bfs graph implementation

This commit is contained in:
SaluSL 2021-04-23 17:31:49 +02:00
parent 87f27dac52
commit 95f0e67516

View File

@ -1,5 +1,6 @@
import pygame
import random
import time
pygame.init()
@ -8,11 +9,33 @@ WIDTH = 675
HEIGHT = 675
size = 75
QTY_OF_PACKAGES = 8
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 = {}
def get_position_from_pix(pix_pos):
for key, value in get_pix_from_position.items():
if pix_pos == value:
return key
print("ERROR: THERE IS NO POSITION LIKE THIS (get_position_from_pix)")
def create_postiions():
size_agent = 40
x_position_pix = size_agent
y_position_pix = size_agent
for position_x in range(RECT_SIZE):
for position_y in range(RECT_SIZE):
get_pix_from_position[(position_x, position_y)] = (x_position_pix, y_position_pix)
y_position_pix += size
y_position_pix = size_agent
x_position_pix += size
def generate_package(a, b):
y = random.randint(1, 4)
@ -27,6 +50,76 @@ def generate_package(a, b):
p1 = Package((a, b), x, "Builders", 'img/package_builders.png')
return p1
# FRINGE - struktura danych przechowująca wierzchołki do odwiedzenia
# EXPLORED - lista odwiedzonych stanów
# istate - stan początkowy
# Succ - funkcja następnika
# Goaltest -test spełnienia celu
def breadth_first_search(istate): # COORDINATES OF A START PLACE
fringe = []
explored = []
start = Node(istate)
fringe.append(start)
path = []
while True:
if not fringe:
return False
elem = fringe.pop(0)
if agent.goal_test(elem.state):
# return ciag akcji zbudowany z wykorzystaniem pol parent i action
while elem.parent is not None:
path.append(elem.action)
elem = elem.parent
path.reverse()
return path
explored.append(elem)
for action, state in elem.successor():
fringe_states = []
explored_states = []
for node in fringe:
fringe_states.append(node.state)
for node2 in explored:
explored_states.append(node2.state)
if state not in fringe_states and state not in explored_states:
x = Node(state)
x.parent = elem
x.action = action
fringe.append(x)
class Node:
def __init__(self, state, action=None, parent=None):
self.state = state
self.action = action
self.parent = parent
def successor(self):
neighbours = []
x = self.state[0]
y = self.state[1]
if x < 8:
neighbours.append(("right", (x+1, y)))
if x > 0:
neighbours.append(("left", (x-1, y)))
if y > 0:
neighbours.append(("up", (x, y-1)))
if y < 8:
neighbours.append(("down", (x, y+1)))
return neighbours
class Package:
def __init__(self, pos, content, content_size, pack_image):
@ -40,34 +133,90 @@ class Package:
class Shelf:
def __init__(self, pos, content, content_size):
self.pos_pix = get_pix_from_position[pos]
self.content = content
self.content_size = content_size
self.image = pygame.transform.scale(pygame.image.load('img/shelf.png'), (60, 60))
self.rect = self.image.get_rect(center=pos)
self.rect = self.image.get_rect(center=self.pos_pix)
class Agent:
def __init__(self, pos):
self.pos = pos
self.pos_coord = get_position_from_pix(pos)
self.image = IMAGE
self.rect = self.image.get_rect(center=pos)
self.goal = (0, 0)
self.path = None
self.goal_achieved = False
self.image_left = pygame.transform.flip(IMAGE, True, False)
self.image_right = IMAGE
self.image_down = pygame.transform.rotate(self.image_right, -90)
self.image_up = pygame.transform.rotate(self.image_left, -90)
def move(self, key):
if key == pygame.K_UP and self.rect.y - size > 0:
self.rect.move_ip(0, -size)
self.pos = (self.pos[0], self.pos[1] - size)
#
self.pos_coord = get_position_from_pix(self.pos)
if key == pygame.K_DOWN and self.rect.y + size < HEIGHT:
self.rect.move_ip(0, size)
self.pos = (self.pos[0], self.pos[1] + size)
#
self.pos_coord = get_position_from_pix(self.pos)
if key == pygame.K_RIGHT and self.rect.x + size < WIDTH:
self.rect.move_ip(size, 0)
self.pos = (self.pos[0] + size, self.pos[1])
#
self.pos_coord = get_position_from_pix(self.pos)
if key == pygame.K_LEFT and self.rect.x - size > 0:
self.rect.move_ip(-size, 0)
self.pos = (self.pos[0] - size, self.pos[1])
#
self.pos_coord = get_position_from_pix(self.pos)
def move_bfs(self):
