astar.py

@@ -1,61 +0,0 @@
-from succ import succ as successors
-from queue import PriorityQueue
-from state import State
-
-def astar(istate, goalx, goaly, passedFields):
-    fringe = PriorityQueue()
-    fringe.put(istate)
-    explored = set()
-    steps = []
-    while not fringe.empty():
-        state = fringe.get()
-        if state.xpos == goalx and state.ypos == goaly:
-            steps.insert(0, state)
-            while (state.parent != None):
-                state = state.parent
-                steps.insert(0, state)
-            return steps
-
-        element = successors(state, passedFields, goalx, goaly)
-        explored.add((state.xpos, state.ypos, state.orientation))
-        for value in element:
-            val = (value.xpos, value.ypos, value.orientation)
-            if val in explored:
-                continue 
-            cost = state.priority + value.priority
-            succesorState = State(state, value.action, 
-                                  value.xpos, value.ypos, 
-                                  value.orientation, cost, 
-                                  value.heuristic)
-            if value not in fringe.queue:
-                fringe.put(succesorState)
-            else :
-                for element in fringe.queue:
-                    if (element.xpos==value.xpos and element.ypos==value.ypos) and element > value:
-                        element.parent = state
-                        element.priority = value.priority
-    return False
-
-
-# def bfs(istate, goalx, goaly, passedFields):
-#     fringe = [istate]
-#     explored = []
-#     steps = []
-#     while fringe:
-#         state = fringe.pop(0)
-#         if state.xpos == goalx and state.ypos == goaly:
-#             steps.insert(0, state)
-#             while (state.parent != None):
-#                 state = state.parent
-#                 steps.insert(0, state)
-#             return steps
-
-#         element = successors(state, passedFields)
-#         explored.append((state.xpos, state.ypos, state.orientation))
-#         for value in element:
-#             val = (value.xpos, value.ypos, value.orientation)
-#             if val not in explored and value not in fringe:
-#                 fringe.append(value)
-#     return False
-
-

garbage_truck.py

@@ -1,5 +1,3 @@
-FIELDWIDTH = 50
-
 class GarbageTank:
     def __init__(self, volume_capacity, mass_capacity):
         self.vcapacity = volume_capacity #m^3
@@ -10,27 +8,10 @@ class Engine:
         self.power = power #HP
 
 class GarbageTruck:
-    def __init__(self, dump_location, fuel_capacity, rect, orientation):
+    def __init__(self, dump_location, fuel_capacity, start_pos):
         self.dump_location = dump_location
         self.tank = GarbageTank(15, 18000)
         self.engine = Engine(400)
         self.fuel = fuel_capacity
-        self.rect = rect
-        self.orientation = orientation
+        self.pos = start_pos
         self.houses = [] #lista domów do odwiedzenia
-
-    def turn_left(self):
-        self.orientation = (self.orientation - 1) % 4
-
-    def turn_right(self):
-        self.orientation = (self.orientation + 1) % 4
-
-    def forward(self):
-        if self.orientation == 0:
-            self.rect.x += FIELDWIDTH
-        elif self.orientation == 1:
-            self.rect.y += FIELDWIDTH
-        elif self.orientation == 2:
-            self.rect.x -= FIELDWIDTH
-        else:
-            self.rect.y -= FIELDWIDTH

heuristicfn.py

@@ -1,3 +0,0 @@
-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

@@ -1,10 +1,5 @@
 import pygame
 import random
-from astar import astar
-from state import State
-import time
-from garbage_truck import GarbageTruck
-from heuristicfn import heuristicfn
 
 pygame.init()
 WIDTH, HEIGHT = 800, 800
@@ -21,90 +16,52 @@ SAND = pygame.transform.scale(SAND_IMG, (50, 50))
 COBBLE_IMG = pygame.image.load("cobble.jpeg")
 COBBLE = pygame.transform.scale(COBBLE_IMG, (50, 50))
 FPS = 10
-FIELDCOUNT = 16
-FIELDWIDTH = 50
-
-
-class Agent:
-    def __init__(self, rect, direction):
-        self.rect = rect
-        self.direction = direction
 
 
 def randomize_map():        # tworzenie mapy z losowymi polami
+    fields_list = [DIRT, GRASS, SAND, COBBLE]
     field_array_1 = []
     field_array_2 = []
-    field_priority = []
     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)
-                temp_priority.append(1)
-            else:
-                prob = random.uniform(0, 100)
-                if 0 <= prob <= 12:
-                    field_array_2.append(COBBLE)
-                    temp_priority.append(3)
-                elif 12 < prob <= 24:
-                    field_array_2.append(SAND)
-                    temp_priority.append(2)
-                else:
-                    field_array_2.append(GRASS)
-                    temp_priority.append(1)
+            field_array_2.append(random.choice(fields_list))
         field_array_1.append(field_array_2)
         field_array_2 = []
-        field_priority.append(temp_priority)
-    return field_array_1, field_priority
+    return field_array_1
 
