poprawienie bfs, start A*
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parent
d72ba00909
commit
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<?xml version="1.0" encoding="UTF-8"?>
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<?xml version="1.0" encoding="UTF-8"?>
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<project version="4">
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<project version="4">
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<component name="ProjectRootManager" version="2" project-jdk-name="Python 3.10 (pythonProject)" project-jdk-type="Python SDK" />
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<component name="ProjectRootManager" version="2" languageLevel="JDK_19" project-jdk-name="Python 3.9" project-jdk-type="Python SDK" />
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</project>
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</project>
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201
astar.py
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201
astar.py
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from operator import itemgetter
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import cart
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import copy
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from classes import Field
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class Istate:
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def __init__(self, direction, x, y):
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self.direction = direction
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self.x = x
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self.y = y
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def get_direction(self):
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return self.direction
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def set_direction(self, direction):
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self.direction = direction
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def get_x(self):
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return self.x
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def set_x(self, x):
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self.x = x
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def get_y(self):
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return self.y
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def set_y(self, y):
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self.y = y
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class Node:
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def __init__(self, action, direction, parent, x, y):
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self.action = action
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self.direction = direction
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self.parent = parent
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self.x = x
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self.y = y
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def get_action(self):
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return self.action
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def set_action(self, action):
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self.action = action
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def get_direction(self):
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return self.direction
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def set_direction(self, direction):
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self.direction = direction
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def get_parent(self):
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return self.parent
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def set_parent(self, parent):
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self.parent = parent
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def get_x(self):
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return self.x
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def set_x(self, x):
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self.x = x
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def get_y(self):
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return self.y
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def set_y(self, y):
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self.y = y
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def fieldCost(T,node):
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c = 0
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if T[node.x-1][node.y-1].plantType == 1:
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c =2
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elif T[node.x-1][node.y-1].plantType == 2:
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c =5
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elif T[node.x-1][node.y-1].plantType == 3:
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c =13
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elif T[node.x-1][node.y-1].plantType == 4:
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c =100000
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else:
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c=0
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if T[node.x-1][node.y-1].isWet == 1:
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c = c + 4
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else:
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c=c+1
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return c
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def cost(T, node):
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cost = 0
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while (node.get_parent() != None):
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cost = cost + fieldCost(T, node)
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node = node.get_parent()
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return cost
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def f(goaltest, map, node):
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return cost(map, node) + heuristic(goaltest, node)
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def goal_test(elem,goaltest):
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if elem.get_x() == goaltest[0] and elem.get_y() == goaltest[1]:
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return True
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else:
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return False
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def graphsearch(explored, f, fringe, goaltest, istate, map, succ): # przeszukiwanie grafu wszerz
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node = Node(None, istate.get_direction(), None, istate.get_x(), istate.get_y())
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fringe.append((node, 0)) # wierzchołki do odwiedzenia z priorytetem
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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) # zdejmujemy wierzchołek z kolejki fringe i rozpatrujemy go
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temp = copy.copy(elem[0])
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if goal_test(elem[0], goaltest) is True: # jeżeli osiągniemy cel w trakcie przeszukiwania grafu wszerz (wjedziemy na pole docelowe) : zwracamy listę ruchów, po których wykonaniu dotrzemy na miejsce
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return print_moves(elem[0])
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explored.append(elem) # dodajemy wierzchołek do listy wierzchołków odwiedzonych
