Merge pull request 'astar' (#4) from astar-2 into master

Reviewed-on: #4

.idea/.gitignore

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+# Default ignored files
+/shelf/
+/workspace.xml
+# Editor-based HTTP Client requests
+/httpRequests/
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml

.idea/SI-projekt-smieciarka2.iml

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+<?xml version="1.0" encoding="UTF-8"?>
+<module type="PYTHON_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$" />
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+</module>

.idea/inspectionProfiles/profiles_settings.xml

@@ -0,0 +1,6 @@
+<component name="InspectionProjectProfileManager">
+  <settings>
+    <option name="USE_PROJECT_PROFILE" value="false" />
+    <version value="1.0" />
+  </settings>
+</component>

.idea/misc.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.9" project-jdk-type="Python SDK" />
+</project>

.idea/modules.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/SI-projekt-smieciarka2.iml" filepath="$PROJECT_DIR$/.idea/SI-projekt-smieciarka2.iml" />
+    </modules>
+  </component>
+</project>

.idea/vcs.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$" vcs="Git" />
+  </component>
+</project>

board

@@ -1,78 +0,0 @@
-import sys
-import pygame
-
-screen = []
-objectArray = []
-
-class Agent:
-    def __init__(self, name, xPos, yPos):
-        self.name = name
-        self.xPos = xPos
-        self.yPos = yPos
-
-def draw(square_num, objectArr):
-    #następne dwie linijki do odkomentowania, jak będzie wgrane zdjęcie do tła
-    #background = pygame.image.load("ścieżka do pliku").convert() #tu ścieżka do zdjęcia w tle
-    #screen.blit(background, (0, 0))
-    grid_color = (0, 0, 0) #kolor czarny
-
-    grid_size = 500  #rozmiar kraty
-    square = grid_size/square_num #rozmiar pojedyńczego kwadracika
-
-    a = 50
-    b = 10  #odległości kraty od krawędzi okna
-
-    for i in range(square_num):
-        pygame.draw.line(screen, grid_color, (a + i*square, b), (a + i*square, b + grid_size), 2)
-
-        pygame.draw.line(screen, grid_color, (a, b + i*square), (a + grid_size, b + i*square), 2)
-
-    pygame.draw.line(screen, grid_color, (a, b + grid_size), (a + grid_size,
-                     b + grid_size), 2)
-    pygame.draw.line(screen, grid_color, (a + grid_size, b),
-                     (a + grid_size, b + grid_size), 2)
-
-    ## tutaj rysujemy agenta i inne obiekty juz na gotowej mapie
-
-    ## RYSUJEMY AGENTA
-    #agent_color = (255, 0, 0)
-    circleX = objectArr[0].xPos * square + square + square/ 2 #dodane jedno +square, by śmieciara nie wychodziła poza kratę
-    circleY = objectArr[0].yPos * square - square / 2
-    #radius = 10
-    #pygame.draw.circle(screen, agent_color, (a + circleX, b + circleY), radius)
-    truck = pygame.image.load("car.png").convert_alpha() #tu ścieżka do zdjęcia w tle
-    truck = pygame.transform.scale(truck, (square, square))
-    screen.blit(truck, (circleX, circleY))
-
-def kb_listen(objectArray, gridLength):
-    for event in pygame.event.get():
-        if event.type == pygame.KEYDOWN:
-            if event.key == pygame.K_LEFT and objectArray[0].xPos > 0:
-                objectArray[0].xPos = objectArray[0].xPos - 1
-            if event.key == pygame.K_RIGHT and objectArray[0].xPos < gridLength - 1:
-                objectArray[0].xPos = objectArray[0].xPos + 1
-            if event.key == pygame.K_UP and objectArray[0].yPos > 1:
-                objectArray[0].yPos = objectArray[0].yPos - 1
-            if event.key == pygame.K_DOWN and objectArray[0].yPos < gridLength:
-                objectArray[0].yPos = objectArray[0].yPos + 1
-        if event.type == pygame.QUIT:
-            sys.exit()
-
-
-if __name__ == '__main__':
-    pygame.init()  #inicjalizacja modułów, na razie niepotrzebna
-
-    #Tworzymy nowego playera, czy tam agenta
-    agent = Agent("smieciarka", 5, 7)
-    objectArray.append(agent)
-
-    width = 600
-    height = 530
-    screen = pygame.display.set_mode((width, height))  #ustalanie rozmiarów okna
-
-    while 1:
-        c = (255, 255, 255)  #tymczasowy kolor tła - do usunięcia, jak już będzie zdjęcie
-        screen.fill(c)
-        draw(15, objectArray)
-        kb_listen(objectArray, 15)
-        pygame.display.update()  #by krata pojawiła się w okienku - update powierzchni

