s452625/projektAI
2
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Znowu nie działa A* XD

Browse Source
This commit is contained in:
Miron 2021-05-09 20:19:18 +02:00
parent 7288e4901c
commit 9f24b128eb
1 changed files with 89 additions and 48 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

137
src/main.py
View File

@ -24,15 +24,15 @@ def get_position_from_pix(pix_pos):
WAREHOUSE_MAP = [ WAREHOUSE_MAP = [
[1, 1, 1, 1, 1, 1, 1, 1, 1], [0, 0, 0, 10, 10, 0, 0, 0, 0],
[20, 20, 20, 20, 20, 20, 20, 20, 1], [0, 10, 0, 10, 0, 10, 0, 0, 0],
[1, 1, 1, 1, 1, 1, 1, 1, 1], [0, 10, 0, 0, 0, 200, 200, 200, 200],
[1, 199, 199, 199, 199, 199, 199, 199, 199], [0, 0, 10, 0, 0, 0, 0, 0, 0],
[1, 1, 1, 1, 1, 1, 1, 1, 1], [0, 0, 10, 0, 0, 200, 200, 200, 200],
[1, 1, 1, 1, 1, 1, 1, 1, 1], [0, 0, 10, 0, 0, 0, 0, 0, 0],
[1, 1, 1, 1, 1, 1, 1, 1, 1], [10, 0, 0, 0, 0, 200, 200, 200, 200],
[1, 1, 1, 1, 1, 1, 1, 1, 1], [0, 0, 0, 10, 0, 0, 0, 0, 0],
[1, 1, 1, 1, 1, 1, 1, 1, 1], [0, 10, 0, 0, 0, 200, 200, 200, 200],
] ]
@ -108,13 +108,13 @@ def breadth_first_search(istate, agent_direction): # COORDINATES OF A START PLA
fringe.append(x) fringe.append(x)
def a_star_search(start, end): def a_star_search(start, end, agent_direction):
open_nodes = [] open_nodes = []
closed_nodes = [] closed_nodes = []
start_node = NodeAStar(None, start) start_node = NodeAStar(agent_direction, None, start)
start_node.g = start_node.h = start_node.f = 0 start_node.g = start_node.h = start_node.f = 0
end_node = NodeAStar(None, end) end_node = NodeAStar(None, None, end)
end_node.g = end_node.h = end_node.f = 0 end_node.g = end_node.h = end_node.f = 0
open_nodes.append(start_node) open_nodes.append(start_node)
@ -136,38 +136,73 @@ def a_star_search(start, end):
path = [] path = []
current = current_node current = current_node
while current is not None: while current is not None:
path.append(current.position) #path.append(current.position)
if current.action is not None:
current.action.reverse()
for each_action in current.action:
path.append(each_action)
current = current.parent current = current.parent
#path = path.pop()
return path[::-1] return path[::-1]
#
x = current_node.position[0] x = current_node.position[0]
y = current_node.position[1] y = current_node.position[1]
if x < 8: # RIGHT NEIGHBOUR if x < 8: # DOWN NEIGHBOUR
if current_node.agent_direction == "right":
actions = ["rotate_right", "move"]
elif current_node.agent_direction == "left":
actions = ["rotate_left", "move"]
elif current_node.agent_direction == "up":
actions = ["rotate_right", "rotate_right", "move"]
elif current_node.agent_direction == "down":
actions = ["move"]
neighbour_nodes.append( neighbour_nodes.append(
NodeAStar(current_node, NodeAStar("down", current_node, (x + 1, y), actions))
(x + 1, y)
)) if x > 0: # UP NEIGHBOUR
if x > 0: # LEFT NEIGHBOUR if current_node.agent_direction == "right":
neighbour_nodes.append( actions = ["rotate_left", "move"]
NodeAStar(current_node, elif current_node.agent_direction == "left":
(x - 1, y) actions = ["rotate_right", "move"]
)) elif current_node.agent_direction == "up":
if y > 0: # UP NEIGHBOUR actions = ["move"]
neighbour_nodes.append( elif current_node.agent_direction == "down":
NodeAStar(current_node, actions = ["rotate_right", "rotate_right", "move"]
(x, y - 1) neighbour_nodes.append(NodeAStar("up", current_node, (x - 1, y), actions))
))
if y < 8: # DOWN NEIGHBOUR if y > 0: # LEFT NEIGHBOUR
neighbour_nodes.append( if current_node.agent_direction == "right":
NodeAStar(current_node, actions = ["rotate_left", "rotate_left", "move"]
(x, y + 1) elif current_node.agent_direction == "left":
)) actions = ["move"]
elif current_node.agent_direction == "up":
actions = ["rotate_left", "move"]
elif current_node.agent_direction == "down":
actions = ["rotate_right", "move"]
neighbour_nodes.append(NodeAStar("left", current_node, (x, y - 1), actions))
if y < 8: # RIGHT NEIGHBOUR
if current_node.agent_direction == "right":
actions = ["move"]
elif current_node.agent_direction == "left":
actions = ["rotate_left", "rotate_left", "move"]
elif current_node.agent_direction == "up":
actions = ["rotate_right", "move"]
elif current_node.agent_direction == "down":
actions = ["rotate_left", "move"]
neighbour_nodes.append(NodeAStar("right", current_node, (x, y + 1), actions))
for neighbour in neighbour_nodes: for neighbour in neighbour_nodes:
if len([closed_neighbour for closed_neighbour in closed_nodes if closed_neighbour == neighbour]) > 0: if len([closed_neighbour for closed_neighbour in closed_nodes if closed_neighbour == neighbour]) > 0:
continue continue
neighbour.g = current_node.g + WAREHOUSE_MAP[neighbour.position[0]][neighbour.position[1]] action_len = 0
neighbour.h = abs(neighbour.position[0] - end_node.position[0]) + abs(neighbour.position[1] - end_node.position[1]) if current_node.action is not None:
action_len = len(current_node.action)
neighbour.g = current_node.g + WAREHOUSE_MAP[neighbour.position[0]][neighbour.position[1]] + action_len
neighbour.h = abs(neighbour.position[0] - end_node.position[0]) + abs(
neighbour.position[1] - end_node.position[1])
neighbour.f = neighbour.g + neighbour.h neighbour.f = neighbour.g + neighbour.h
if len([open_node for open_node in open_nodes if if len([open_node for open_node in open_nodes if
@ -178,10 +213,11 @@ def a_star_search(start, end):
class NodeAStar: class NodeAStar:
def __init__(self, parent=None, position=None): def __init__(self, agent_direction, parent=None, position=None, action=None):
self.agent_direction = agent_direction
self.parent = parent self.parent = parent
self.position = position self.position = position
self.action = action
self.g = 0 self.g = 0
self.h = 0 self.h = 0
self.f = 0 self.f = 0
@ -190,10 +226,7 @@ class NodeAStar:
return self.position == other.position 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: class Node:
def __init__(self, state, agent_direction, action=None, parent=None): def __init__(self, state, agent_direction, action=None, parent=None):
self.state = state self.state = state
@ -279,14 +312,14 @@ class Shelf:
class Stain: class Stain:
def __init__(self, pos): def __init__(self, pos):
self.pos_pix = get_pix_from_position[pos] self.pos_pix = get_pix_from_position[pos]
self.image = STAIN = pygame.transform.scale(pygame.image.load("img/stain.png"), (60, 60)) self.image = pygame.transform.scale(pygame.image.load("img/stain.png"), (60, 60))
self.rect = self.image.get_rect(center=self.pos_pix) self.rect = self.image.get_rect(center=self.pos_pix)
class Agent: class Agent:
def __init__(self, pos, agent_direction="right"): def __init__(self, pos, agent_direction="right"):
self.pos = pos self.pos = pos
self.pos_coord = get_position_from_pix(pos) self.pos_coord = (get_position_from_pix(pos)[1], get_position_from_pix(pos)[0])
self.image = IMAGE self.image = IMAGE
self.rect = self.image.get_rect(center=pos) self.rect = self.image.get_rect(center=pos)
self.goal = (0, 0) self.goal = (0, 0)
@ -377,11 +410,11 @@ class Agent:
board = pygame.Surface((WIDTH, HEIGHT), pygame.SRCALPHA) # transparently surface board = pygame.Surface((WIDTH, HEIGHT), pygame.SRCALPHA) # transparently surface
#
create_positions() create_positions()
#
#Rysowanie lini
for x in range(9): for x in range(9):
for y in range(9): for y in range(9):
pygame.draw.rect(board, (0, 0, 0), (x * size, y * size, size, size), 3) pygame.draw.rect(board, (0, 0, 0), (x * size, y * size, size, size), 3)
@ -406,13 +439,21 @@ Package_list = [
generate_package(40, 40) generate_package(40, 40)
] ]
agent.path = breadth_first_search(agent.pos_coord, agent.agent_direction)
print(a_star_search((6, 8), (0, 0), "down"))
#agent.path = breadth_first_search(agent.pos_coord, agent.agent_direction)
agent.path = a_star_search(agent.pos_coord, (0, 0), agent.agent_direction)
print(agent.path)
Stain_list = [] Stain_list = []
# Pętla służąca do tworzenia plam oleju na podstawie mapy magazynu # Pętla służąca do tworzenia plam oleju na podstawie mapy magazynu
for index_x in range(9): for index_x in range(9):
for index_y in range(9): for index_y in range(9):
if WAREHOUSE_MAP[index_x][index_y] == 5: if WAREHOUSE_MAP[index_x][index_y] == 10:
Stain_list.append(Stain((index_y, index_x))) Stain_list.append(Stain((index_y, index_x)))
running = True running = True
@ -448,7 +489,6 @@ while running:
agent.move_bfs() agent.move_bfs()
else: else:
time.sleep(.25) time.sleep(.25)
@ -457,7 +497,8 @@ while running:
agent.goal = coord_goals.pop(0) agent.goal = coord_goals.pop(0)
agent.goal_achieved = False agent.goal_achieved = False
agent.path = breadth_first_search(agent.pos_coord, agent.agent_direction) #agent.path = breadth_first_search(agent.pos_coord, agent.agent_direction)
agent.path = a_star_search(agent.pos_coord, agent.goal, agent.agent_direction)
# DRAWING # DRAWING
screen.blit(BACKGROUND, [0, 0]) screen.blit(BACKGROUND, [0, 0])