bfs graph implementation
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parent
87f27dac52
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95f0e67516
234
src/main.py
234
src/main.py
@ -1,5 +1,6 @@
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import pygame
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import random
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import time
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pygame.init()
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@ -8,11 +9,33 @@ WIDTH = 675
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HEIGHT = 675
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size = 75
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QTY_OF_PACKAGES = 8
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RECT_SIZE = 9
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IMAGE = pygame.image.load('img/wozek2.png')
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BACKGROUND = pygame.transform.scale(pygame.image.load('img/background.png'), (WIDTH, HEIGHT))
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DOCK = pygame.transform.scale(pygame.image.load('img/dock_left.png'), (75, 75))
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get_pix_from_position = {}
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def get_position_from_pix(pix_pos):
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for key, value in get_pix_from_position.items():
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if pix_pos == value:
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return key
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print("ERROR: THERE IS NO POSITION LIKE THIS (get_position_from_pix)")
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def create_postiions():
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size_agent = 40
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x_position_pix = size_agent
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y_position_pix = size_agent
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for position_x in range(RECT_SIZE):
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for position_y in range(RECT_SIZE):
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get_pix_from_position[(position_x, position_y)] = (x_position_pix, y_position_pix)
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y_position_pix += size
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y_position_pix = size_agent
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x_position_pix += size
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def generate_package(a, b):
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y = random.randint(1, 4)
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@ -27,6 +50,76 @@ def generate_package(a, b):
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p1 = Package((a, b), x, "Builders", 'img/package_builders.png')
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return p1
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# FRINGE - struktura danych przechowująca wierzchołki do odwiedzenia
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# EXPLORED - lista odwiedzonych stanów
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# istate - stan początkowy
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# Succ - funkcja następnika
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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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fringe = []
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explored = []
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start = Node(istate)
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fringe.append(start)
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path = []
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while True:
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if not fringe:
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return False
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elem = fringe.pop(0)
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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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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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fringe_states = []
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explored_states = []
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for node in fringe:
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fringe_states.append(node.state)
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for node2 in explored:
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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.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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self.state = state
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self.action = action
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self.parent = parent
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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 > 0:
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neighbours.append(("left", (x-1, y)))
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if y > 0:
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neighbours.append(("up", (x, y-1)))
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if y < 8:
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neighbours.append(("down", (x, y+1)))
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return neighbours
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class Package:
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def __init__(self, pos, content, content_size, pack_image):
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@ -40,34 +133,90 @@ class Package:
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class Shelf:
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def __init__(self, pos, content, content_size):
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self.pos_pix = get_pix_from_position[pos]
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self.content = content
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self.content_size = content_size
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self.image = pygame.transform.scale(pygame.image.load('img/shelf.png'), (60, 60))
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self.rect = self.image.get_rect(center=pos)
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self.rect = self.image.get_rect(center=self.pos_pix)
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class Agent:
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def __init__(self, pos):
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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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self.rect = self.image.get_rect(center=pos)
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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.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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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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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 == "down":
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self.image = self.image_down # ROTATION
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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 == "up":
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self.image = self.image_up # ROTATION
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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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else:
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print("error: bad path :move_bfs")
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def lift_package(self, key):
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if key == pygame.K_e:
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@ -77,9 +226,56 @@ 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 lift_package_bfs(self):
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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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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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else:
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return False
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board = pygame.Surface((WIDTH, HEIGHT), pygame.SRCALPHA) # transparently surface
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#
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create_postiions()
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#
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for x in range(9):
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for y in range(9):
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pygame.draw.rect(board, (0, 0, 0), (x * size, y * size, size, size), 3)
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@ -88,10 +284,13 @@ agent = Agent((40, 640))
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Shelf_list = [
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Shelf((640, 340), 'Explosive', 5), Shelf((565, 340), 'Explosive', 5), Shelf((490, 340), 'Explosive', 5), Shelf((415, 340), 'Explosive', 5),
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Shelf((640, 190), 'Grocery', 5), Shelf((565, 190), 'Grocery', 5), Shelf((490, 190), 'Grocery', 5), Shelf((415, 190), 'Grocery', 5),
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Shelf((640, 640), 'Builders', 5), Shelf((565, 640), 'Builders', 5), Shelf((490, 640), 'Builders', 5), Shelf((415, 640), 'Builders', 5),
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Shelf((640, 490), 'Electronic', 5), Shelf((565, 490), 'Electronic', 5), Shelf((490, 490), 'Electronic', 5), Shelf((415, 490), 'Electronic', 5)]
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Shelf((5, 2), 'Explosive', 5), Shelf((6, 2), 'Explosive', 5), Shelf((7, 2), 'Explosive', 5), Shelf((8, 2), 'Explosive', 5),
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Shelf((5, 4), 'Grocery', 5), Shelf((6, 4), 'Grocery', 5), Shelf((7, 4), 'Grocery', 5), Shelf((8, 4), 'Grocery', 5),
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Shelf((5, 6), 'Builders', 5), Shelf((6, 6), 'Builders', 5), Shelf((7, 6), 'Builders', 5), Shelf((8, 6), 'Builders', 5),
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Shelf((5, 8), 'Electronic', 5), Shelf((6, 8), 'Electronic', 5), Shelf((7, 8), 'Electronic', 5), Shelf((8, 8), 'Electronic', 5)]
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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)]
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screen = pygame.display.set_mode([WIDTH, HEIGHT])
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@ -99,6 +298,8 @@ 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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running = True
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while running:
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@ -109,10 +310,12 @@ while running:
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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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for package in Package_list:
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if package.is_package_up:
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package.rect.move_ip(agent.pos[0] - package.pos[0], agent.pos[1] - package.pos[1])
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package.pos = agent.pos
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if len(Package_list) < QTY_OF_PACKAGES:
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@ -128,6 +331,25 @@ while running:
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# screen.fill((0, 0, 0))
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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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agent.move_bfs()
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else:
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time.sleep(.25)
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agent.lift_package_bfs()
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if coord_goals:
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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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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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@ -137,6 +359,8 @@ 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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