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for (action, state) in succ(temp): # iterujemy po wszystkich możliwych akcjach i stanach otrzymanych dla danego wierzchołka grafu
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fringe_tuple = []
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fringe_tuple_prio = []
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explored_tuple = []
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for (x, y) in fringe:
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fringe_tuple.append((x.get_direction(), x.get_x(), x.get_y()))
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fringe_tuple_prio.append(((x.get_direction(), x.get_x(), x.get_y()), y))
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for (x, y) in explored:
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explored_tuple.append((x.get_direction(), x.get_x(), x.get_y()))
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x = Node(action, state[0], elem[0], state[1], state[2]) # stworzenie nowego wierzchołka, którego rodzicem jest elem
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p = f(goaltest, map, x) # liczy priorytet
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#print('Koszt =', p)
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if state not in fringe_tuple and state not in explored_tuple: # jeżeli stan nie znajduje się na fringe oraz nie znajduje się w liście wierzchołków odwiedzonych
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fringe.append((x, p)) # dodanie wierzchołka na fringe
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fringe = sorted(fringe, key=itemgetter(1)) # sortowanie fringe'a według priorytetu
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elif state in fringe_tuple:
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i = 0
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for (state_prio, r) in fringe_tuple_prio:
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if str(state_prio) == str(state):
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if r > p:
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fringe.insert(i, (x,p)) # zamiana state, który należy do fringe z priorytetem r na state z priorytetem p (niższym)
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fringe.pop(i + 1)
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fringe = sorted(fringe, key=itemgetter(1)) # sortowanie fringe'a według priorytetu
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break
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i = i + 1
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def heuristic(goaltest, node):
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return abs(node.get_x() - goaltest[0]) + abs(node.get_y() - goaltest[1])
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def print_moves(elem):
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moves_list = []
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while (elem.get_parent() != None):
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moves_list.append(elem.get_action())
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elem = elem.get_parent()
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moves_list.reverse()
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return moves_list
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def succ(elem):
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actions_list = []
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temp = copy.copy(elem.get_direction())
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if temp == 1:
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temp = 4
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else:
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temp = temp - 1
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actions_list.append(("rotate_right", (temp, elem.get_x(), elem.get_y())))
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temp = copy.copy(elem.get_direction())
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if temp == 4:
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temp = 1
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else:
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temp = temp + 1
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actions_list.append(("rotate_left", (temp, elem.get_x(), elem.get_y())))
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temp_move_south = elem.get_y() - 1
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temp_move_west = elem.get_x() - 1
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temp_move_east = elem.get_x() + 1
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temp_move_north = elem.get_y() + 1
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if cart.Cart.is_move_allowed_succ(elem) == "x + 1":
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actions_list.append(("move", (elem.get_direction(), temp_move_east, elem.get_y())))
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elif cart.Cart.is_move_allowed_succ(elem) == "y + 1":
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actions_list.append(("move", (elem.get_direction(), elem.get_x(), temp_move_north)))
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elif cart.Cart.is_move_allowed_succ(elem) == "y - 1":
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actions_list.append(("move", (elem.get_direction(), elem.get_x(), temp_move_south)))
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elif cart.Cart.is_move_allowed_succ(elem) == "x - 1":
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actions_list.append(("move", (elem.get_direction(), temp_move_west, elem.get_y())))
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return actions_list
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156
bfs.py
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156
bfs.py
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import sys
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import cart
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import copy
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class Istate:
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def __init__(self, direction, x, y):
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self.direction = direction
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self.x = x
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self.y = y
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def get_direction(self):
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return self.direction
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def set_direction(self, direction):
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self.direction = direction
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def get_x(self):
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return self.x
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def set_x(self, x):
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self.x = x
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def get_y(self):
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return self.y
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def set_y(self, y):
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self.y = y
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class Node:
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def __init__(self, action, direction, parent, x, y):
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self.action = action
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self.direction = direction
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self.parent = parent
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self.x = x
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self.y = y
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def get_action(self):
