rotation added to the agent
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src/img/electronics.png
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src/img/electronics.png
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After Width: | Height: | Size: 2.6 KiB |
227
src/main.py
227
src/main.py
@ -45,7 +45,7 @@ def generate_package(a, b):
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elif y == 2:
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p1 = Package((a, b), x, "Explosive", 'img/package_explosive.png')
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elif y == 3:
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p1 = Package((a, b), x, "Electronic", 'img/package.png')
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p1 = Package((a, b), x, "Electronic", 'img/electronics.png')
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elif y == 4:
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p1 = Package((a, b), x, "Builders", 'img/package_builders.png')
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return p1
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@ -57,10 +57,10 @@ def generate_package(a, b):
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# Goaltest -test spełnienia celu
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def breadth_first_search(istate): # COORDINATES OF A START PLACE
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def breadth_first_search(istate, agent_direction): # COORDINATES OF A START PLACE
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fringe = []
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explored = []
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start = Node(istate)
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start = Node(istate, agent_direction)
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fringe.append(start)
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path = []
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@ -73,14 +73,20 @@ def breadth_first_search(istate): # COORDINATES OF A START PLACE
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if agent.goal_test(elem.state):
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# return ciag akcji zbudowany z wykorzystaniem pol parent i action
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while elem.parent is not None:
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path.append(elem.action)
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if type(elem.action) == list:
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elem.action.reverse()
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for each_action in elem.action:
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path.append(each_action)
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else:
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path.append(elem.action)
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elem = elem.parent
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path.reverse()
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return path
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explored.append(elem)
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for action, state in elem.successor():
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for action, state, direction in elem.successor():
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fringe_states = []
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explored_states = []
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for node in fringe:
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@ -89,34 +95,71 @@ def breadth_first_search(istate): # COORDINATES OF A START PLACE
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explored_states.append(node2.state)
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if state not in fringe_states and state not in explored_states:
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x = Node(state)
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x = Node(state, direction)
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x.parent = elem
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x.action = action
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fringe.append(x)
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class Node:
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def __init__(self, state, action=None, parent=None):
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def __init__(self, state, agent_direction, action=None, parent=None):
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self.state = state
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self.action = action
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self.parent = parent
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self.agent_direction = agent_direction
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def successor(self):
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neighbours = []
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x = self.state[0]
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y = self.state[1]
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if x < 8:
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neighbours.append(("right", (x+1, y)))
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if x < 8: # RIGHT NEIGHBOUR
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if self.agent_direction == "right":
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actions = "move"
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elif self.agent_direction == "left":
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actions = ["rotate_right", "rotate_right", "move"]
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elif self.agent_direction == "up":
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actions = ["rotate_right", "move"]
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elif self.agent_direction == "down":
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actions = ["rotate_left", "move"]
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if x > 0:
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neighbours.append(("left", (x-1, y)))
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neighbours.append((actions, (x + 1, y), "right"))
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if y > 0:
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neighbours.append(("up", (x, y-1)))
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if x > 0: # LEFT NEIGHBOUR
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if self.agent_direction == "right":
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actions = ["rotate_left", "rotate_left", "move"]
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elif self.agent_direction == "left":
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actions = "move"
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elif self.agent_direction == "up":
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actions = ["rotate_left", "move"]
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elif self.agent_direction == "down":
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actions = ["rotate_right", "move"]
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if y < 8:
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neighbours.append(("down", (x, y+1)))
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neighbours.append((actions, (x - 1, y), "left"))
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if y > 0: # UP NEIGHBOUR
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if self.agent_direction == "right":
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actions = ["rotate_left", "move"]
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elif self.agent_direction == "left":
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actions = ["rotate_right", "move"]
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elif self.agent_direction == "up":
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actions = "move"
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elif self.agent_direction == "down":
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actions = ["rotate_left", "rotate_left", "move"]
