AI/program.py

import pygame
from os import sys
from Mapa.generate import  Generate
from Mapa.floor import Floor
from Mapa.wall import Wall
from Mapa.shelf import Shelf
from wheel import Wheel
from Mapa.boxOnTheFloor import BoxOnTheFloor
from Mapa.box import Box
from Mapa.unboxOnTheFloor import UnboxOnTheFloor
from AStar import AStar
import easygui
from neurons import Neurons
from whereDecision import WhereDecision
from Evencik import Evencik
from genetyczny import metody

class MainWindow:
    def __init__(self, szerokosc, wysokosc, kruche, latwopalne, radioaktywne, niebezpieczne):
        #config
        self.cell = 50
        #init
        pygame.init()
        pygame.display.set_caption('Inteligentny wózek widłowy')
        self.clock = pygame.time.Clock()
        self.ticks = 0
        self.moves = []
        self.regals = []
        self.map = Generate.generate(szerokosc+2, wysokosc+2, kruche, latwopalne, radioaktywne, niebezpieczne)
        self.mapForAStar = Generate.generate(szerokosc+2, wysokosc+2, kruche, latwopalne, radioaktywne, niebezpieczne)
        self.screen = pygame.display.set_mode((((szerokosc+2)*self.cell), ((wysokosc+2)*self.cell)))
        self.neurons = Neurons()
        self.whereDecision = WhereDecision()
        #create
        self.wheel = Wheel(self.screen, self.cell);

#przekladanie wartosci liczbowych z tablicy na mapę obiektow

        for i in range(len(self.map)):
            for j in range(len(self.map[i])):
                if (self.map[i][j]==1):
                    self.map[i][j] = Wall(self.screen, self.cell, i, j)
                    self.mapForAStar[i][j] = 1
                elif (self.map[i][j]==2):
                    self.map[i][j] = Floor(self.screen, self.cell, i, j)
                    self.mapForAStar[i][j] = 0
                elif (self.map[i][j]==23):
                    self.map[i][j] = UnboxOnTheFloor(self.screen, self.cell, i, j)
                    self.mapForAStar[i][j] = 1

                else:
                    #regals (kordy i,j oraz rodzaj regału)
                    self.regals.append((i, j, (self.map[i][j]-3)//4))
                    self.map[i][j] = Shelf(self.screen, self.cell, i, j, (self.map[i][j]-3)%4, (self.map[i][j]-3)//4)
                    self.mapForAStar[i][j] = 1

#loop
        while True:
            self.events()
            self.draw()
            self.clock.tick(40)
            self.ticks+=1
            if self.ticks>10:
                self.ticks=0
                if len(self.moves)>0:
                    if(self.moves[0]==1):
                        self.wheel.move(Evencik(pygame.K_UP), self.map)
                    elif (self.moves[0]==2):
                        self.wheel.move(Evencik(pygame.K_DOWN), self.map)
                    elif (self.moves[0]==3):
                        self.wheel.move(Evencik(pygame.K_LEFT), self.map)
                    elif (self.moves[0]==4):
                        self.wheel.move(Evencik(pygame.K_RIGHT), self.map)
                    self.moves.pop(0)

    def events(self):
        for event in pygame.event.get():
            if(event.type==pygame.QUIT):
                sys.exit()
            elif(event.type==pygame.KEYDOWN):
                if len(self.moves)==0:
                    self.wheel.move(event, self.map)
            elif(event.type==pygame.MOUSEBUTTONDOWN):
                if (type(self.map[0][2]) == Floor):
                    whatIsIt = self.neurons.whatIsIt(easygui.fileopenbox("Wybierz zdjęcie paczki", "Wybierz zdjęcie paczki", filetypes = [["*.jpg", "*.jpeg", "*.png", "Pliki graficzne"]]))
                    where = self.whereDecision.recognize(whatIsIt, self.regalsik()) #kordy regalu
                    self.map[0][2] = BoxOnTheFloor(self.screen, self.cell, 0, 2, Box())

                    star = AStar()
                    path = star.search([self.wheel.ns, self.wheel.we], [0, 2], self.mapForAStar, 1)
                    cns = self.wheel.ns
                    cwe = self.wheel.we
                    value = path[cns][cwe]
                    while True:
                        if cns>0 and path[cns-1][cwe]==(value+1):
                            cns=cns-1
                            self.moves.append(1)
                            value=value+1
                            continue
                        if cns<(len(self.mapForAStar)-1) and path[cns+1][cwe]==(value+1):
                            cns=cns+1
                            self.moves.append(2)
                            value=value+1
                            continue
                        if cwe>0 and path[cns][cwe-1]==(value+1):
                            cwe=cwe-1
                            self.moves.append(3)
                            value=value+1
                            continue
                        if cwe<(len(self.mapForAStar[0])-1) and path[cns][cwe+1]==(value+1):
                            cns=cns+1
                            self.moves.append(4)
                            value=value+1
                            continue
                        break
                    self.mapForAStar[where[0]][where[1]] = 0
                    # wyszukiwanie ścieżki z miejsca podjęcia paczki do regału
                    # zmienna path posiada macierz oraz kroki podjęte przez wózek
                    path = star.search([0, 2], where, self.mapForAStar, 1)
                    self.mapForAStar[where[0]][where[1]] = 1
                    value = path[cns][cwe]
                    while True:
                        if cns>0 and path[cns-1][cwe]==(value+1):
                            cns=cns-1
                            self.moves.append(1)
                            value=value+1
                            continue
                        if cns<(len(self.mapForAStar)-1) and path[cns+1][cwe]==(value+1):
                            cns=cns+1
                            self.moves.append(2)
                            value=value+1
                            continue
                        if cwe>0 and path[cns][cwe-1]==(value+1):
                            cwe=cwe-1
                            self.moves.append(3)
                            value=value+1
                            continue
                        if cwe<(len(self.mapForAStar[0])-1) and path[cns][cwe+1]==(value+1):
                            cwe=cwe+1
                            self.moves.append(4)
                            value=value+1
                            continue
                        break
    def draw(self):
        self.screen.fill((33,69,108))
        for i in range(len(self.map)):
            for j in range(len(self.map[i])):
                self.map[i][j].draw()
        self.wheel.draw()
        pygame.display.flip()
    def regalsik(self):
        tmp = []
        for regal in self.regals:
            if self.map[regal[0]][regal[1]].isOccupied()==False:
                tmp.append(regal)
        return tmp