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

Reviewed-on: #4
This commit is contained in:
Sebastian Smołuch 2022-04-29 04:38:00 +02:00
commit 404586daf8
12 changed files with 286 additions and 78 deletions

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.idea/.gitignore vendored Normal file
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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

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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>

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<component name="InspectionProjectProfileManager">
<settings>
<option name="USE_PROJECT_PROFILE" value="false" />
<version value="1.0" />
</settings>
</component>

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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>

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.idea/modules.xml Normal file
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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>

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.idea/vcs.xml Normal file
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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>

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board
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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

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src/astar.py Normal file
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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

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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