a* update, showing path to target

src/board.py

@@ -1,13 +1,25 @@
-import sys
+import astar
-from queue import PriorityQueue
-import numpy as np
-
 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):
@@ -53,18 +65,9 @@ class Agent(Object):
         truck = pygame.transform.scale(truck, (square, square))
         screen.blit(truck, (circleX, circleY))
 
-    def move(self, event, gridLength):
+    def move(self, gridLength, path):
-        if event.key == pygame.K_LEFT:
+        for (x, y) in path:
-            newPos = self.pos.get_moved(-1, 0)
+            newPos = self.pos.get_moved(x, y)
-            self.move_if_possible(newPos, gridLength)
-        if event.key == pygame.K_RIGHT:
-            newPos = self.pos.get_moved(1, 0)
-            self.move_if_possible(newPos, gridLength)
-        if event.key == pygame.K_UP:
-            newPos = self.pos.get_moved(0, -1)
-            self.move_if_possible(newPos, gridLength)
-        if event.key == pygame.K_DOWN:
-            newPos = self.pos.get_moved(0, 1)
             self.move_if_possible(newPos, gridLength)
 
     def move_if_possible(self, newPos, gridLength):
@@ -149,105 +152,13 @@ def draw(square_num, objectArr):
                      (a + grid_size, b + grid_size), 2)
 
 
-def kb_listen(objectArray, gridLength):
+def kb_listen(objectArray, gridLength, path):
     agent = objectArray[0]
-    for event in pygame.event.get():
+    agent.move(gridLength, path)
-        if event.type == pygame.KEYDOWN:
-            agent.move(event, gridLength)
-        if event.type == pygame.QUIT:
-            sys.exit()
-
-
-#moje
-def manhattan(node1, node2):
-    x1, y1 = node1.state[0], node1.state[1]
-    x2, y2 = node2.state[0], node2.state[1]
-    distance = abs(x1 - x2) + abs(y1 - y2)
-    return distance
-
-
-def f(state):#tablica z losowymi wagami(kosztami) pól, w astar trzeba zsumować wagę pola z heurystyką - f + manhattan
-    weights = np.array([
-        [1, 2, 1, 4, 5, 2, 7, 8, 1, 4, 1, 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, 1, 3, 4, 5, 4],
-        [1, 2, 1, 4, 5, 2, 7, 8, 1, 4, 1, 3, 4, 5, 2],
-        [1, 2, 1, 4, 5, 2, 7, 8, 1, 4, 1, 3, 4, 5, 6],
-        [1, 2, 1, 4, 5, 2, 7, 8, 1, 4, 1, 3, 4, 5, 7],
-        [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, 1, 3, 4, 5, 2],
-        [1, 2, 1, 4, 5, 2, 7, 8, 1, 4, 1, 3, 4, 5, 6],
-        [1, 2, 1, 4, 5, 2, 7, 8, 1, 4, 1, 3, 4, 5, 7],
-        [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, 2],
-        [1, 2, 1, 4, 5, 2, 7, 8, 1, 4, 1, 3, 4, 5, 2]
-    ])
-    pos_x = state[0]
-    pos_y = state[1]
-    #print(weights[pos_x][pos_y])
-    return weights[pos_x][pos_y]
-
-
-class Node:  #prawie jak Field w bfs
-    def __init__(self, state, parent, action):
-        self.state = state  #position - (x, y, direction)
-        self.parent = parent
-        self.action = action
-
-
-def succ1(state):
-    successors = []#-90 obrót w lewo, +90 obrót w prawo
-    print(state[0])#operujemy na 0, 90, 180, 270
-    print(state[1])
-    right = state[2] + 90
-    successors.append((("turn", "right"), (state[0], state[1], right)))
-    left = state[2] - 90
-    successors.append((("turn", "left"), (state[0], state[1], left)))
-    if state[2] == 360:
-        state[2] = 0
-    if state[2] == -90:
-        state[2] = 270
-    if (state[0], state[1]) not in black_list:#działa
-        if state[2] == 0 and state[0] < 14:
-            new_x = state[0]+1
-            successors.append((("move forward"), (new_x, state[1], state[2])))
-        elif state[2] == 90 and state[1] > 0:
-            new_y = state[1]-1
-            successors.append((("move forward"), (state[0], new_y, state[2])))
-        elif state[2] == 180 and state[0] > 0:
-            new_x = state[0]-1
-            successors.append((("move forward"), (new_x, state[1], state[2])))
-        elif state[2] == 270 and state[1] < 14:
-            new_y = state[1]+1
-            successors.append((("move forward"), (state[0], new_y, state[2])))
-    return successors
-
-
-def algorithm():
-    opened = PriorityQueue()#może być też lista
-    closed = []#już odwiedzone, odrzucone wierzchołki
-    first_state = (0, 0, "Right")#x, y, kierunek
-    final_state = (14, 14, "Right")
-    starting_point = Node(first_state, False, False)
-    ending_point = Node(final_state, False, False)
-
-    pos1 = (starting_point.state[0], starting_point.state[1])
-    pos2 = (ending_point.state[0], ending_point.state[1])
-
-    opened.put((1, starting_point))
-
-    a = final_state[0]
-    b = final_state[1]
-    #hole = Hole("astar", Position(a, b))#narysowana dziura w miejscu mety(celu), by sprawdzić, czy działa
-    #objectArray.append(hole)
-
 
 if __name__ == '__main__':
     pygame.init()  # inicjalizacja modułów, na razie niepotrzebna
     gridSize = 15
-    astar()
 
     # Tworzymy nowego playera, czy tam agenta
     agent = Agent("smieciarka", Position(0, 0))
@@ -267,16 +178,18 @@ if __name__ == '__main__':
     for object in objectArray[1:]:
         collisionsMap[object.pos.x][object.pos.y] = True
 
-    black_list = [(10, 10), (7, 4), (3, 10), (8, 10), (4, 5), (1, 2), (10, 4), (13, 14), (6, 9), (4, 9), (5, 11), (11, 7), (13, 8)]
-    #lista obiektów potrzebna do succ1 - na te pole śmieciarka nie wchodzi, więc nie ma ich brać pod uwagę
-
     width = 610
     height = 530
     screen = pygame.display.set_mode((width, height))  # ustalanie rozmiarów okna
 
-    while 1:
+    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)
+        kb_listen(objectArray, gridSize, astarPath)
         pygame.display.update()  # by krata pojawiła się w okienku - update powierzc