import sys from queue import PriorityQueue import pygame screen = [] objectArray = [] collisionsMap = [] 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, event, gridLength): if event.key == pygame.K_LEFT: newPos = self.pos.get_moved(-1, 0) 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): 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): agent = objectArray[0] for event in pygame.event.get(): 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 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)) 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 while 1: c = (255, 255, 255) # tymczasowy kolor tła - do usunięcia, jak już będzie zdjęcie screen.fill(c) draw(gridSize, objectArray) kb_listen(objectArray, gridSize) pygame.display.update() # by krata pojawiła się w okienku - update powierzc