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Added new fields and reconfigured map

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This commit is contained in:
Tomasz Torchalski 2023-06-10 23:53:24 +02:00
parent ebcecf4279
commit 3b2342a6b4
13 changed files with 106 additions and 34 deletions
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1
heuristicfn.py
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@ -1,3 +1,2 @@
def heuristicfn(startx, starty, goalx, goaly):
return abs(startx - goalx) + abs(starty - goaly)
# return pow(((startx//50)-(starty//50)),2) + pow(((goalx//50)-(goaly//50)),2)

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main.py
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@ -1,8 +1,6 @@
import pygame
from treelearn import treelearn
import loadmodel
from astar import astar
from state import State
import time
@ -10,6 +8,7 @@ from garbage_truck import GarbageTruck
from heuristicfn import heuristicfn
from map import randomize_map
pygame.init()
WIDTH, HEIGHT = 800, 800
window = pygame.display.set_mode((WIDTH, HEIGHT))
@ -19,9 +18,9 @@ AGENT = pygame.transform.scale(AGENT_IMG, (50, 50))
FPS = 10
FIELDCOUNT = 16
FIELDWIDTH = 50
BASE_IMG = pygame.image.load("Tiles/Base.jpg")
BASE = pygame.transform.scale(BASE_IMG, (50, 50))
GRASS_IMG = pygame.image.load("grass.png")
GRASS = pygame.transform.scale(GRASS_IMG, (50, 50))
def draw_window(agent, fields, flip):
if flip:
direction = pygame.transform.flip(AGENT, True, False)
@ -74,10 +73,9 @@ def main():
garbage_type = loadmodel.classify(imgpath_array[agent.rect.x // 50][agent.rect.y // 50])
low_space = agent.collect(garbage_type)
fields[agent.rect.x//50][agent.rect.y//50] = GRASS
fields[agent.rect.x//50][agent.rect.y//50] = BASE
priority_array[agent.rect.x//50][agent.rect.y//50] = 1
time.sleep(0.5)
pygame.quit()

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map.py
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@ -1,52 +1,127 @@
import pygame, random
import pygame as pg
import random
from request import Request
DIRT_IMG = pygame.image.load("dirt.jpg")
DIRT = pygame.transform.scale(DIRT_IMG, (50, 50))
GRASS_IMG = pygame.image.load("grass.png")
GRASS = pygame.transform.scale(GRASS_IMG, (50, 50))
SAND_IMG = pygame.image.load("sand.jpeg")
SAND = pygame.transform.scale(SAND_IMG, (50, 50))
COBBLE_IMG = pygame.image.load("cobble.jpeg")
COBBLE = pygame.transform.scale(COBBLE_IMG, (50, 50))
def randomize_map(): # tworzenie mapy z losowymi polami
STRAIGHT_IMG = pg.image.load("Tiles/Straight.jpg")
STRAIGHT_VERTICAL = pg.transform.scale(STRAIGHT_IMG, (50, 50))
STRAIGHT_HORIZONTAL = pg.transform.rotate(STRAIGHT_VERTICAL, 270)
BASE_IMG = pg.image.load("Tiles/Base.jpg")
BASE = pg.transform.scale(BASE_IMG, (50, 50))
BEND_IMG = pg.image.load("Tiles/Bend.jpg")
BEND1 = pg.transform.scale(BEND_IMG, (50, 50))
BEND2 = pg.transform.rotate(BEND1, 90)
