208 lines
7.9 KiB
Plaintext
208 lines
7.9 KiB
Plaintext
from asyncio.windows_events import NULL
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from collections import deque
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from lib2to3.pgen2.token import CIRCUMFLEX
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from queue import Queue
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import sys
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from unicodedata import name
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import pygame
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screen = []
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objectArray = []
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pathToPrint = []
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class Object:
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def __init__(self, name, xPos, yPos):
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self.name = name
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self.xPos = xPos
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self.yPos = yPos
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class Field:
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def __init__(self, xPos, yPos):
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self.xPos = xPos
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self.yPos = yPos
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self.visited = False
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self.parent = None
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def printXandY(self):
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print("X: " + str(self.xPos) + ". Y: " + str(self.yPos))
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def draw(square_num, objectArr):
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#następne dwie linijki do odkomentowania, jak będzie wgrane zdjęcie do tła
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#background = pygame.image.load("ścieżka do pliku").convert() #tu ścieżka do zdjęcia w tle
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#screen.blit(background, (0, 0))
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grid_color = (0, 0, 0) #kolor czarny
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grid_size = 500 #rozmiar kraty
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square = grid_size/square_num #rozmiar pojedyńczego kwadracika
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a = 50
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b = 10 #odległości kraty od krawędzi okna
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for i in range(square_num):
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pygame.draw.line(screen, grid_color, (a + i*square, b), (a + i*square, b + grid_size), 2)
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pygame.draw.line(screen, grid_color, (a, b + i*square), (a + grid_size, b + i*square), 2)
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pygame.draw.line(screen, grid_color, (a, b + grid_size), (a + grid_size,
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b + grid_size), 2)
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pygame.draw.line(screen, grid_color, (a + grid_size, b),
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(a + grid_size, b + grid_size), 2)
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## tutaj rysujemy agenta i inne obiekty juz na gotowej mapie
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## RYSUJEMY AGENTA
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#agent_color = (255, 0, 0)
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circleX = objectArr[0].xPos * square + square + square/ 2 #dodane jedno +square, by śmieciara nie wychodziła poza kratę
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circleY = objectArr[0].yPos * square - square / 2
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#radius = 10
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#pygame.draw.circle(screen, agent_color, (a + circleX, b + circleY), radius)
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# truck = pygame.image.load("car.png").convert_alpha() #tu ścieżka do zdjęcia w tle
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# truck = pygame.transform.scale(truck, (square, square))
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# screen.blit(truck, (circleX, circleY))
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pygame.draw.polygon(screen, (0, 0, 255), [(10 + circleX, 5 + circleY),(20 + circleX, 5 + circleY),(15 + circleX, 20 + circleY)])
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circleX = objectArray[1].xPos * square + square
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circleY = objectArr[1].yPos * square
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radius = 8
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grid_color = (255, 0, 0)
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pygame.draw.circle(screen, grid_color, (circleX, circleY), radius)
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def kb_listen(objectArray, gridLength):
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for event in pygame.event.get():
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if event.type == pygame.KEYDOWN:
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if event.key == pygame.K_LEFT and objectArray[0].xPos > 0:
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objectArray[0].xPos = objectArray[0].xPos - 1
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print(objectArray[0].xPos)
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if event.key == pygame.K_RIGHT and objectArray[0].xPos < gridLength - 1:
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objectArray[0].xPos = objectArray[0].xPos + 1
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print(objectArray[0].xPos)
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if event.key == pygame.K_UP and objectArray[0].yPos > 1:
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objectArray[0].yPos = objectArray[0].yPos - 1
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print(objectArray[0].yPos)
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if event.key == pygame.K_DOWN and objectArray[0].yPos < gridLength:
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objectArray[0].yPos = objectArray[0].yPos + 1
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print(objectArray[0].yPos)
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if event.type == pygame.QUIT:
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sys.exit()
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fieldQueue = []
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isGoalAchieved = False
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def startQueue(agentX, agentY, fieldList, gridNum):
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currentX = agentX
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currentY = agentY
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currentIndex = currentY * gridNum + currentX
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fieldQueue.append(fieldList[currentIndex])
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checkFlag = False
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while not checkFlag:
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result = checkGoal(fieldList, gridNum)
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if result:
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checkFlag = True
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# print("NEXT CHECK GOAL")
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return result
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def checkGoal(fieldList, gridNum):
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currentField = fieldQueue.pop(0)
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currentY = currentField.yPos
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currentX = currentField.xPos
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currentIndex = currentY * gridNum + currentX
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# print("POPPED!!!")