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return self.action
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def set_action(self, action):
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self.action = action
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def get_direction(self):
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return self.direction
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def set_direction(self, direction):
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self.direction = direction
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def get_parent(self):
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return self.parent
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def set_parent(self, parent):
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self.parent = parent
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def get_x(self):
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return self.x
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def set_x(self, x):
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self.x = x
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def get_y(self):
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return self.y
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def set_y(self, y):
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self.y = y
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def goal_test(goaltest,elem):
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if elem.get_x() == goaltest[0] and elem.get_y() == goaltest[1]:
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return True
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else:
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return False
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# def graphsearch(explored, fringe, goaltest, istate, succ): # przeszukiwanie grafu wszerz
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def graphsearch(explored, fringe, goaltest, istate): # przeszukiwanie grafu wszerz
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node = Node(None, istate.get_direction(), None, istate.get_x(), istate.get_y())
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fringe = []
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#elem = []
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explored = []
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#action = []
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fringe.append(node) # wierzchołki do odwiedzenia
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# fringe = [node]
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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) # zdejmujemy wierzchołek z kolejki fringe i rozpatrujemy go
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temp = copy.copy(elem)
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if goal_test(goaltest,
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elem) is True: # jeżeli osiągniemy cel w trakcie przeszukiwania grafu wsszerz, zwracamy listę ruchów, po których wykonaniu dotrzemy na miejsce
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return print_moves(elem)
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explored.append(elem) # dodajemy wierzchołek do listy wierzchołków odwiedzonych
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for action, state in succ(temp): # iterujemy po wszystkich możliwych akcjach i stanach otrzymanych dla danego wierzchołka grafu
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fringe_tuple = []
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explored_tuple = []
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for x in fringe:
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fringe_tuple.append((x.get_direction(), x.get_x(), x.get_y()))
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for x in explored:
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explored_tuple.append((x.get_direction(), x.get_x(), x.get_y()))
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if state not in fringe_tuple and state not in explored_tuple: # jeżeli stan nie znajduje się na fringe oraz nie znajduje się w liście wierzchołków odwiedzonych
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x = Node(action, state[0], elem, state[1], state[2]) # stworzenie nowego wierzchołka, którego rodzicem jest elem
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fringe.append(x) # dodanie wierzchołka na fringe
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def print_moves(elem):
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moves_list = []
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while (elem.get_parent() != None):
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moves_list.append(elem.get_action())
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elem = elem.get_parent()
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moves_list.reverse()
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return moves_list
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def succ(elem):
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actions_list = []
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temp = copy.copy(elem.get_direction())
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if temp == 1:
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temp = 4
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else:
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temp = temp - 1
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actions_list.append(("rotate_right", (temp, elem.get_x(), elem.get_y())))
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temp = copy.copy(elem.get_direction())
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if temp == 4:
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temp = 1
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else:
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temp = temp + 1
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actions_list.append(("rotate_left", (temp, elem.get_x(), elem.get_y())))
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temp_move_south = elem.get_y() - 1
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temp_move_west = elem.get_x() - 1
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temp_move_east = elem.get_x() + 1
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temp_move_north = elem.get_y() + 1
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if cart.Cart.is_move_allowed_succ(elem) == "x + 1":
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actions_list.append(("move", (elem.get_direction(), temp_move_east, elem.get_y())))
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elif cart.Cart.is_move_allowed_succ(elem) == "y + 1":
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actions_list.append(("move", (elem.get_direction(), elem.get_x(), temp_move_north)))
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elif cart.Cart.is_move_allowed_succ(elem) == "y - 1":
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actions_list.append(("move", (elem.get_direction(), elem.get_x(), temp_move_south)))
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elif cart.Cart.is_move_allowed_succ(elem) == "x - 1":
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actions_list.append(("move", (elem.get_direction(), temp_move_west, elem.get_y())))
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return actions_list
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71
board.py
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71
board.py
Normal file
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import pygame
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from screen import SCREEN
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global BLACK
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# global SCREEN