if self.path is None or not self.path:
self.goal_achieved = True
# LIFT PACKAGE??
else:
move = self.path.pop(0)
if move == "right":
self.image = self.image_right # ROTATION
self.rect.move_ip(size, 0)
self.pos = (self.pos[0] + size, self.pos[1])
self.pos_coord = get_position_from_pix(self.pos)
elif move == "left":
self.image = self.image_left # ROTATION
self.rect.move_ip(-size, 0)
self.pos = (self.pos[0] - size, self.pos[1])
self.pos_coord = get_position_from_pix(self.pos)
elif move == "down":
self.image = self.image_down # ROTATION
self.rect.move_ip(0, size)
self.pos = (self.pos[0], self.pos[1] + size)
self.pos_coord = get_position_from_pix(self.pos)
elif move == "up":
self.image = self.image_up # ROTATION
self.rect.move_ip(0, -size)
self.pos = (self.pos[0], self.pos[1] - size)
self.pos_coord = get_position_from_pix(self.pos)
else:
print("error: bad path :move_bfs")
def lift_package(self, key):
if key == pygame.K_e:
@ -77,9 +226,56 @@ class Agent:
elif package.pos == agent.pos:
package.is_package_up = True
def lift_package_bfs(self):
for package in Package_list:
if package.is_package_up:
package.is_package_up = False
elif package.pos == agent.pos:
package.is_package_up = True
def rotate(self, key):
if key == pygame.K_a:
self.turn_agent_left()
if key == pygame.K_d:
self.turn_agent_right()
if key == pygame.K_s:
self.turn_agent_down()
if key == pygame.K_w:
self.turn_agent_up()
def turn_agent_left(self):
self.successor = (self.pos_coord[0]-1, self.pos_coord[1])
self.image = self.image_left
def turn_agent_right(self):
self.successor = (self.pos_coord[0]+1, self.pos_coord[1])
self.image = self.image_right
def turn_agent_down(self):
self.successor = (self.pos_coord[0], self.pos_coord[1]-1)
self.image = self.image_down
def turn_agent_up(self):
self.successor = (self.pos_coord[0], self.pos_coord[1]+1)
self.image = self.image_up
def goal_test(self, state):
if state == self.goal:
return True
else:
return False
board = pygame.Surface((WIDTH, HEIGHT), pygame.SRCALPHA) # transparently surface
#
create_postiions()
#
for x in range(9):
for y in range(9):
pygame.draw.rect(board, (0, 0, 0), (x * size, y * size, size, size), 3)
@ -88,10 +284,13 @@ agent = Agent((40, 640))
Shelf_list = [
Shelf((640, 340), 'Explosive', 5), Shelf((565, 340), 'Explosive', 5), Shelf((490, 340), 'Explosive', 5), Shelf((415, 340), 'Explosive', 5),
Shelf((640, 190), 'Grocery', 5), Shelf((565, 190), 'Grocery', 5), Shelf((490, 190), 'Grocery', 5), Shelf((415, 190), 'Grocery', 5),
Shelf((640, 640), 'Builders', 5), Shelf((565, 640), 'Builders', 5), Shelf((490, 640), 'Builders', 5), Shelf((415, 640), 'Builders', 5),
Shelf((640, 490), 'Electronic', 5), Shelf((565, 490), 'Electronic', 5), Shelf((490, 490), 'Electronic', 5), Shelf((415, 490), 'Electronic', 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, 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), (5,6), (0, 0), (6,6), (0, 0), (7,6), (0, 0), (8,6), (0, 8)]
screen = pygame.display.set_mode([WIDTH, HEIGHT])
@ -99,6 +298,8 @@ Package_list = [
generate_package(40, 40)
]
agent.path = breadth_first_search(agent.pos_coord)
running = True
while running:
@ -109,10 +310,12 @@ while running:
if event.type == pygame.KEYDOWN:
agent.move(event.key)
agent.lift_package(event.key)
agent.rotate(event.key)
for package in Package_list:
if package.is_package_up:
package.rect.move_ip(agent.pos[0] - package.pos[0], agent.pos[1] - package.pos[1])
package.pos = agent.pos
if len(Package_list) < QTY_OF_PACKAGES:
@ -128,6 +331,25 @@ while running:
# screen.fill((0, 0, 0))
# pathing
if not agent.goal_achieved:
print(agent.path)
agent.move_bfs()
else:
time.sleep(.25)
agent.lift_package_bfs()
if coord_goals:
agent.goal = coord_goals.pop(0)
agent.goal_achieved = False
agent.path = breadth_first_search(agent.pos_coord)
screen.blit(BACKGROUND, [0, 0])
screen.blit(DOCK, [0, 0])
screen.blit(board, board.get_rect())
@ -137,6 +359,8 @@ while running:
for package in Package_list:
screen.blit(package.image, package.rect)
pygame.display.update()
pygame.quit()