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# currentField.printXandY()
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##print(str(currentField.xPos) + " " + str(objectArray[1].xPos) + " " + str(currentField.yPos) + " " + str(objectArray[1].yPos))
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## SPRAWDZAMY CZY DANE POLE JEST POLEM W KTORYM ZNAJDUJE SIE NASZ CEL
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if currentField.xPos == objectArray[1].xPos - 1 and currentField.yPos == objectArray[1].yPos - 1:
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return currentField
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## SPRAWDZAMY CZY DANE POLE ZOSTALO JUZ WCZESNIEJ ODWIEDZONE - JEZELI NIE TO USTAWIAMY STATUS
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if not currentField.visited:
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currentField.visited = True
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## JEZELI DANE POLE NIE ZOSTALO ODWIEDZONE, TO DODAJEMY DO KOLEJKI WSZYSTKIE POLA OBOK I LECIMY DALEJ
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if currentIndex + 15 <= 224 and fieldList[currentIndex + 15].visited == False:
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fieldQueue.append(fieldList[currentIndex + 15])
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fieldList[currentIndex + 15].parent = fieldList[currentIndex]
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# print("APPENDED DOWN!!!")
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# fieldList[currentIndex + 15].printXandY()
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if currentIndex - 15 > -1 and fieldList[currentIndex - 15].visited == False:
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fieldQueue.append(fieldList[currentIndex - 15])
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fieldList[currentIndex - 15].parent = fieldList[currentIndex]
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# print("APPENDED UP!!!")
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# fieldList[currentIndex - 15].printXandY()
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if (currentIndex + 1) % 15 != 0 and fieldList[currentIndex + 1].visited == False:
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fieldQueue.append(fieldList[currentIndex + 1])
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fieldList[currentIndex + 1].parent = fieldList[currentIndex]
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# print("APPENDED RIGHT!!!")
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# fieldList[currentIndex + 1].printXandY()
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if (currentIndex - 1) % 15 != 14 and not currentIndex - 1 < 0 and fieldList[currentIndex - 1].visited == False:
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fieldQueue.append(fieldList[currentIndex - 1])
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fieldList[currentIndex - 1].parent = fieldList[currentIndex]
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# print("APPENDED LEFT!!!")
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# fieldList[currentIndex - 1].printXandY()
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if __name__ == '__main__':
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pygame.init() #inicjalizacja modułów, na razie niepotrzebna
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#Tworzymy nowego playera, czy tam agenta
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agent = Object("smieciarka", 5, 6)
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target = Object("cel", 1, 2)
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objectArray.append(agent)
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objectArray.append(target)
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width = 600
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height = 530
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screen = pygame.display.set_mode((width, height)) #ustalanie rozmiarów okna
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## OBLICZANIE SCIEZKI
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## GENEROWANIE WSZYSTKICH POL - FIELDS
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fields = []
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for y in range(15):
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for x in range(15):
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newField = Field(x, y)
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# newField.printXandY()
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fields.append(newField)
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result = startQueue(objectArray[0].xPos - 1, objectArray[0].yPos - 1, fields, 15)
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print("RED DOT X AND Y POSITION ============================")
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result.printXandY()
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print("TRUCK X AND Y POSITION ============================")
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print("X: " + str(objectArray[0].xPos) + " Y: " + str(objectArray[0].yPos))
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result_parent = result.parent
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currentIndex = (objectArray[0].yPos - 1) * 15 + objectArray[0].xPos - 1
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pathToTarget = deque()
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pathToTarget.appendleft(result)
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while result_parent.parent != None:
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pathToTarget.appendleft(result_parent)
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result_parent = result_parent.parent
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pathToTarget.appendleft(fields[currentIndex])
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print("PRINTING PATH TO TARGET ============================")
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for node in pathToTarget:
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node.printXandY()
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while 1:
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c = (255, 255, 255) #tymczasowy kolor tła - do usunięcia, jak już będzie zdjęcie
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screen.fill(c)
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draw(15, objectArray)
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## TUTAJ RYSUJEMY SCIEZKE
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for node in pathToTarget:
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if node == pathToTarget[-1]:
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continue
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green = (0, 255, 0)
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pygame.draw.circle(screen, green, ((node.xPos + 1) * 500 / 15 + 30, (node.yPos + 1) * 500 / 15), 5)
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kb_listen(objectArray, 15)
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pygame.display.update() #by krata pojawiła się w okienku - update powierzchni
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