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neighbours.append((actions, (x, y - 1), "up"))
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if y < 8: # DOWN NEIGHBOUR
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if self.agent_direction == "right":
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actions = ["rotate_right", "move"]
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elif self.agent_direction == "left":
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actions = ["rotate_left", "move"]
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elif self.agent_direction == "up":
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actions = ["rotate_left", "rotate_left", "move"]
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elif self.agent_direction == "down":
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actions = "move"
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neighbours.append((actions, (x, y + 1), "down"))
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return neighbours
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@ -141,7 +184,7 @@ class Shelf:
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class Agent:
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def __init__(self, pos):
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def __init__(self, pos, agent_direction="right"):
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self.pos = pos
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self.pos_coord = get_position_from_pix(pos)
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self.image = IMAGE
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@ -149,82 +192,74 @@ class Agent:
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self.goal = (0, 0)
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self.path = None
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self.goal_achieved = False
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self.agent_direction = agent_direction
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self.image_left = pygame.transform.flip(IMAGE, True, False)
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self.image_right = IMAGE
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self.image_down = pygame.transform.rotate(self.image_right, -90)
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self.image_up = pygame.transform.rotate(self.image_left, -90)
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def move(self, key):
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if key == pygame.K_UP and self.rect.y - size > 0:
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self.rect.move_ip(0, -size)
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self.pos = (self.pos[0], self.pos[1] - size)
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#
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self.pos_coord = get_position_from_pix(self.pos)
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if key == pygame.K_DOWN and self.rect.y + size < HEIGHT:
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self.rect.move_ip(0, size)
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self.pos = (self.pos[0], self.pos[1] + size)
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#
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self.pos_coord = get_position_from_pix(self.pos)
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if key == pygame.K_RIGHT and self.rect.x + size < WIDTH:
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self.rect.move_ip(size, 0)
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self.pos = (self.pos[0] + size, self.pos[1])
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#
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self.pos_coord = get_position_from_pix(self.pos)
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if key == pygame.K_LEFT and self.rect.x - size > 0:
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self.rect.move_ip(-size, 0)
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self.pos = (self.pos[0] - size, self.pos[1])
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#
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self.pos_coord = get_position_from_pix(self.pos)
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def move_bfs(self):
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if self.path is None or not self.path:
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self.goal_achieved = True
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# LIFT PACKAGE??
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else:
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move = self.path.pop(0)
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if move == "right":
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self.image = self.image_right # ROTATION
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if move == "rotate_left":
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if self.agent_direction == "right":
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self.agent_direction = "up"
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self.image = self.image_up
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self.rect.move_ip(size, 0)
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self.pos = (self.pos[0] + size, self.pos[1])
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self.pos_coord = get_position_from_pix(self.pos)
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elif move == "left":
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self.image = self.image_left # ROTATION
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elif self.agent_direction == "left":
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self.agent_direction = "down"
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self.image = self.image_down
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self.rect.move_ip(-size, 0)
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self.pos = (self.pos[0] - size, self.pos[1])
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self.pos_coord = get_position_from_pix(self.pos)
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elif self.agent_direction == "up":
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self.agent_direction = "left"
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self.image = self.image_left
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elif move == "down":
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self.image = self.image_down # ROTATION
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elif self.agent_direction == "down":
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self.agent_direction = "right"
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self.image = self.image_right
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self.rect.move_ip(0, size)
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self.pos = (self.pos[0], self.pos[1] + size)
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self.pos_coord = get_position_from_pix(self.pos)
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elif move == "rotate_right":
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if self.agent_direction == "right":
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self.agent_direction = "down"
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self.image = self.image_down
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elif move == "up":
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self.image = self.image_up # ROTATION
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elif self.agent_direction == "left":
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self.agent_direction = "up"
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self.image = self.image_up
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self.rect.move_ip(0, -size)
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self.pos = (self.pos[0], self.pos[1] - size)
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self.pos_coord = get_position_from_pix(self.pos)
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elif self.agent_direction == "up":
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self.agent_direction = "right"