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global BLACK
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global gridObjects
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global imgTree
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global imgTree
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imgTree = pygame.image.load('img/tree.png')
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gridObjects = {} # Store grid-box objects from Grid Class
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class Grid(object):
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# ta klasa rysuje kratę na ekranie
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def __init__(self, x, y, sx, sy):
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self.x = x
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||||||
|
self.y = y
|
||||||
|
self.sx = sx
|
||||||
|
self.sy = sy
|
||||||
|
self.width = 1
|
||||||
|
|
||||||
|
def draw(self):
|
||||||
|
# global SCREEN
|
||||||
|
global BLACK
|
||||||
|
# SCREEN = pygame.display.set_mode([600,650])
|
||||||
|
BLACK = (0, 0, 0)
|
||||||
|
pygame.draw.rect(SCREEN, BLACK, (self.x, self.y, self.sx, self.sy), self.width)
|
||||||
|
|
||||||
|
class Box(object):
|
||||||
|
# global SCREEN
|
||||||
|
|
||||||
|
def __init__(self, x, y, sx, sy, color):
|
||||||
|
self.x = x
|
||||||
|
self.y = y
|
||||||
|
self.sx = sx
|
||||||
|
self.sy = sy
|
||||||
|
self.color = color
|
||||||
|
|
||||||
|
def draw(self):
|
||||||
|
# global SCREEN
|
||||||
|
# SCREEN = pygame.display.set_mode([600,650])
|
||||||
|
# global BLACK
|
||||||
|
pygame.draw.rect(SCREEN, self.color, pygame.Rect(self.x, self.y, self.sx, self.sy))
|
||||||
|
|
||||||
|
class Obstacle(object):
|
||||||
|
def __init__(self, mouseObj):
|
||||||
|
self.mseX = mouseObj[0]
|
||||||
|
self.mseY = mouseObj[1]
|
||||||
|
|
||||||
|
for grid in gridObjects:
|
||||||
|
g = getGridBoxes(grid)
|
||||||
|
self.x = g.x
|
||||||
|
self.y = g.y
|
||||||
|
self.sx = g.sx
|
||||||
|
self.sy = g.sy
|
||||||
|
if self.mseX > self.x and self.mseX < self.x + self.sx:
|
||||||
|
if self.mseY > self.y and self.mseY < self.y + self.sy:
|
||||||
|
self.posX = self.x
|
||||||
|
self.posY = self.y
|
||||||
|
self.gridBox = grid
|
||||||
|
|
||||||
|
def draw(self):
|
||||||
|
# pygame.draw.rect(SCREEN, GREY, pygame.Rect(self.posX, self.posY, self.sx, self.sy))
|
||||||
|
global imgTree
|
||||||
|
SCREEN.blit(imgTree, (self.posX, self.posY))
|
||||||
|
# pygame.display.update()
|
||||||
|
|
||||||
|
def getGridBoxes(grid_box):
|
||||||
|
global gridObjects
|
||||||
|
return gridObjects[grid_box]
|
77
cart.py
Normal file
77
cart.py
Normal file
@ -0,0 +1,77 @@
|
|||||||
|
import definitions
|
||||||
|
|
||||||
|
|
||||||
|
class Cart:
|
||||||
|
def __init__(self, direction, x, y):
|
||||||
|
self.direction = direction # w którą stronę patrzy, zgodnie ze wskazówkami zegara (1 -: godzina 12, 2 : godzina 3, 3 : godzina 6, 4 : godzina 9)
|
||||||
|
self.x = x
|
||||||
|
self.y = y
|
||||||
|
|
||||||
|
def get_direction(self):
|
||||||
|
return self.direction
|
||||||
|
|
||||||
|
def set_direction(self, direction):
|
||||||
|
self.direction = direction
|
||||||
|
|
||||||
|
def get_x(self):
|
||||||
|
return self.x
|
||||||
|
|
||||||
|
def set_x(self, x):
|
||||||
|
self.x = x
|
||||||
|
|
||||||
|
def get_y(self):
|
||||||
|
return self.y
|
||||||
|
|
||||||
|
def set_y(self, y):
|
||||||
|
self.y = y
|
||||||
|
|
||||||
|
|
||||||
|
def is_move_allowed(self,
|
||||||
|
cart_rect): # sprawdza czy dany ruch, który chce wykonać wózek jest możliwy, zwraca prawdę lub fałsz
|
||||||
|
if self.direction == definitions.CART_DIRECTION_EAST and cart_rect.x + definitions.BLOCK_SIZE < definitions.WIDTH_MAP:
|
||||||
|
return True
|
||||||
|
elif self.direction == definitions.CART_DIRECTION_SOUTH and cart_rect.y - definitions.BLOCK_SIZE >= 0:
|
||||||
|
return True
|
||||||
|
elif self.direction == definitions.CART_DIRECTION_NORTH and cart_rect.y + definitions.BLOCK_SIZE < definitions.HEIGHT_MAP:
|
||||||
|
return True
|
||||||
|
elif self.direction == definitions.CART_DIRECTION_WEST and cart_rect.x - definitions.BLOCK_SIZE >= 0:
|
||||||
|
return True
|
||||||
|
else:
|
||||||
|
return False
|
||||||
|
|
||||||
|
@staticmethod
|
||||||
|
def is_move_allowed_succ(
|
||||||
|
node): # sprawdza czy dany ruch, który chce wykonać wózek jest możliwy, zwraca pozycje po wykonaniu ruchu, wersja node
|
||||||
|
if node.get_direction() == definitions.CART_DIRECTION_EAST and node.get_x() * definitions.BLOCK_SIZE + definitions.BLOCK_SIZE < definitions.WIDTH_MAP:
|
||||||
|
return "x + 1"
|
||||||
|
elif node.get_direction() == definitions.CART_DIRECTION_NORTH and node.get_y() * definitions.BLOCK_SIZE - definitions.BLOCK_SIZE >= 0:
|
||||||
|
return "y - 1"
|
||||||
|
elif node.get_direction() == definitions.CART_DIRECTION_SOUTH and node.get_y() * definitions.BLOCK_SIZE + definitions.BLOCK_SIZE < definitions.HEIGHT_MAP:
|
||||||
|
return "y + 1"
|
||||||
|
elif node.get_direction() == definitions.CART_DIRECTION_WEST and node.get_x() * definitions.BLOCK_SIZE - definitions.BLOCK_SIZE >= 0:
|
||||||
|
return "x - 1"
|
||||||
|
else:
|
||||||
|
return False
|
||||||
|
|
||||||
|
def move(self):
|
||||||
|
if self.direction == definitions.CART_DIRECTION_EAST:
|
||||||
|
self.x = self.x + definitions.BLOCK_SIZE
|
||||||
|
elif self.direction == definitions.CART_DIRECTION_NORTH:
|
||||||
|
self.y = self.y + definitions.BLOCK_SIZE
|
||||||
|
elif self.direction == definitions.CART_DIRECTION_SOUTH:
|
||||||
|
self.y = self.y - definitions.BLOCK_SIZE
|
||||||
|
elif self.direction == definitions.CART_DIRECTION_WEST:
|
||||||
|
self.x = self.x - definitions.BLOCK_SIZE
|
||||||
|
|
||||||
|
def rotate_right(self):
|
||||||
|
if self.direction == 1:
|
||||||
|
self.direction = 4
|
||||||
|
else:
|
||||||
|
self.direction = self.direction - 1
|
||||||
|
|
||||||
|
def rotate_left(self):
|
||||||
|
if self.direction == 4:
|
||||||
|
self.direction = 1
|
||||||
|
else:
|
||||||
|
self.direction = self.direction + 1
|
||||||
|
|
24
classes.py
Normal file
24
classes.py
Normal file
@ -0,0 +1,24 @@
|
|||||||
|
class Field:
|
||||||
|
def __init__(self, fieldType, plantType, isWet, wetTime, isFertilized, fertilizedTime):
|
||||||
|
self.fieldType =fieldType # good/bad
|
||||||
|
self.plantType =plantType # wheat/carrot/cabbage
|
||||||
|
self.isWet =isWet # yes/no
|
||||||
|
self.wetTime =wetTime # number
|
||||||
|
self.isFertilized =isFertilized # yes/no
|
||||||
|
self.fertilizedTime =fertilizedTime # number
|
||||||
|
|
||||||
|
class Plant:
|
||||||
|
def __init__(self, plantType, growthState):
|
||||||
|
self.plantType = plantType # wheat/carrot/cabbage
|
||||||
|
self.growthState = growthState # growing/grown
|
||||||
|
|
||||||
|
|
||||||
|
class Fertilizer:
|
||||||
|
def __init__(self, fertilizerType):
|
||||||
|
self.fertilizerType = fertilizerType # wheat/carrot/cabbage
|
||||||
|
|
||||||
|
|
||||||
|
class Player:
|
||||||
|
x = 0
|
||||||
|
y = 0
|
||||||
|
rotation = 0
|
24
definitions.py
Normal file
24
definitions.py
Normal file
@ -0,0 +1,24 @@
|
|||||||
|
# definicje
|
||||||
|
import os
|
||||||
|
import pygame
|
||||||
|
|
||||||
|
pygame.init()
|
||||||
|
BLOCK_SIZE = 50
|
||||||
|
|
||||||
|
WHEAT_COST = 2
|
||||||
|
CARROT_COST = 5
|
||||||
|
CABBAGE_COST = 13
|
||||||
|
TREE_COST = 100000
|
||||||
|
DIRT_COST = 1
|
||||||
|
WET_DIRT_COST = 4
|
||||||
|
|
||||||
|
CART_DIRECTION_EAST = 1
|
||||||
|
CART_DIRECTION_NORTH = 2
|
||||||
|
CART_DIRECTION_SOUTH = 4
|
||||||
|
CART_DIRECTION_WEST = 3
|
||||||
|
|
||||||
|
HEIGHT_AMOUNT, WIDTH_AMOUNT = 11, 11
|
||||||
|
HEIGHT_MAP, WIDTH_MAP = BLOCK_SIZE * HEIGHT_AMOUNT, BLOCK_SIZE * WIDTH_AMOUNT
|
||||||
|
HEIGHT, WIDTH = HEIGHT_MAP + BLOCK_SIZE, WIDTH_MAP
|
||||||
|
IMAGE_SIZE_NEURAL_NETWORK = 16
|
||||||
|
WINDOW = pygame.display.set_mode((WIDTH, HEIGHT))
|
BIN
img/tree.png
Normal file
BIN
img/tree.png
Normal file
Binary file not shown.