BEND3 = pg.transform.rotate(pg.transform.flip(pg.transform.rotate(BEND1, 180), True, True), 180)
BEND4 = pg.transform.rotate(BEND1, -90)
INTERSECTION_IMG = pg.image.load("Tiles/Intersection.jpg")
INTERSECTION = pg.transform.scale(INTERSECTION_IMG, (50, 50))
JUNCTION_IMG = pg.image.load("Tiles/Junction.jpg")
JUNCTION_SOUTH = pg.transform.scale(JUNCTION_IMG, (50, 50))
JUNCTION_NORTH = pg.transform.rotate(pg.transform.flip(JUNCTION_SOUTH, True, False), 180)
JUNCTION_EAST = pg.transform.rotate(JUNCTION_SOUTH, -90)
JUNCTION_WEST = pg.transform.rotate(JUNCTION_SOUTH, 90)
END_IMG = pg.image.load("Tiles/End.jpg")
END1 = pg.transform.flip(pg.transform.rotate(pg.transform.scale(END_IMG, (50, 50)), 180), False, True)
END2 = pg.transform.rotate(END1, 90)
DIRT_IMG = pg.image.load("Tiles/dirt.jpg")
DIRT = pg.transform.scale(DIRT_IMG, (50, 50))
GRASS_IMG = pg.image.load("Tiles/grass.png")
GRASS = pg.transform.scale(GRASS_IMG, (50, 50))
SAND_IMG = pg.image.load("Tiles/sand.jpeg")
SAND = pg.transform.scale(SAND_IMG, (50, 50))
COBBLE_IMG = pg.image.load("Tiles/cobble.jpeg")
COBBLE = pg.transform.scale(COBBLE_IMG, (50, 50))
def randomize_map(): # tworzenie mapy z losowymi polami
request_list = []
field_array_1 = []
field_array_2 = []
imgpath_array = [[0 for x in range(16)] for x in range(16)]
field_priority = []
map_array = [['b', 'sh', 'sh', 'sh', 'sh', 'jw', 'sh', 'sh', 'sh', 'sh', 'jw', 'sh', 'sh', 'sh', 'b3', 'g'],
['sv', 'g', 'g', 'g', 'g', 'sv', 'g', 'g', 'g', 'g', 'sv', 'g', 'g', 'g', 'sv', 'g'],
['sv', 'g', 'g', 'g', 'g', 'sv', 'g', 'g', 'g', 'g', 'sv', 'g', 'gr', 'g', 'sv', 'g'],
['js', 'sh', 'sh', 'sh', 'sh', 'i', 'sh', 'sh', 'sh', 'sh', 'jn', 'g', 'gr', 'g', 'sv', 'g'],
['sv', 'g', 'g', 'g', 'g', 'sv', 'g', 'g', 'g', 'g', 'sv', 'g', 'gr', 'g', 'sv', 'g'],
['sv', 'g', 'gr', 'gr', 'g', 'sv', 'g', 'g', 'g', 'g', 'sv', 'g', 'g', 'g', 'sv', 'g'],
['sv', 'g', 'gr', 'gr', 'g', 'js', 'sh', 'sh', 'sh', 'sh', 'i', 'sh', 'sh', 'sh', 'jn', 'g'],
['sv', 'g', 'g', 'g', 'g', 'sv', 'g', 'g', 'g', 'g', 'sv', 'g', 'g', 'g', 'sv', 'g'],
['b1', 'sh', 'jw', 'sh', 'sh', 'jn', 'g', 'gr', 'gr', 'g', 'sv', 'g', 'gr', 'g', 'sv', 'g'],
['g', 'g', 'sv', 'g', 'g', 'sv', 'g', 'gr', 'gr', 'g', 'sv', 'g', 'g', 'g', 'sv', 'g'],
['gr', 'g', 'sv', 'g', 'g', 'sv', 'g', 'gr', 'gr', 'g', 'js', 'sh', 'sh', 'sh', 'jn', 'g'],
['gr', 'g', 'sv', 'g', 'g', 'sv', 'g', 'g', 'g', 'g', 'sv', 'g', 'g', 'g', 'sv', 'g'],
['gr', 'g', 'js', 'sh', 'sh', 'i', 'sh', 'sh', 'sh', 'sh', 'jn', 'g', 'gr', 'g', 'sv', 'g'],
['gr', 'g', 'sv', 'g', 'g', 'sv', 'g', ' g', 'g', 'g', 'sv', 'g', 'gr', 'g', 'sv', 'g'],
['gr', 'g', 'sv', 'g', 'g', 'sv', 'g', 'g', 'g', 'g', 'sv', 'g', 'g', 'g', 'sv', 'g'],
['gr', 'g', 'b1', 'sh', 'sh', 'je', 'sh', 'sh', 'sh', 'sh', 'je', 'sh', 'sh', 'sh', 'b4', 'g'],
]
for i in range(16):
temp_priority = []
for j in range(16):
