BFS Alg
This commit is contained in:
Krzysztof Surażyński
parent
a732c83f05
commit
499b7a5de4
386
src/main.py
386
src/main.py
@ -1,18 +1,18 @@
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import os
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import os
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import random
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import time
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import threading
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import pygame
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FPS = 60
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FPS = 2
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WINDOW_HEIGHT = 720
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WINDOW_WIDTH = 1280
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DEFAULT_ASSET_SIZE = 64
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DEFAULT_MAP_SIZE = 16
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WINDOW_HEIGHT = DEFAULT_ASSET_SIZE * DEFAULT_MAP_SIZE
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WINDOW_WIDTH = DEFAULT_ASSET_SIZE * DEFAULT_MAP_SIZE
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PADDING = 64
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DEFAULT_ASSET_SIZE = 128
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TRASHES_COUNT = 4
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WHITE_COLOR = (255, 255, 255)
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@ -20,13 +20,49 @@ WHITE_COLOR = (255, 255, 255)
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TRASH_BOTTLE = "TRASH_BOTTLE"
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TRASH_CAN = "TRASH_CAN"
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FREE_SPACE = 0
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OBSTACLE = 1
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D_RIGHT = "D_RIGHT"
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D_LEFT = "D_LEFT"
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D_UP = "D_UP"
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D_DOWN = "D_DOWN"
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R_RIGHT = "R_RIGHT"
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R_LEFT = "R_LEFT"
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R_UP = "R_UP"
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R_DOWN = "R_DOWN"
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NAVIAGTION_EVENT = pygame.USEREVENT + 1
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class Space:
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def __init__(self, x, y):
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self.abstractX = x
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self.abstractY = y
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self.object = pygame.Rect(self.abstractX * DEFAULT_ASSET_SIZE, self.abstractY * DEFAULT_ASSET_SIZE,
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DEFAULT_ASSET_SIZE, DEFAULT_ASSET_SIZE)
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self.asset = pygame.Surface((64, 64))
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self.asset.fill((21, 30, 40))
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class Obs:
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def __init__(self, x, y):
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self.abstractX = x
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self.abstractY = y
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self.object = pygame.Rect(self.abstractX * DEFAULT_ASSET_SIZE, self.abstractY * DEFAULT_ASSET_SIZE,
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DEFAULT_ASSET_SIZE, DEFAULT_ASSET_SIZE)
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self.asset = pygame.Surface((64, 64))
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self.asset.fill((171, 48, 74))
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class Trash:
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def __init__(self):
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self.generate_random_trash()
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self.get_random_coordinates()
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def __init__(self, x, y):
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self.abstractX = x
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self.abstractY = y
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self.generate_random_trash(x, y)
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def generate_random_trash(self):
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def generate_random_trash(self, x, y):
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random_index = random.randint(1, 2)
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if random_index == 1:
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@ -36,98 +72,320 @@ class Trash:
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self.type = TRASH_CAN
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asset_path = os.path.join(os.path.dirname(__file__), '..', 'assets', 'trashes', 'can.png')
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self.asset = pygame.image.load(asset_path)
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coordinates = self.get_random_coordinates()
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self.object = pygame.Rect(coordinates["x"], coordinates["y"], DEFAULT_ASSET_SIZE, DEFAULT_ASSET_SIZE)
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def get_random_coordinates(self):
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return {
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"x": random.randint(PADDING, WINDOW_WIDTH - PADDING),
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"y": random.randint(PADDING, WINDOW_HEIGHT - PADDING)
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}
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self.asset = pygame.transform.scale(pygame.image.load(asset_path), (DEFAULT_ASSET_SIZE, DEFAULT_ASSET_SIZE))
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self.object = pygame.Rect(self.abstractX * DEFAULT_ASSET_SIZE, self.abstractY * DEFAULT_ASSET_SIZE,
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DEFAULT_ASSET_SIZE, DEFAULT_ASSET_SIZE)
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class Truck:
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def __init__(self):
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def __init__(self, x=0, y=0):
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self.abstractX = x
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self.abstractY = y
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self.direction = D_RIGHT
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asset_path = os.path.join(os.path.dirname(__file__), '..', 'assets', 'garbage-truck.png')
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self.asset = pygame.image.load(asset_path)
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self.object = pygame.Rect(WINDOW_WIDTH // 2, WINDOW_HEIGHT // 2, DEFAULT_ASSET_SIZE, DEFAULT_ASSET_SIZE)
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self.velocity = 5
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self.backAsset = pygame.transform.scale(pygame.image.load(asset_path), (DEFAULT_ASSET_SIZE, DEFAULT_ASSET_SIZE))
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self.asset = pygame.transform.scale(pygame.image.load(asset_path), (DEFAULT_ASSET_SIZE, DEFAULT_ASSET_SIZE))
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self.object = pygame.Rect(self.abstractX * DEFAULT_ASSET_SIZE, self.abstractY * DEFAULT_ASSET_SIZE,