After Width: | Height: | Size: 2.0 KiB |
720
main.py
720
main.py
@ -1,105 +1,699 @@
|
|||||||
import pygame
|
import pygame
|
||||||
|
|
||||||
|
import astar
|
||||||
|
from classes import Field, Plant, Fertilizer, Player
|
||||||
|
from bfs import Node
|
||||||
|
from bfs import Istate, print_moves, succ
|
||||||
|
from bfs import graphsearch
|
||||||
|
from board import Grid, Box, Obstacle, getGridBoxes, gridObjects
|
||||||
|
from screen import SCREEN
|
||||||
|
|
||||||
class Field:
|
# pygame.init()
|
||||||
def __init__(self, fieldType, plantType, isWet, wetTime, isFertilized, fertilizedTime):
|
|
||||||
self.fieldType = fieldType # good/bad
|
# Game Constants
|
||||||
self.plantType = plantType # wheat/carrot/cabbage
|
Ucelu = False
|
||||||
self.isWet = isWet # yes/no
|
SCREENX = 500
|
||||||
self.wetTime = wetTime # number
|
SCREENY = 500
|
||||||
self.isFertilized = isFertilized # yes/no
|
|
||||||
self.fertilizedTime = fertilizedTime # number
|
pygame.display.set_caption('Inteligentny Traktor')
|
||||||
|
|
||||||
|
# COLORS
|
||||||
|
WHITE = (255, 255, 255)
|
||||||
|
BLACK = (0, 0, 0)
|
||||||
|
RED = (255, 0, 0)
|
||||||
|
GREEN = (0, 255, 0, 0)
|
||||||
|
BLUE = (0, 0, 255, 0)
|
||||||
|
GREY = (128, 128, 128)
|
||||||
|
|
||||||
|
CLOCK = pygame.time.Clock()
|
||||||
|
FPS = 30
|
||||||
|
DELAY = 300
|
||||||
|
|
||||||
|
# np. 10 pól x 10 pól = 100 pól
|
||||||
|
GRIDX = 10
|
||||||
|
GRIDY = 10
|
||||||
|
|
||||||
|
obstacleObjects = {} # Store the obstacle objects (Blocks on the path) from Obstacle class
|
||||||
|
# global gridObjects
|
||||||
|
# gridObjects = {} # Store grid-box objects from Grid Class
|
||||||
|
gridObstacle = {} # Store the grid:obstacle pair stuck together
|
||||||
|
boxObjects = {}
|
||||||
|
boxes = 1
|
||||||
|
obstacles = 1
|
||||||
|
|
||||||
|
# BFS Variables
|
||||||
|
|
||||||
|
|
||||||
class Plant:
|
|
||||||
def __init__(self, plantType, growthState):
|
startNode = Istate( 1,1,1)
|
||||||
self.plantType = plantType # wheat/carrot/cabbage
|
goalNode = [1,1]
|
||||||
self.growthState = growthState # growing/grown
|
|
||||||
|
graph = dict()
|
||||||
|
pathFound = [] # Store the path in a list box index to draw on later
|
||||||
|
|
||||||
|
def drawGrid(sizex,sizey):
|
||||||
|
spaceX = SCREENX // sizex
|
||||||
|
spaceY = SCREENY // sizey
|
||||||
|
width = 2
|
||||||
|
|
||||||
|
counter = 1
|
||||||
|
for i in range(sizex):
|
||||||
|
for j in range(sizey):
|
||||||
|
# g = Grid(i*spaceX, j*spaceY, spaceX, spaceY)
|
||||||
|
g = Grid(50 + i*50, 50 + j*50, spaceX, spaceY)
|
||||||
|
gridObjects[counter] = g
|
||||||
|
counter += 1
|
||||||
|
def generateGraph(row,col):
|
||||||
|
# This function generates a graph based on the gridObjects instantiated!
|
||||||
|
sample_graph = {'A':['B','C','E'],
|
||||||
|
'B':['A','D','E'],
|
||||||
|
'C':['A','F','G'],
|
||||||
|
'D':['B'],
|
||||||
|
'E':['A','B','D'],
|
||||||
|
'F':['C'],
|
||||||
|
'G':['C']
|
||||||
|
}
|
||||||
|
|
||||||
|
miniG = {}
|
||||||
|
for grid in range(len(gridObjects)):
|
||||||
|
grid += 1 # Synchronize index
|
||||||
|
mod = grid % col # Used to check the Top and Bottom Grid Boxes!
|
||||||
|
gN = grid - 1
|
||||||
|
gS = grid + 1
|
||||||
|
gE = grid + col
|
||||||
|
gW = grid - col
|
||||||
|
|
||||||
|
# CHECK THE NEIGHBORS TO THE GRID-BOXES, ACCOUNTING FOR THE EXTREME GRID-BOXES(BORDERS)
|
||||||
|
if mod == 0: # 5,10,15,20,25 - You can't go south from here (Bottom Boxes)
|
||||||
|
if grid > col: # Away from the Left Border of the Screen
|
||||||
|
if grid > (col*row)-col: # You are on the Right Border of the screen - You can't go East
|
||||||
|
miniG[grid] = [gN, gW]
|
||||||
|
else: # Away from the Right Border of the Screen - You can go East
|
||||||
|
miniG[grid] = [gN, gE, gW]
|
||||||
|
else: # You are on the Left Edge of the screen - You can't go West
|
||||||
|
miniG[grid] = [gN, gE]
|
||||||
|
|
||||||
|
elif mod == 1: # 6,11,16,21 :> You can't go North from here (Top Boxes)
|
||||||
|
if grid > col: # Away from the Left Border of the Screen
|
||||||
|
if grid > (col*row)-col: # You are on the Right Border of the screen - You can't go East
|
||||||
|
miniG[grid] = [gS, gW]
