forked from s444420/AL-2020
150 lines
4.9 KiB
Python
150 lines
4.9 KiB
Python
import sys
|
|
import pygame
|
|
|
|
from settings import Settings
|
|
from agent import Agent
|
|
from board import draw_board
|
|
|
|
|
|
def check_events(agent, board):
|
|
for event in pygame.event.get():
|
|
if event.type == pygame.QUIT:
|
|
sys.exit()
|
|
|
|
elif event.type == pygame.KEYDOWN:
|
|
if event.key == pygame.K_RIGHT:
|
|
agent.turn_right()
|
|
elif event.key == pygame.K_LEFT:
|
|
agent.turn_left()
|
|
elif event.key == pygame.K_UP:
|
|
agent.move_forward(board)
|
|
elif event.key == pygame.K_SPACE:
|
|
a_star(board[0][0], board[5][5])
|
|
|
|
|
|
def update_screen(board, screen, agent):
|
|
draw_board(board)
|
|
agent.blitme()
|
|
|
|
pygame.display.flip()
|
|
|
|
|
|
def get_distance(field, goal_field):
|
|
d = abs(field.x - goal_field.x) + abs(field.y - goal_field.y)
|
|
return d
|
|
|
|
|
|
def a_star(start_field, goal_field, board):
|
|
closed_set = []
|
|
open_set = []
|
|
path = []
|
|
|
|
open_set.append(start_field)
|
|
# start_field.image = pygame.image.load('img/green.png')
|
|
|
|
while len(open_set) > 0:
|
|
winner = 0
|
|
|
|
for i in range(len(open_set)):
|
|
if open_set[i].f < open_set[winner].f:
|
|
winner = i
|
|
|
|
current = open_set[winner]
|
|
|
|
if current == goal_field:
|
|
temp = current
|
|
path.append(current)
|
|
|
|
while temp.previous is not None:
|
|
path.append(temp.previous)
|
|
temp = temp.previous
|
|
|
|
for field in path:
|
|
field.image = pygame.image.load('img/path.png')
|
|
|
|
for row in board:
|
|
for field in row:
|
|
field.g = 0
|
|
field.h = 0
|
|
field.f = 0
|
|
field.previous = None
|
|
|
|
return path
|
|
|
|
open_set.remove(current)
|
|
closed_set.append(current)
|
|
# current.image = pygame.image.load('img/red.png')
|
|
neighbors = current.neighbors
|
|
|
|
for neighbor in neighbors:
|
|
if neighbor not in closed_set:
|
|
temp_g = current.g + neighbor.cost_of_travel
|
|
|
|
if neighbor in open_set:
|
|
if temp_g < neighbor.g:
|
|
neighbor.g = temp_g
|
|
else:
|
|
neighbor.g = temp_g
|
|
open_set.append(neighbor)
|
|
# neighbor.image = pygame.image.load('img/green.png')
|
|
|
|
neighbor.h = get_distance(neighbor, goal_field)
|
|
neighbor.f = neighbor.g + neighbor.h
|
|
|
|
neighbor.previous = current
|
|
|
|
|
|
def check_turn(agent, next_field):
|
|
if agent.y == next_field.y and next_field.x == agent.x + 1 and agent.turn == "Right":
|
|
return True
|
|
elif agent.y == next_field.y and next_field.x == agent.x - 1 and agent.turn == "Left":
|
|
return True
|
|
elif agent.x == next_field.x and next_field.y == agent.y + 1 and agent.turn == "Down":
|
|
return True
|
|
elif agent.x == next_field.x and next_field.y == agent.y - 1 and agent.turn == "Up":
|
|
return True
|
|
else:
|
|
return False
|
|
|
|
|
|
def change_turn(agent, next_field):
|
|
if agent.y == next_field.y and next_field.x == agent.x + 1 and agent.turn == "Up":
|
|
agent.turn_right()
|
|
elif agent.y == next_field.y and next_field.x == agent.x + 1 and agent.turn == "Down":
|
|
agent.turn_left()
|
|
elif agent.y == next_field.y and next_field.x == agent.x + 1 and agent.turn == "Left":
|
|
agent.turn_left()
|
|
elif agent.y == next_field.y and next_field.x == agent.x - 1 and agent.turn == "Up":
|
|
agent.turn_left()
|
|
elif agent.y == next_field.y and next_field.x == agent.x - 1 and agent.turn == "Down":
|
|
agent.turn_right()
|
|
elif agent.y == next_field.y and next_field.x == agent.x - 1 and agent.turn == "Right":
|
|
agent.turn_right()
|
|
elif agent.x == next_field.x and next_field.y == agent.y + 1 and agent.turn == "Right":
|
|
agent.turn_right()
|
|
elif agent.x == next_field.x and next_field.y == agent.y + 1 and agent.turn == "Left":
|
|
agent.turn_left()
|
|
elif agent.x == next_field.x and next_field.y == agent.y + 1 and agent.turn == "Up":
|
|
agent.turn_left()
|
|
elif agent.x == next_field.x and next_field.y == agent.y - 1 and agent.turn == "Right":
|
|
agent.turn_left()
|
|
elif agent.x == next_field.x and next_field.y == agent.y - 1 and agent.turn == "Left":
|
|
agent.turn_right()
|
|
elif agent.x == next_field.x and next_field.y == agent.y - 1 and agent.turn == "Down":
|
|
agent.turn_right()
|
|
|
|
|
|
# def execute_step(agent, next_step, board, path):
|
|
# if check_turn(agent, next_step):
|
|
# agent.move_forward(board)
|
|
# if len(path) != 0:
|
|
# next_step = path.pop()
|
|
# else:
|
|
# next_step = None
|
|
# for row in board:
|
|
# for field in row:
|
|
# if not field.is_shelf:
|
|
# field.image = pygame.image.load('img/Field.png')
|
|
# else:
|
|
# change_turn(agent, next_step)
|