2[x][y]
+                if a.__class__.__name__ != b.__class__.__name__:
+                    return False
+        return True
+
+    def is_state_belongs(self, fringe, explored, state):
+        for elem in fringe:
+            if self.are_states_the_same(elem.state, state):
+                return True
+        for elem in explored:
+            if self.are_states_the_same(elem.state, state):
+                return True
+        return False
+
+    def navigate(self, actions):
+        print('actions:')
+        print(actions)
+        next = pygame.time.get_ticks() + 300
+        while len(actions) > 0:
+            if next <= pygame.time.get_ticks():
+                action = actions.pop()
+                next = pygame.time.get_ticks() + 300
+                self.update()
+                if action == R_UP:
+                    ev = pygame.event.Event(pygame.KEYDOWN, {"key": pygame.K_w})
+                if action == R_DOWN:
+                    ev = pygame.event.Event(pygame.KEYDOWN, {"key": pygame.K_s})
+
+                if action == R_RIGHT:
+                    ev = pygame.event.Event(pygame.KEYDOWN, {"key": pygame.K_d})
+
+                if action == R_LEFT:
+                    ev = pygame.event.Event(pygame.KEYDOWN, {"key": pygame.K_a})
+
+                pygame.event.post(ev)
+
+                ev = pygame.event.Event(pygame.KEYDOWN, {"key": pygame.K_SPACE})
+                pygame.event.post(ev)
+
+    def graphsearch(self, fringe, explored, istate, succ, goaltest):
+        fringe.append(Node(istate))
+
+        while True:
+            if len(fringe) == 0:
+                return False
+
+            elem = fringe.pop()
+
+            if goaltest(elem.state):
+                actions_pack = []
+                while (elem.parent):
+                    print(elem.action)
+                    actions_pack.append(elem.action)
+                    elem = elem.parent
+
+                return actions_pack
+
+            explored.append(elem)
+
+            for [action, state] in succ(elem.state):
+                if not self.is_state_belongs(fringe, explored, state):
+                    x = Node(state)
+                    x.parent = elem
+                    x.action = action
+                    fringe.append(x)
 
 
 environment = Environment()

t.py

@@ -0,0 +1,3 @@
+a = 100000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+b = 12
+print(a*b * 99 / 4)