|
||||||
|
else: # Away from the Right Border of the Screen - You can go east
|
||||||
|
miniG[grid] = [gS, gE, gW]
|
||||||
|
else: # You are on the Left Edge of the screen - You can't go West
|
||||||
|
miniG[grid] = [gS, gE]
|
||||||
|
|
||||||
|
else: # All the rest (Not Top or Bottom Boxes) - You can go North or South
|
||||||
|
if grid > col: # Away from the Left Border of the Screen
|
||||||
|
if grid > (col*row)-col: # You are on the Right Border of the screen - You can't go East
|
||||||
|
miniG[grid] = [gN, gS, gW]
|
||||||
|
else: # Away from the Right Border of the Screen - You can go East
|
||||||
|
miniG[grid] = [gN, gS, gE, gW]
|
||||||
|
else: # You are on the Left Edge of the screen - You can't go West
|
||||||
|
miniG[grid] = [gN, gS, gE]
|
||||||
|
|
||||||
|
# FILTER OUT OBSTACLES FROM THE GRAPH
|
||||||
|
miniG2 = {}
|
||||||
|
for grid in range(len(gridObjects)):
|
||||||
|
grid += 1
|
||||||
|
if grid not in gridObstacle:
|
||||||
|
# gridObjects.remove(grid) # Dict object has no attribute : 'remove'
|
||||||
|
# HACK
|
||||||
|
miniG2[grid] = miniG[grid] # Created a new dictionary that stored the values required
|
||||||
|
# IN-DEPTH FILTER - Filter out obstacles from the neighbors-list
|
||||||
|
for neigbor in miniG2[grid]:
|
||||||
|
if neigbor in gridObstacle:
|
||||||
|
miniG2[grid].remove(neigbor)
|
||||||
|
|
||||||
|
# Filtering again as the first Filter block didn't clear out everything
|
||||||
|
# Filtering through the neighbors
|
||||||
|
for grid in miniG2:
|
||||||
|
for item in miniG2[grid]:
|
||||||
|
if item in gridObstacle:
|
||||||
|
miniG2[grid].remove(item)
|
||||||
|
|
||||||
|
return miniG2
|
||||||
|
|
||||||
|
def drawGraph(pathF):
|
||||||
|
#Draws the path given the path-list
|
||||||
|
global Ucelu
|
||||||
|
#print(pathF)
|
||||||
|
|
||||||
|
if (Ucelu == False):
|
||||||
|
for grid in pathF:
|
||||||
|
# g = gridObjects[grid] # Get the grid-box object mentioned in the path
|
||||||
|
# x = g.x
|
||||||
|
# y = g.y
|
||||||
|
# sx = g.sx
|
||||||
|
# sy = g.sy
|
||||||
|
# a = 0
|
||||||
|
# pygame.draw.rect(SCREEN, GREEN, pygame.Rect(x, y, sx, sy))
|
||||||
|
|
||||||
|
if grid == 'rotate_right':
|
||||||
|
player.rotation = (player.rotation - 90) % 360
|
||||||
|
if grid == 'rotate_left':
|
||||||
|
player.rotation = (player.rotation + 90) %360
|
||||||
|
|
||||||
|
#( player.rotation)
|
||||||
|
|
||||||
|
if grid == 'move':
|
||||||
|
if player.rotation == 0:
|
||||||
|
if player.x < 9:
|
||||||
|
player.x = player.x + 1
|
||||||
|
if player.rotation == 180:
|
||||||
|
if player.x > 0:
|
||||||
|
player.x = player.x - 1
|
||||||
|
if player.rotation == 270:
|
||||||
|
if player.y < 9:
|
||||||
|
player.y = player.y + 1
|
||||||
|
if player.rotation == 90:
|
||||||
|
if player.y > 0:
|
||||||
|
player.y = player.y - 1
|
||||||
|
|
||||||
|
|
||||||
class Fertilizer:
|
# if player.x < (x/50 - 1):
|
||||||
def __init__(self, fertilizerType):
|
# a = 1
|
||||||
self.fertilizerType = fertilizerType # wheat/carrot/cabbage
|
# if player.x > (x/50 - 1):
|
||||||
|
# a =2
|
||||||
|
# if player.y < (y/50 - 1):
|
||||||
|
# a =3
|
||||||
|
# if player.y > (y/50 - 1):
|
||||||
|
# a =4
|
||||||
|
#
|
||||||
|
# if a==1:
|
||||||
|
# # player.x = x/50 - 1
|
||||||
|
# player.rotation = 0
|
||||||
|
# if a==2:
|
||||||
|
# # player.x = x/50 - 1
|
||||||
|
# player.rotation = 180
|
||||||
|
# if a==3:
|
||||||
|
# # player.y = y/50 - 1
|
||||||
|
# player.rotation = 270
|
||||||
|
# if a==4:
|
||||||
|
# # player.y = y/50 - 1
|
||||||
|
# player.rotation = 90
|
||||||
|
|
||||||
|
|
||||||
class Player:
|
# tmpImg = pygame.transform.rotate(imgPlayer, player.rotation)
|
||||||
x = 0
|
# if player.rotation == 180:
|
||||||
y = 0
|
# tmpImg = pygame.transform.flip(tmpImg, True, True)
|
||||||
rotation = 0
|
# tmpImg = pygame.transform.flip(tmpImg, True, False)
|
||||||
|
#
|
||||||
|
# #player is seen on the way
|
||||||
|
# SCREEN.blit(tmpImg, (55 + 50 * player.x, 55 + 50 * player.y))
|
||||||
|
# pygame.display.update()
|
||||||
|
# # pygame.time.wait(300)
|
||||||
|
|
||||||
|
# player.y = y/50 - 1
|
||||||
|
# player.x = x/50 - 1
|
||||||
|
|
||||||
|