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DEFAULT_ASSET_SIZE, DEFAULT_ASSET_SIZE)
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self.velocity = DEFAULT_ASSET_SIZE
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def move_up(self):
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def rotate_up(self):
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self.asset = self.backAsset
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self.asset = pygame.transform.rotate(self.asset, 90)
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self.direction = D_UP
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def rotate_down(self):
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self.asset = self.backAsset
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self.asset = pygame.transform.rotate(self.asset, -90)
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self.direction = D_DOWN
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def rotate_right(self):
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self.asset = self.backAsset
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self.direction = D_RIGHT
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def rotate_left(self):
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self.asset = self.backAsset
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self.asset = pygame.transform.rotate(self.asset, 180)
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self.asset = pygame.transform.flip(self.asset, False, True)
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self.direction = D_LEFT
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def move(self, map):
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if self.direction == D_UP:
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self.move_up(map)
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if self.direction == D_DOWN:
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self.move_down(map)
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if self.direction == D_RIGHT:
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self.move_right(map)
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if self.direction == D_LEFT:
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self.move_left(map)
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def replace(self, map, oldX, oldY):
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map[oldX][oldY] = Space(oldX, oldY)
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map[self.abstractX][self.abstractY] = self
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def move_up(self, map):
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if self.abstractY == 0:
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return
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oldX = self.abstractX
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oldY = self.abstractY
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if isinstance(map[self.abstractX][self.abstractY - 1], Obs):
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return
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self.abstractY -= 1
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self.object.y -= self.velocity
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self.replace(map, oldX, oldY)
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def move_down(self):
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def move_down(self, map):
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if self.abstractY == DEFAULT_MAP_SIZE - 1:
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return
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oldX = self.abstractX
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oldY = self.abstractY
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if isinstance(map[self.abstractX][self.abstractY + 1], Obs):
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return
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self.abstractY += 1
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self.object.y += self.velocity
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self.replace(map, oldX, oldY)
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def move_right(self):
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def move_right(self, map):
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if self.abstractX == DEFAULT_MAP_SIZE - 1:
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return
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oldX = self.abstractX
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oldY = self.abstractY
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if isinstance(map[self.abstractX + 1][self.abstractY], Obs):
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return
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self.abstractX += 1
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self.object.x += self.velocity
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self.replace(map, oldX, oldY)
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def move_left(self):
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def move_left(self, map):
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if self.abstractX == 0:
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return
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oldX = self.abstractX
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oldY = self.abstractY
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if isinstance(map[self.abstractX - 1][self.abstractY], Obs):
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return
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self.abstractX -= 1
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self.object.x -= self.velocity
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self.replace(map, oldX, oldY)
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class EnvMap:
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def __init__(self):
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self.map = self.generate_map()
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def generate_map_field(self, x, y):
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random_index = random.randint(0, 100)
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if random_index == -1:
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return Trash(x, y)
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elif random_index < 80:
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return Space(x, y)
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else:
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return Obs(x, y)
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def generate_map(self):
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temp_map = []
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for x in range(DEFAULT_MAP_SIZE):
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temp_map.append([self.generate_map_field(x, y) for y in range(16)])
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temp_map[12][14] = Trash(12, 14)
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return temp_map
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class Node():
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def __init__(self, state):
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self.state = state
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self.parent = None
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self.action = None
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class Environment:
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def __init__(self):
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self.truck = Truck()
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self.envMap = EnvMap()
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self.envMap.map[0][0] = self.truck
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self.run = True
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self.clock = pygame.time.Clock()
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self.WINDOW = pygame.display.set_mode((WINDOW_WIDTH, WINDOW_HEIGHT))
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self.trashes_list = []
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self.generate_trashes(TRASHES_COUNT)
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self.trashes_collected = []
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while self.run:
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self.update()
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def update(self):
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self.clock.tick(FPS)
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for event in pygame.event.get():
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if event.type == pygame.QUIT:
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self.run = False
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if event.type == pygame.KEYDOWN:
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self.handle_keyboard(event.key)
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self.keys_pressed = pygame.key.get_pressed()
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self.draw_objects()
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self.handle_keyboard()
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self.handle_collisions()
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def draw_objects(self):
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self.WINDOW.fill(WHITE_COLOR)
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self.draw_trashes()
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self.WINDOW.blit(self.truck.asset, (self.truck.object.x, self.truck.object.y))
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self.draw_map()
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pygame.display.update()
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def draw_trashes(self):
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for trash in self.trashes_list:
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self.WINDOW.blit(trash.asset, (trash.object.x, trash.object.y))
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def draw_map(self):
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for x in range(DEFAULT_MAP_SIZE):
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for y in range(DEFAULT_MAP_SIZE):
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obj = self.envMap.map[x][y]
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self.WINDOW.blit(obj.asset, (obj.object.x, obj.object.y))
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def handle_keyboard(self):
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if self.keys_pressed[pygame.K_w]:
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self.truck.move_up()
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if self.keys_pressed[pygame.K_s]:
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self.truck.move_down()
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if self.keys_pressed[pygame.K_d]:
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self.truck.move_right()
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if self.keys_pressed[pygame.K_a]:
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self.truck.move_left()
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def handle_keyboard(self, key):
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if key == pygame.K_SPACE:
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self.truck.move(self.envMap.map)
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if key == pygame.K_w:
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self.truck.rotate_up()
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if key == pygame.K_s:
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self.truck.rotate_down()
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if key == pygame.K_d:
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self.truck.rotate_right()
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if key == pygame.K_a:
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self.truck.rotate_left()
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if key == pygame.K_o:
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cpy = self.get_map_copy(self.envMap.map)
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actions = self.graphsearch([], [], cpy, self.succ, self.goal_test)
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self.navigate(actions)
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def generate_trashes(self, count):
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for i in range(count):
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trash = Trash()
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self.WINDOW.blit(trash.asset, (trash.object.x, trash.object.y))
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self.trashes_list.append(trash)
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def add_trashes(self):
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time.sleep(1)
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trash = Trash()
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self.WINDOW.blit(trash.asset, (trash.object.x, trash.object.y))
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self.trashes_list.append(trash)
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def get_map_copy(self, map):
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newMap = []
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for x in range(DEFAULT_MAP_SIZE):
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newMap.append([None for y in range(16)])
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for x in range(DEFAULT_MAP_SIZE):
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for y in range(DEFAULT_MAP_SIZE):
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o = map[x][y]
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no = None
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if o.__class__.__name__ == 'Truck':
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no = Truck(x, y)
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def handle_collisions(self):
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for trash in self.trashes_list:
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if self.truck.object.colliderect(trash.object):
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self.trashes_collected.append(trash)
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self.trashes_list.remove(trash)
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timer = threading.Thread(target=self.add_trashes)
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timer.daemon = True
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timer.start()
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if o.__class__.__name__ == 'Trash':
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no = Trash(x, y)
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if o.__class__.__name__ == 'Obs':
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no = Obs(x, y)
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if o.__class__.__name__ == 'Space':