src/astar.py

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+from queue import PriorityQueue
+
+def heuristic(xy1, xy2):
+    return abs(xy1[0] - xy2[0]) + abs(xy1[1] - xy2[1])
+
+def neighbours(point):
+    x, y = point
+    list=((x+1,y), (x,y+1), (x,y-1), (x-1,y))
+    return list
+
+#determining the cost of a specific field in the grid
+def checkCost(grid, xy):
+    x, y = xy
+    cost = grid[x][y]
+    return cost
+
+def aStar(grid, start, goal):
+    openlist = PriorityQueue()
+    openlist.put(start, 0)
+
+    fScore = {}
+    origin = {start: None}
+    fScore[start] = 0
+    closedlist=[]
+
+    while openlist!= {} :
+        current = openlist.get()
+
+        if current == goal:
+            path = []
+            #following from the succesors to the root our starting point
+            while current != start:
+                path.append(current)
+                current = origin[current]
+            path.reverse()
+            break
+
+        # successor function
+        for succ in neighbours(current):
+            #checking if didn't go out of the maze
+            if(succ[0] < 0 or succ[1] < 0 or succ[0] > 14 or succ[1] > 14):
+               continue
+
+            gScore = fScore[current[0],current[1]] + checkCost(grid, current)
+            if succ not in closedlist or gScore < fScore[succ[0],succ[1]]:
+                closedlist.append(succ)
+                origin[succ[0],succ[1]] = current
+                fScore[succ[0],succ[1]] = gScore
+                priority = gScore + heuristic(goal, succ)
+                openlist.put(succ, priority)
+    return path