# -----------------------------
|
||||||
|
i = 0
|
||||||
|
while i < len(T):
|
||||||
|
j = 0
|
||||||
|
while j < len(T[i]):
|
||||||
|
#color = (255, 255, 255, 0)
|
||||||
|
if T[i][j].isWet == 0:
|
||||||
|
# a = 1
|
||||||
|
color = (160, 80, 40, 0)
|
||||||
|
else:
|
||||||
|
# a = 1
|
||||||
|
color = (50, 25, 0, 0)
|
||||||
|
|
||||||
|
#Covers 'player' on the way
|
||||||
|
pygame.draw.rect(SCREEN, color, pygame.Rect(50 + 50 * i, 50 + 50 * j, 50, 50))
|
||||||
|
if T[i][j].plantType == 1:
|
||||||
|
SCREEN.blit(imgWheat, (50 + 50 * i, 50 + 50 * j))
|
||||||
|
if T[i][j].plantType == 2:
|
||||||
|
SCREEN.blit(imgCarrot, (50 + 50 * i, 50 + 50 * j))
|
||||||
|
if T[i][j].plantType == 3:
|
||||||
|
SCREEN.blit(imgCabbage, (50 + 50 * i, 50 + 50 * j))
|
||||||
|
if T[i][j].plantType == 4:
|
||||||
|
SCREEN.blit(imgTree, (50 + 50 * i, 50 + 50 * j))
|
||||||
|
|
||||||
|
j = j + 1
|
||||||
|
i = i + 1
|
||||||
|
|
||||||
|
# Render the trees
|
||||||
|
for obs in obstacleObjects:
|
||||||
|
obstacleObjects[obs].draw()
|
||||||
|
|
||||||
|
|
||||||
T = [[Field(1,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,1,1,0,0,0),Field(1,2,0,0,0,0),Field(0,3,1,0,0,0),Field(0,0,0,0,0,0),Field(0,0,0,0,0,0),Field(1,0,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,1,0,0,0)],
|
for bx in boxObjects:
|
||||||
[Field(1,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,1,1,0,0,0),Field(1,2,0,0,0,0),Field(0,3,1,0,0,0),Field(0,0,0,0,0,0),Field(0,0,0,0,0,0),Field(1,0,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,1,0,0,0)],
|
boxObjects[bx].draw()
|
||||||
[Field(1,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,1,1,0,0,0),Field(1,2,0,0,0,0),Field(0,3,1,0,0,0),Field(0,0,0,0,0,0),Field(0,0,0,0,0,0),Field(1,0,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,1,0,0,0)],
|
|
||||||
[Field(1,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,1,1,0,0,0),Field(1,2,0,0,0,0),Field(0,3,1,0,0,0),Field(0,0,0,0,0,0),Field(0,0,0,0,0,0),Field(1,0,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,1,0,0,0)],
|
i = 0
|
||||||
[Field(1,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,1,1,0,0,0),Field(1,2,0,0,0,0),Field(0,3,1,0,0,0),Field(0,0,0,0,0,0),Field(0,0,0,0,0,0),Field(1,0,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,1,0,0,0)],
|
while i < len(T)+1:
|
||||||
[Field(1,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,1,1,0,0,0),Field(1,2,0,0,0,0),Field(0,3,1,0,0,0),Field(0,0,0,0,0,0),Field(0,0,0,0,0,0),Field(1,0,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,1,0,0,0)],
|
pygame.draw.line(SCREEN, (0, 0, 0), (50 + i * 50, 50), (50 + i * 50, 50 + len(T) * 50), 1)
|
||||||
[Field(1,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,1,1,0,0,0),Field(1,2,0,0,0,0),Field(0,3,1,0,0,0),Field(0,0,0,0,0,0),Field(0,0,0,0,0,0),Field(1,0,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,1,0,0,0)],
|
pygame.draw.line(SCREEN, (0, 0, 0), (50, 50 + i * 50), (50 + len(T) * 50, 50 + i * 50), 1)
|
||||||
[Field(1,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,1,1,0,0,0),Field(1,2,0,0,0,0),Field(0,3,1,0,0,0),Field(0,0,0,0,0,0),Field(0,0,0,0,0,0),Field(1,0,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,1,0,0,0)],
|
i = i + 1
|
||||||
[Field(1,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,1,1,0,0,0),Field(1,2,0,0,0,0),Field(0,3,1,0,0,0),Field(0,0,0,0,0,0),Field(0,0,0,0,0,0),Field(1,0,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,1,0,0,0)],
|
|
||||||
[Field(1,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,1,1,0,0,0),Field(1,2,0,0,0,0),Field(0,3,1,0,0,0),Field(0,0,0,0,0,0),Field(0,0,0,0,0,0),Field(1,0,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,1,0,0,0)]]
|
tmpImg = pygame.transform.rotate(imgPlayer, player.rotation)
|
||||||
|
if player.rotation == 180:
|
||||||
|
tmpImg = pygame.transform.flip(tmpImg, True, True)
|
||||||
|
tmpImg = pygame.transform.flip(tmpImg, True, False)
|
||||||
|
|
||||||
|
#player is seen on the way
|
||||||
|
SCREEN.blit(tmpImg, (55 + 50 * player.x, 55 + 50 * player.y))
|
||||||
|
|
||||||
|
# --------------------------------------
|
||||||
|
|
||||||
|
# tmpImg = pygame.transform.rotate(imgPlayer, player.rotation)
|
||||||
|