 
-def draw_window(agent, fields, flip):
-    if flip:
-        direction = pygame.transform.flip(AGENT, True, False)
-    else:
-        direction = pygame.transform.flip(AGENT, False, False)
+def draw_window(agent, fields):
     for i in range(16):
         for j in range(16):
             window.blit(fields[i][j], (i * 50, j * 50))
-    window.blit(direction, (agent.rect.x, agent.rect.y))  # wyswietlanie agenta
+    window.blit(AGENT, (agent.x, agent.y))      # wyswietlanie agenta
     pygame.display.update()
 
 
+def agent_movement(keys_pressed, agent):    # sterowanie
+    if keys_pressed[pygame.K_LEFT] and agent.x > 0:
+        agent.x -= 50
+    if keys_pressed[pygame.K_RIGHT] and agent.x < 750:
+        agent.x += 50
+    if keys_pressed[pygame.K_UP] and agent.y > 0:
+        agent.y -= 50
+    if keys_pressed[pygame.K_DOWN] and agent.y < 750:
+        agent.y += 50
+
+
 def main():
     clock = pygame.time.Clock()
     run = True
-    x, y = [0, 0]
-    agent = GarbageTruck(0, 0, pygame.Rect(x, y, 50, 50), 0)   # tworzenie pola dla agenta
-    fields, priority_array = randomize_map()
-    print(priority_array)
-    final_x, final_y = [100, 300]
+    agent = pygame.Rect(0, 0, 50, 50)   # tworzenie pola dla agenta
+    fields = randomize_map()
     while run:
         clock.tick(FPS)
-        for event in pygame.event.get():
+        for event in pygame.event.get():    # przechwycanie zamknięcia okna
             if event.type == pygame.QUIT:
                 run = False
-        # keys_pressed = pygame.key.get_pressed()
-        draw_window(agent, fields, False)   # false = kierunek east (domyslny), true = west
-        steps = astar(State(None, None, x, y, 'E', priority_array[0][0], heuristicfn(x, y, final_x, final_y)), final_x, final_y, priority_array)
-        for interm in steps:
-            if interm.action == 'LEFT':
-                agent.turn_left()
-                draw_window(agent, fields, True)
-            elif interm.action == 'RIGHT':
-                agent.turn_right()
-                draw_window(agent, fields, False)
-            elif interm.action == 'FORWARD':
-                agent.forward()
-                if agent.orientation == 0:
-                    draw_window(agent, fields, False)
-                elif agent.orientation == 2:
-                    draw_window(agent, fields, True)
-                else:
-                    draw_window(agent, fields, False)
-            time.sleep(0.5)
-    
-        while True:
-            pass  
+        keys_pressed = pygame.key.get_pressed()
+        draw_window(agent, fields)
+        agent_movement(keys_pressed, agent)
 
     pygame.quit()
 

state.py

@@ -1,11 +0,0 @@
-class State:
-    def __init__(self, parent, action, xpos, ypos, orientation, priority, heuristic):
-        self.parent = parent
-        self.xpos = xpos
-        self.ypos = ypos
-        self.orientation = orientation
-        self.action = action
-        self.priority = priority
-        self.heuristic = heuristic
-    def __gt__(self, other):
-        return self.priority > other.priority 

succ.py

@@ -1,31 +0,0 @@
-from state import State
-from heuristicfn import heuristicfn
-FIELDWIDTH, FIELDCOUNT = 50, 16
-
-def succ(st: State, passedPriorities, goalx, goaly):
-    successors = []
-
-    if st.orientation == 'N':
-        successors.append(State(st, 'LEFT', st.xpos, st.ypos, 'W', passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
-        successors.append(State(st, 'RIGHT', st.xpos, st.ypos, 'E', passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
-        if st.ypos > 0:
-            successors.append(State(st, 'FORWARD', st.xpos, st.ypos - FIELDWIDTH , 'N', passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
-    
-    if st.orientation == 'S':
-        successors.append(State(st, 'LEFT', st.xpos, st.ypos, 'E', passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
-        successors.append(State(st,'RIGHT', st.xpos, st.ypos, 'W', passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
-        if st.ypos < FIELDWIDTH * (FIELDCOUNT  - 1):
-            successors.append(State(st, 'FORWARD', st.xpos, st.ypos + FIELDWIDTH , 'S', passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
-
-    if st.orientation == 'W':
-        successors.append(State(st, 'LEFT', st.xpos, st.ypos, 'S', passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
-        successors.append(State(st,'RIGHT', st.xpos, st.ypos, 'N', passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
-        if st.xpos > 0:
-            successors.append(State(st, 'FORWARD', st.xpos - FIELDWIDTH , st.ypos, 'W', passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
-
-    if st.orientation == 'E':
-        successors.append(State(st, 'LEFT', st.xpos, st.ypos, 'N', passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
-        successors.append(State(st, 'RIGHT', st.xpos, st.ypos, 'S', passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
-        if st.xpos < FIELDWIDTH * (FIELDCOUNT  - 1):
-            successors.append(State(st, 'FORWARD', st.xpos + FIELDWIDTH , st.ypos, 'E', passedPriorities[st.xpos//50][st.ypos//50], heuristicfn(st.xpos, st.ypos, goalx, goaly)))
-    return successors