src/board.py

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+import astar
+import pygame
+
+screen = []
+objectArray = []
+collisionsMap = []
+
+weightsMap = ([1, 2, 1, 4, 5, 2, 7, 8, 5, 4, 15, 3, 4, 5, 8],
+        [1, 2, 1, 4, 5, 2, 7, 8, 1, 4, 1, 3, 4, 5, 1],
+        [1, 2, 1, 4, 5, 2, 7, 8, 1, 4, 1, 3, 4, 5, 3],
+        [1, 2, 1, 4, 5, 2, 7, 8, 1, 4, 3, 3, 8, 5, 4],
+        [1, 2, 1, 4, 5, 2, 7, 8, 1, 4, 1, 3, 9, 5, 2],
+        [1, 2, 1, 4, 5, 2, 7, 8, 1, 4, 1, 12, 4, 5, 6],
+        [1, 2, 1, 4, 5, 2, 7, 8, 1, 4, 7, 3, 4, 5, 7],
+        [5, 2, 1, 4, 5, 2, 7, 8, 1, 4, 17, 14, 4, 5, 1],
+        [1, 2, 1, 4, 5, 2, 7, 8, 1, 4, 1, 3, 4, 14, 3],
+        [1, 2, 1, 4, 5, 2, 7, 8, 1, 4, 1, 3, 4, 14, 2],
+        [5, 2, 1, 4, 5, 2, 7, 8, 1, 4, 1, 3, 4, 14, 6],
+        [1, 2, 1, 4, 5, 2, 7, 8, 1, 4, 1, 13, 14, 15, 7],
+        [1, 2, 1, 4, 5, 2, 7, 8, 1, 4, 1, 14, 4, 14, 1],
+        [1, 2, 1, 4, 5, 2, 7, 8, 1, 4, 1, 3, 4, 15, 2],
+        [1, 2, 1, 4, 5, 2, 7, 8, 1, 4, 1, 3, 4, 15, 2])
+
+class Position:
+    def __init__(self, x, y):
+        self.x = x
+        self.y = y
+
+    def get_moved(self, delta_x, delta_y):
+        return Position(self.x + delta_x, self.y + delta_y)
+
+
+class Object:
+    def __init__(self, name, pos):
+        self.name = name
+        self.pos = pos
+
+    def draw(self, square):
+        leftTopX, leftTopY = 50 + self.pos.x * square, 10 + self.pos.y * square
+        pygame.draw.rect(screen, (0, 0, 0), (leftTopX, leftTopY, square, square))
+
+
+def detect_collision(newPos):
+    return collisionsMap[newPos.x][newPos.y]
+
+
+def position_in_grid(pos, gridLength):
+    return 0 <= pos.x < gridLength and 0 <= pos.y < gridLength
+
+
+def movement_allowed(newPos, gridLength):
+    return position_in_grid(newPos, gridLength) and not detect_collision(newPos)
+
+
+class Agent(Object):
+    def __init__(self, name, pos):
+        super().__init__(name, pos)
+
+    def draw(self, square):
+        ## RYSUJEMY AGENTA
+        circleX = 52 + self.pos.x * square
+        circleY = 12 + self.pos.y * square
+
+        truck = pygame.image.load("car.png").convert_alpha()  # tu ścieżka do zdjęcia w tle
+        truck = pygame.transform.scale(truck, (square, square))
+        screen.blit(truck, (circleX, circleY))
+
+    def move(self, gridLength, path):
+        for (x, y) in path:
+            newPos = self.pos.get_moved(x, y)
+            self.move_if_possible(newPos, gridLength)
+
+    def move_if_possible(self, newPos, gridLength):
+        if movement_allowed(newPos, gridLength):
+            self.pos = newPos
+
+
+class House(Object):
+    def __init__(self, name, pos):
+        super().__init__(name, pos)
+        self.trash_cans = {
+            "paper": False,
+            "glass": False,
+            "plastic": False,
+            "bio": False
+        }
+
+    def draw(self, square):
+        x = 52 + self.pos.x * square
+        y = 12 + self.pos.y * square
+
+        house = pygame.image.load("house.png").convert_alpha()  # tu ścieżka do zdjęcia w tle
+        house = pygame.transform.scale(house, (square, square))
+        screen.blit(house, (x, y))
+
+
+class Junkyard(Object):
+    def __init__(self, name, pos):
+        super().__init__(name, pos)
+        self.heaps = {
+            "paper": True,
+            "glass": True,
+            "plastic": True,
+            "bio": True
+        }
+
+    def draw(self, square):
+        x = 52 + self.pos.x * square
+        y = 12 + self.pos.y * square
+
+        junkyard = pygame.image.load("junkyard.png").convert_alpha()  # tu ścieżka do zdjęcia w tle
+        junkyard = pygame.transform.scale(junkyard, (square, square))
+        screen.blit(junkyard, (x, y))
+
+
+class Hole(Object):
+    def __init__(self, name, pos):
+        super().__init__(name, pos)
+
+    def draw(self, square):
+        x = 52 + self.pos.x * square
+        y = 12 + self.pos.y * square
+
+        hole = pygame.image.load("hole.png").convert_alpha()  # tu ścieżka do zdjęcia w tle
+        hole = pygame.transform.scale(hole, (square, square))
+        screen.blit(hole, (x, y))
+
+
+def draw(square_num, objectArr):
+    # następne dwie linijki do odkomentowania, jak będzie wgrane zdjęcie do tła
+    # background = pygame.image.load("ścieżka do pliku").convert() #tu ścieżka do zdjęcia w tle
+    # screen.blit(background, (0, 0))
+    grid_color = (0, 0, 0)  # kolor czarny
+
+    grid_size = 510  # rozmiar kraty
+    square = grid_size // square_num  # rozmiar pojedyńczego kwadracika
+
+    a = 50
+    b = 10  # odległości kraty od krawędzi okna
+
+    for o in objectArr:
+        o.draw(square)
+
+    for i in range(square_num):
+        pygame.draw.line(screen, grid_color, (a + i * square, b), (a + i * square, b + grid_size), 2)
+
+        pygame.draw.line(screen, grid_color, (a, b + i * square), (a + grid_size, b + i * square), 2)
+
+    pygame.draw.line(screen, grid_color, (a, b + grid_size), (a + grid_size,
+                                                              b + grid_size), 2)
+    pygame.draw.line(screen, grid_color, (a + grid_size, b),
+                     (a + grid_size, b + grid_size), 2)
+
+
+def kb_listen(objectArray, gridLength, path):
+    agent = objectArray[0]
+    agent.move(gridLength, path)
+
+if __name__ == '__main__':
+    pygame.init()  # inicjalizacja modułów, na razie niepotrzebna
+    gridSize = 15
+
+    # Tworzymy nowego playera, czy tam agenta
+    agent = Agent("smieciarka", Position(0, 0))
+    junkyard = Junkyard("wysypisko", Position(10, 10))
+    houses = [House(f'dom-{i}', pos) for i, pos in enumerate([Position(x, y) for x, y in [
+        (7, 4), (3, 10), (8, 10), (4, 5), (1, 2), (10, 4), (13, 14), (6, 9)
+    ]])]
+    holes = [Hole(f'dziura-{i}', pos) for i, pos in enumerate([Position(x, y) for x, y in [
+        (4, 9), (5, 11), (11, 7), (13, 8)
+    ]])]
+    objectArray.append(agent)
+    objectArray.append(junkyard)
+    objectArray += houses
+    objectArray += holes
+
+    collisionsMap = [[False] * gridSize for _ in range(gridSize)]
+    for object in objectArray[1:]:
+        collisionsMap[object.pos.x][object.pos.y] = True
+
+    width = 610
+    height = 530
+    screen = pygame.display.set_mode((width, height))  # ustalanie rozmiarów okna
+
+    startPos = (0, 0)
+    finalPos = (14, 14)
+    astarPath = astar.aStar(weightsMap, startPos, finalPos)
+    print(astarPath)
+
+    while True:
+        c = (255, 255, 255)  # tymczasowy kolor tła - do usunięcia, jak już będzie zdjęcie
+        screen.fill(c)
+        draw(gridSize, objectArray)
+        kb_listen(objectArray, gridSize, astarPath)
+        pygame.display.update()  # by krata pojawiła się w okienku - update powierzc