Nieskonczony A*

src/main.py

@@ -4,7 +4,6 @@ import time
 
 pygame.init()
 
-
 WIDTH = 675
 HEIGHT = 675
 size = 75
@@ -14,7 +13,6 @@ RECT_SIZE = 9
 IMAGE = pygame.image.load('img/wozek2.png')
 BACKGROUND = pygame.transform.scale(pygame.image.load('img/background.png'), (WIDTH, HEIGHT))
 DOCK = pygame.transform.scale(pygame.image.load('img/dock_left.png'), (75, 75))
-
 get_pix_from_position = {}
 
 
@@ -25,7 +23,20 @@ def get_position_from_pix(pix_pos):
     print("ERROR: THERE IS NO POSITION LIKE THIS (get_position_from_pix)")
 
 
-def create_postiions():
+WAREHOUSE_MAP = [
+    [1, 1, 1, 1, 1, 1, 1, 1, 1],
+    [20, 20, 20, 20, 20, 20, 20, 20, 1],
+    [1, 1, 1, 1, 1, 1, 1, 1, 1],
+    [1, 199, 199, 199, 199, 199, 199, 199, 199],
+    [1, 1, 1, 1, 1, 1, 1, 1, 1],
+    [1, 1, 1, 1, 1, 1, 1, 1, 1],
+    [1, 1, 1, 1, 1, 1, 1, 1, 1],
+    [1, 1, 1, 1, 1, 1, 1, 1, 1],
+    [1, 1, 1, 1, 1, 1, 1, 1, 1],
+]
+
+
+def create_positions():
     size_agent = 40
     x_position_pix = size_agent
     y_position_pix = size_agent
@@ -45,6 +56,7 @@ def generate_package(a, b):
     p1 = Package((a, b), rand_x, name_list[rand_y - 1], image_list[rand_y - 1])
     return p1
 
+
 # FRINGE - struktura danych przechowująca wierzchołki do odwiedzenia
 # EXPLORED - lista odwiedzonych stanów
 # istate - stan początkowy
@@ -96,6 +108,92 @@ def breadth_first_search(istate, agent_direction):  # COORDINATES OF A START PLA
                 fringe.append(x)
 
 
+def a_star_search(start, end):
+    open_nodes = []
+    closed_nodes = []
+
+    start_node = NodeAStar(None, start)
+    start_node.g = start_node.h = start_node.f = 0
+    end_node = NodeAStar(None, end)
+    end_node.g = end_node.h = end_node.f = 0
+
+    open_nodes.append(start_node)
+
+    while len(open_nodes) != 0:
+        current_node = open_nodes[0]
+        current_node_index = 0
+        for index, node in enumerate(open_nodes):
+            if node.f < current_node.f:
+                current_node = node
+                current_node_index = index
+
+        open_nodes.pop(current_node_index)
+        closed_nodes.append(current_node)
+
+        # Sprawdzam czy jesteśmy u celu jeżeli tak zwracamy ścieżkę
+        neighbour_nodes = []
+        if current_node == end_node:
+            path = []
+            current = current_node
+            while current is not None:
+                path.append(current.position)
+                current = current.parent
+            return path[::-1]
+
+        x = current_node.position[0]
+        y = current_node.position[1]
+        if x < 8:  # RIGHT NEIGHBOUR
+            neighbour_nodes.append(
+                NodeAStar(current_node,
+                          (x + 1, y)
+                          ))
+        if x > 0:  # LEFT NEIGHBOUR
+            neighbour_nodes.append(
+                NodeAStar(current_node,
+                          (x - 1, y)
+                          ))
+        if y > 0:  # UP NEIGHBOUR
+            neighbour_nodes.append(
+                NodeAStar(current_node,
+                          (x, y - 1)
+                          ))
+        if y < 8:  # DOWN NEIGHBOUR
+            neighbour_nodes.append(
+                NodeAStar(current_node,
+                          (x, y + 1)
+                          ))
+        for neighbour in neighbour_nodes:
+            if len([closed_neighbour for closed_neighbour in closed_nodes if closed_neighbour == neighbour]) > 0:
+                continue
+
+            neighbour.g = current_node.g + WAREHOUSE_MAP[neighbour.position[0]][neighbour.position[1]]
+            neighbour.h = abs(neighbour.position[0] - end_node.position[0]) + abs(neighbour.position[1] - end_node.position[1])
+            neighbour.f = neighbour.g + neighbour.h
+
+            if len([open_node for open_node in open_nodes if
+                    neighbour.position == open_node.position and neighbour.g > open_node.g]) > 0:
+                continue
+
+            open_nodes.append(neighbour)
+
+
+class NodeAStar:
+    def __init__(self, parent=None, position=None):
+        self.parent = parent
+        self.position = position
+
+        self.g = 0
+        self.h = 0
+        self.f = 0
+
+    def __eq__(self, other):
+        return self.position == other.position
+
+
+print(a_star_search((0, 0), (3, 0)))
+#print(a_star_search((2, 2), (7, 7)))
+print(WAREHOUSE_MAP[5][0])
+print(5, 0)
 class Node:
     def __init__(self, state, agent_direction, action=None, parent=None):
         self.state = state
@@ -178,6 +276,13 @@ class Shelf:
         self.rect = self.image.get_rect(center=self.pos_pix)
 
