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forked from s444420/AL-2020
AL-2020/functions.py

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)