Added new fields and reconfigured map

heuristicfn.py

@@ -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)

main.py

@@ -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()
 

map.py

@@ -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):
+            if map_array[i][j] == 'b':
-                field_array_2.append(GRASS)
+                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_IMG = pg.image.load(
-                    GARBAGE = pygame.transform.scale(GARBAGE_IMG, (50, 50))
+                        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] = (
-                    imgpath_array[i][j] = (f"./model_training/test_dataset/{garbage_type}/{garbage_type} ({str(garbage_image_number)}).jpg")
+                        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
+                        i * 50, j * 50,  # lokacja
-                        random.randint(0,3), #typ śmieci
+                        random.randint(0, 3),  # typ śmieci
-                        random.random(), #objętość śmieci
+                        random.random(),  # objętość śmieci
-                        random.randint(0,30), #ostatni odbiór
+                        random.randint(0, 30),  # ostatni odbiór
-                        random.randint(0,1), #czy opłacone w terminie
+                        random.randint(0, 1),  # czy opłacone w terminie
-                        random.random() * 10, #intensywność odoru
+                        random.random() * 10,  # intensywność odoru
-                        random.random() * 50 #waga śmieci                        
+                        random.random() * 50  # waga śmieci
                     ))
                 else:
-                    field_array_2.append(GRASS)
+                    field_array_2.append(BASE)
-                    temp_priority.append(1)
+                    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