 
+class Stain:
+    def __init__(self, pos):
+        self.pos_pix = get_pix_from_position[pos]
+        self.image = STAIN = pygame.transform.scale(pygame.image.load("img/stain.png"), (60, 60))
+        self.rect = self.image.get_rect(center=self.pos_pix)
+
+
 class Agent:
     def __init__(self, pos, agent_direction="right"):
         self.pos = pos
@@ -273,7 +378,7 @@ class Agent:
 board = pygame.Surface((WIDTH, HEIGHT), pygame.SRCALPHA)  # transparently surface
 
 #
-create_postiions()
+create_positions()
 
 #
 
@@ -283,15 +388,17 @@ for x in range(9):
 
 agent = Agent((40, 640))
 
-
 Shelf_list = [
-    Shelf((5, 2), 'Explosive', 5), Shelf((6, 2), 'Explosive', 5), Shelf((7, 2), 'Explosive', 5), Shelf((8, 2), 'Explosive', 5),
+    Shelf((5, 2), 'Explosive', 5), Shelf((6, 2), 'Explosive', 5), Shelf((7, 2), 'Explosive', 5),
+    Shelf((8, 2), 'Explosive', 5),
     Shelf((5, 4), 'Grocery', 5), Shelf((6, 4), 'Grocery', 5), Shelf((7, 4), 'Grocery', 5), Shelf((8, 4), 'Grocery', 5),
-    Shelf((5, 6), 'Builders', 5), Shelf((6, 6), 'Builders', 5), Shelf((7, 6), 'Builders', 5), Shelf((8, 6), 'Builders', 5),
+    Shelf((5, 6), 'Builders', 5), Shelf((6, 6), 'Builders', 5), Shelf((7, 6), 'Builders', 5),
-    Shelf((5, 8), 'Electronic', 5), Shelf((6, 8), 'Electronic', 5), Shelf((7, 8), 'Electronic', 5), Shelf((8, 8), 'Electronic', 5)]
+    Shelf((8, 6), 'Builders', 5),
+    Shelf((5, 8), 'Electronic', 5), Shelf((6, 8), 'Electronic', 5), Shelf((7, 8), 'Electronic', 5),
+    Shelf((8, 8), 'Electronic', 5)]
 
-
+coord_goals = [(6, 8), (0, 0), (5, 8), (0, 0), (7, 8), (0, 0), (8, 8), (0, 0),
-coord_goals = [(6, 8), (0, 0), (5,8), (0, 0), (7,8), (0, 0), (8,8), (0, 0), (5,6), (0, 0), (6,6), (0, 0), (7,6), (0, 0), (8,6), (0, 8)]
+               (5, 6), (0, 0), (6, 6), (0, 0), (7, 6), (0, 0), (8, 6), (0, 8)]
 
 screen = pygame.display.set_mode([WIDTH, HEIGHT])
 
@@ -301,18 +408,22 @@ Package_list = [
 
 agent.path = breadth_first_search(agent.pos_coord, agent.agent_direction)
 
+Stain_list = []
+# Pętla służąca do tworzenia plam oleju na podstawie mapy magazynu
+for index_x in range(9):
+    for index_y in range(9):
+        if WAREHOUSE_MAP[index_x][index_y] == 5:
+            Stain_list.append(Stain((index_y, index_x)))
 running = True
-while running:
 
+while running:
+    time.sleep(0.25)
     for event in pygame.event.get():
         if event.type == pygame.QUIT:
             running = False
 
         if event.type == pygame.KEYDOWN:
             pass
-            # agent.move(event.key)
-            # agent.lift_package(event.key)
-            # agent.rotate(event.key)
 
     for package in Package_list:
         if package.is_package_up:
@@ -337,6 +448,7 @@ while running:
 
         agent.move_bfs()
 
+
     else:
         time.sleep(.25)
 
@@ -353,6 +465,8 @@ while running:
     screen.blit(board, board.get_rect())
     for shelf in Shelf_list:
         screen.blit(shelf.image, shelf.rect)
+    for stain in Stain_list:
+        screen.blit(stain.image, stain.rect)
     screen.blit(agent.image, agent.rect)
     for package in Package_list:
         screen.blit(package.image, package.rect)