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self.image = self.image_right
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else:
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print("error: bad path :move_bfs")
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elif self.agent_direction == "down":
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self.agent_direction = "left"
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self.image = self.image_left
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def lift_package(self, key):
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if key == pygame.K_e:
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for package in Package_list:
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if package.is_package_up:
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package.is_package_up = False
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elif package.pos == agent.pos:
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package.is_package_up = True
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elif move == "move":
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if self.agent_direction == "right":
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self.rect.move_ip(size, 0)
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self.pos = (self.pos[0] + size, self.pos[1])
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self.pos_coord = get_position_from_pix(self.pos)
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elif self.agent_direction == "left":
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self.rect.move_ip(-size, 0)
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self.pos = (self.pos[0] - size, self.pos[1])
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self.pos_coord = get_position_from_pix(self.pos)
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elif self.agent_direction == "up":
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self.rect.move_ip(0, -size)
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self.pos = (self.pos[0], self.pos[1] - size)
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self.pos_coord = get_position_from_pix(self.pos)
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elif self.agent_direction == "down":
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self.rect.move_ip(0, size)
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self.pos = (self.pos[0], self.pos[1] + size)
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self.pos_coord = get_position_from_pix(self.pos)
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def lift_package_bfs(self):
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for package in Package_list:
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@ -233,35 +268,6 @@ class Agent:
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elif package.pos == agent.pos:
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package.is_package_up = True
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def rotate(self, key):
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if key == pygame.K_a:
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self.turn_agent_left()
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if key == pygame.K_d:
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self.turn_agent_right()
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if key == pygame.K_s:
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self.turn_agent_down()
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if key == pygame.K_w:
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self.turn_agent_up()
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def turn_agent_left(self):
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self.successor = (self.pos_coord[0]-1, self.pos_coord[1])
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self.image = self.image_left
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def turn_agent_right(self):
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self.successor = (self.pos_coord[0]+1, self.pos_coord[1])
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self.image = self.image_right
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def turn_agent_down(self):
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self.successor = (self.pos_coord[0], self.pos_coord[1]-1)
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self.image = self.image_down
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def turn_agent_up(self):
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self.successor = (self.pos_coord[0], self.pos_coord[1]+1)
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self.image = self.image_up
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def goal_test(self, state):
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if state == self.goal:
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return True
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@ -298,7 +304,7 @@ Package_list = [
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generate_package(40, 40)
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]
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agent.path = breadth_first_search(agent.pos_coord)
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agent.path = breadth_first_search(agent.pos_coord, agent.agent_direction)
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running = True
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while running:
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@ -308,9 +314,10 @@ while running:
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running = False
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if event.type == pygame.KEYDOWN:
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agent.move(event.key)
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agent.lift_package(event.key)
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agent.rotate(event.key)
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pass
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# agent.move(event.key)
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# agent.lift_package(event.key)
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# agent.rotate(event.key)
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for package in Package_list:
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if package.is_package_up:
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@ -329,12 +336,7 @@ while running:
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if is_dock_empty:
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Package_list.append(generate_package(40, 40))
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# screen.fill((0, 0, 0))
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# pathing
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# PATHING
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if not agent.goal_achieved:
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print(agent.path)
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@ -348,8 +350,9 @@ while running:
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agent.goal = coord_goals.pop(0)
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agent.goal_achieved = False
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agent.path = breadth_first_search(agent.pos_coord)
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agent.path = breadth_first_search(agent.pos_coord, agent.agent_direction)
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# DRAWING
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screen.blit(BACKGROUND, [0, 0])
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screen.blit(DOCK, [0, 0])
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screen.blit(board, board.get_rect())
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@ -359,8 +362,6 @@ while running:
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for package in Package_list:
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screen.blit(package.image, package.rect)
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pygame.display.update()
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pygame.quit()
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