115 lines
2.4 KiB
Python
115 lines
2.4 KiB
Python
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import pygame
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from pygame.locals import *
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from astar import Astar
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from genetic import genetic
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import numpy as np
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import time
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def drawGrid(w, rows, surface, goals):
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sizeBtwn = w // rows
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x = 0
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y = 0
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for l in range(rows):
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x = x + sizeBtwn
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y = y + sizeBtwn
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pygame.draw.line(surface, (255, 0, 255), (x, 0), (x, width))
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pygame.draw.line(surface, (255, 0, 255), (0, y), (width, y))
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def drawHouses(houses):
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for house in houses:
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screen.blit(home, (13 + house[1] * 60, 15 + house[0] * 60))
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def drawObstacles(obs):
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for ob in obs:
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screen.blit(xobstacle, (13 + ob[1] * 60, 15 + ob[0] * 60))
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def findObstacles(A):
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obstacles = []
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for i in range(10):
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for j in range(10):
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if A[i][j] == 3:
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obstacles.append([i, j])
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return obstacles
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pygame.init()
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width = 600
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height = 600
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FPS = 60
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running = True
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fpsClock = pygame.time.Clock()
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screen = pygame.display.set_mode((height, height), 0, 32)
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pygame.display.set_caption('InteligentnaSmieciarka2000')
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truck = pygame.image.load('GarbageTruck.png')
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home = pygame.image.load('Home.png')
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xobstacle = pygame.image.load("x.png")
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w = 10
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rows = 10
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A = np.zeros((w, rows), dtype=int)
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A[1, 0] = 3
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A[0, 2] = 3
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A[4, 1] = 3
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rows = 10
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x = 15
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y = 20
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sizeBtwn = width // rows
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parent = [0, 0]
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goals = [[0, 4], [4, 0], [4, 4], [6, 7]]
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houses = goals.copy()
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goals = genetic(goals, A).genes
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start = [0, 0]
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obsta = findObstacles(A)
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while goals:
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goal = goals.pop(0)
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path = Astar(A, start, goal)
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start = goal
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while path:
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screen.fill((0, 0, 0))
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drawGrid(width, rows, screen, goals)
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drawHouses(houses)
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drawObstacles(obsta)
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pygame.event.get()
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if path:
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destination = path.pop(0)
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temp = destination
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destination = [destination[0] - parent[0], destination[1] - parent[1]]
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if destination[0] == 1:
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y += 60
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time.sleep(0.3)
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elif destination[0] == -1:
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y -= 60
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time.sleep(0.3)
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elif destination[1] == 1:
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x += 60
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time.sleep(0.3)
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elif destination[1] == -1:
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x -= 60
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time.sleep(0.3)
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parent = temp
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screen.blit(truck, (x, y))
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pygame.display.update()
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#screen.blit(truck, (x, y))
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#pygame.display.update()
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time.sleep(5)
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