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no = Space(x, y)
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newMap[x][y] = no
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return newMap
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def goal_test(self, state):
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for x in range(DEFAULT_MAP_SIZE):
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for y in range(DEFAULT_MAP_SIZE):
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if isinstance(state[x][y], Trash):
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return False
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return True
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def succ(self, state):
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pack = []
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truck = None
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for x in range(DEFAULT_MAP_SIZE):
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for y in range(DEFAULT_MAP_SIZE):
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if isinstance(state[x][y], Truck):
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truck = state[x][y]
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print("x: {} y: {}".format(truck.abstractX, truck.abstractY))
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altState1 = self.get_map_copy(state)
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t1 = altState1[truck.abstractX][truck.abstractY]
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t1.rotate_up()
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t1.move(altState1)
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altState2 = self.get_map_copy(state)
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t2 = altState2[truck.abstractX][truck.abstractY]
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t2.rotate_down()
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t2.move(altState2)
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altState3 = self.get_map_copy(state)
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t3 = altState3[truck.abstractX][truck.abstractY]
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t3.rotate_right()
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t3.move(altState3)
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altState4 = self.get_map_copy(state)
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t4 = altState4[truck.abstractX][truck.abstractY]
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t4.rotate_left()
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t4.move(altState4)
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pack.append([R_UP, altState1])
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pack.append([R_DOWN, altState2])
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pack.append([R_RIGHT, altState3])
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pack.append([R_LEFT, altState4])
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return pack
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def are_states_the_same(self, s1, s2):
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for x in range(DEFAULT_MAP_SIZE):
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for y in range(DEFAULT_MAP_SIZE):
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a = s1[x][y]
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b = s2[x][y]
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if a.__class__.__name__ != b.__class__.__name__:
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return False
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return True
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def is_state_belongs(self, fringe, explored, state):
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for elem in fringe:
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if self.are_states_the_same(elem.state, state):
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return True
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for elem in explored:
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if self.are_states_the_same(elem.state, state):
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return True
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return False
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def navigate(self, actions):
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print('actions:')
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print(actions)
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next = pygame.time.get_ticks() + 300
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while len(actions) > 0:
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if next <= pygame.time.get_ticks():
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action = actions.pop()
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next = pygame.time.get_ticks() + 300
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self.update()
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if action == R_UP:
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ev = pygame.event.Event(pygame.KEYDOWN, {"key": pygame.K_w})
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if action == R_DOWN:
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ev = pygame.event.Event(pygame.KEYDOWN, {"key": pygame.K_s})
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if action == R_RIGHT:
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ev = pygame.event.Event(pygame.KEYDOWN, {"key": pygame.K_d})
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if action == R_LEFT:
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ev = pygame.event.Event(pygame.KEYDOWN, {"key": pygame.K_a})
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pygame.event.post(ev)
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ev = pygame.event.Event(pygame.KEYDOWN, {"key": pygame.K_SPACE})
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pygame.event.post(ev)
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def graphsearch(self, fringe, explored, istate, succ, goaltest):
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fringe.append(Node(istate))
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while True:
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if len(fringe) == 0:
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return False
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elem = fringe.pop()
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if goaltest(elem.state):
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actions_pack = []
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while (elem.parent):
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print(elem.action)
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actions_pack.append(elem.action)
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elem = elem.parent
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return actions_pack
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explored.append(elem)
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for [action, state] in succ(elem.state):
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if not self.is_state_belongs(fringe, explored, state):
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x = Node(state)
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x.parent = elem
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x.action = action
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fringe.append(x)
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environment = Environment()
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