if i in (0, 1) and j in (0, 1):
field_array_2.append(GRASS)
if map_array[i][j] == 'b':
field_array_2.append(BASE)
temp_priority.append(1)
elif map_array[i][j] == 'b3':
field_array_2.append(BEND3)
temp_priority.append(1)
elif map_array[i][j] == 'b4':
field_array_2.append(BEND4)
temp_priority.append(1)
elif map_array[i][j] == 'b1':
field_array_2.append(BEND1)
temp_priority.append(1)
elif map_array[i][j] == 'sh':
field_array_2.append(STRAIGHT_VERTICAL)
temp_priority.append(1)
elif map_array[i][j] == 'sv':
field_array_2.append(STRAIGHT_HORIZONTAL)
temp_priority.append(1)
elif map_array[i][j] == 'i':
field_array_2.append(INTERSECTION)
temp_priority.append(1)
elif map_array[i][j] == 'je':
field_array_2.append(JUNCTION_EAST)
temp_priority.append(1)
elif map_array[i][j] == 'jw':
field_array_2.append(JUNCTION_WEST)
temp_priority.append(1)
elif map_array[i][j] == 'js':
field_array_2.append(JUNCTION_SOUTH)
temp_priority.append(1)
elif map_array[i][j] == 'jn':
field_array_2.append(JUNCTION_NORTH)
temp_priority.append(1)
elif map_array[i][j] == 'gr':
field_array_2.append(BASE)
temp_priority.append(1000)
else:
prob = random.uniform(0, 100)
if 0 <= prob <= 12:
if 0 <= prob <= 20:
garbage_type = random.choice(['glass', 'mixed', 'paper', 'plastic'])
garbage_image_number = random.randrange(1, 100)
GARBAGE_IMG = pygame.image.load(f"./model_training/test_dataset/{garbage_type}/{garbage_type} ({str(garbage_image_number)}).jpg")
GARBAGE = pygame.transform.scale(GARBAGE_IMG, (50, 50))
GARBAGE_IMG = pg.image.load(
f"./model_training/test_dataset/{garbage_type}/{garbage_type} ({str(garbage_image_number)}).jpg")
GARBAGE = pg.transform.scale(GARBAGE_IMG, (50, 50))
field_array_2.append(GARBAGE)
#field_array_2.append(COBBLE)
imgpath_array[i][j] = (f"./model_training/test_dataset/{garbage_type}/{garbage_type} ({str(garbage_image_number)}).jpg")
imgpath_array[i][j] = (
f"./model_training/test_dataset/{garbage_type}/{garbage_type} ({str(garbage_image_number)}).jpg")
temp_priority.append(100)
request_list.append(Request(
i*50,j*50, #lokacja
random.randint(0,3), #typ śmieci
random.random(), #objętość śmieci
random.randint(0,30), #ostatni odbiór
random.randint(0,1), #czy opłacone w terminie
random.random() * 10, #intensywność odoru
random.random() * 50 #waga śmieci
i * 50, j * 50, # lokacja
random.randint(0, 3), # typ śmieci
random.random(), # objętość śmieci
random.randint(0, 30), # ostatni odbiór
random.randint(0, 1), # czy opłacone w terminie
random.random() * 10, # intensywność odoru
random.random() * 50 # waga śmieci
))
else:
field_array_2.append(GRASS)
temp_priority.append(1)
field_array_2.append(BASE)
temp_priority.append(1000)
field_array_1.append(field_array_2)
field_array_2 = []
field_priority.append(temp_priority)
return field_array_1, field_priority, request_list, imgpath_array
return field_array_1, field_priority, request_list, imgpath_array