# # if flip:
|
||||||
|
# # if flip == True:
|
||||||
|
# if player.rotation == 180:
|
||||||
|
# tmpImg = pygame.transform.flip(tmpImg, True, True)
|
||||||
|
# tmpImg = pygame.transform.flip(tmpImg, True, False)
|
||||||
|
#
|
||||||
|
# SCREEN.blit(tmpImg, (55 + 50 * player.x, 55 + 50 * player.y))
|
||||||
|
|
||||||
|
pygame.display.update()
|
||||||
|
pygame.time.wait(300)
|
||||||
|
SCREEN.fill((WHITE))
|
||||||
|
# pygame.time.wait(50)
|
||||||
|
# pygame.draw.rect(SCREEN, WHITE, pygame.Rect(x, y, sx, sy))
|
||||||
|
Ucelu = True
|
||||||
|
def UIHandler(mouseObj):
|
||||||
|
# drawGrid(GRIDX, GRIDY)
|
||||||
|
global Ucelu
|
||||||
|
drawGrid(10,10)
|
||||||
|
|
||||||
|
for grid in gridObjects:
|
||||||
|
gridObjects[grid].draw()
|
||||||
|
|
||||||
|
for bx in boxObjects:
|
||||||
|
boxObjects[bx].draw()
|
||||||
|
|
||||||
|
for obs in obstacleObjects:
|
||||||
|
obstacleObjects[obs].draw()
|
||||||
|
|
||||||
|
if pathFound:
|
||||||
|
drawGraph(pathFound)
|
||||||
|
# Ucelu = False
|
||||||
|
|
||||||
|
def eventHandler(kbdObj,mouseObj):
|
||||||
|
global boxes
|
||||||
|
global obstacles
|
||||||
|
global startNode
|
||||||
|
global goalNode
|
||||||
|
global pathFound
|
||||||
|
global Ucelu
|
||||||
|
|
||||||
|
if event.type == pygame.QUIT:
|
||||||
|
running = False
|
||||||
|
|
||||||
|
if event.type == pygame.KEYDOWN:
|
||||||
|
pygame.time.wait(DELAY)
|
||||||
|
if event.key == pygame.K_LEFT:
|
||||||
|
if player.x > 0:
|
||||||
|
player.x = player.x - 1
|
||||||
|
player.rotation = 180
|
||||||
|
|
||||||
|
if event.key == pygame.K_UP:
|
||||||
|
if player.y > 0:
|
||||||
|
player.y = player.y - 1
|
||||||
|
player.rotation = 90
|
||||||
|
|
||||||
|
if event.key == pygame.K_RIGHT:
|
||||||
|
if player.x < 9:
|
||||||
|
player.x = player.x + 1
|
||||||
|
player.rotation = 0
|
||||||
|
|
||||||
|
if event.key == pygame.K_DOWN:
|
||||||
|
if player.y < 9:
|
||||||
|
player.y = player.y + 1
|
||||||
|
player.rotation = 270
|
||||||
|
|
||||||
|
# Aga start lewo prawo, naprzód
|
||||||
|
if event.key == pygame.K_a:
|
||||||
|
player.rotation = (player.rotation + 90) % 360
|
||||||
|
if event.key == pygame.K_d:
|
||||||
|
player.rotation = (player.rotation - 90) % 360
|
||||||
|
if event.key == pygame.K_w:
|
||||||
|
if player.rotation == 0:
|
||||||
|
if player.x < 9:
|
||||||
|
player.x = player.x + 1
|
||||||
|
if player.rotation == 180:
|
||||||
|
if player.x > 0:
|
||||||
|
player.x = player.x - 1
|
||||||
|
if player.rotation == 270:
|
||||||
|
if player.y < 9:
|
||||||
|
player.y = player.y + 1
|
||||||
|
if player.rotation == 90:
|
||||||
|
if player.y > 0:
|
||||||
|
player.y = player.y - 1
|
||||||
|
|
||||||
|
# If Key_f is pressed, set goal node
|
||||||
|
if kbdObj[pygame.K_f]:
|
||||||
|
gBox = getGridBoxes(int(len(gridObjects)))
|
||||||
|
# gBox = getGridBoxes()
|
||||||
|
|
||||||
|
#x = mouseObj[0]
|
||||||
|
#y = mouseObj[1]
|
||||||
|
# x = gBox.x
|
||||||
|
# y = gBox.y
|
||||||
|
sx = gBox.sx
|
||||||
|
sy = gBox.sy
|
||||||
|
# ----------------------------------------
|
||||||
|
mseX = mouseObj[0]
|
||||||
|
mseY = mouseObj[1]
|
||||||
|
|
||||||
|
for grid in gridObjects:
|
||||||
|
g = getGridBoxes(grid)
|
||||||
|
x = g.x
|
||||||
|
y = g.y
|
||||||
|
sx = g.sx
|
||||||
|
sy = g.sy
|
||||||
|
if mseX > x and mseX < x + sx:
|
||||||
|
if mseY > y and mseY < y + sy:
|
||||||
|
posX = x
|
||||||
|
posY = y
|
||||||
|
gridBox = grid
|
||||||
|
|
||||||
|
# SCREEN.blit(imgTree, (posX, posY))
|
||||||
|
|
||||||
|
# ---------------------------------------
|
||||||
|
bo = Box(posX, posY, sx, sy, BLUE)
|
||||||
|
boxObjects[boxes] = bo
|
||||||
|
# boxes += 1
|
||||||
|
boxes = 1
|
||||||
|
# goalNode = GRIDX*GRIDX
|
||||||
|
# goalNode = (10 * (x + 1) + (y + 1) - 10)
|
||||||
|
|
||||||
|
# goalNode.state = int(10 * (posX/50 ) + (posY/50) - 10)
|
||||||
|
|
||||||
|
# goalNode[0] = int((posX/50)
|
||||||
|
# goalNode[1] = int(posY/50) - 10
|
||||||
|
|
||||||
|
goalNode = [int(posX/50), int(posY/50)]
|
||||||
|
# goalNode = [10,10]
|
||||||
|
|
||||||
|
print(' goalNode x=', goalNode[0], 'goalNode y=', goalNode[1])
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
# pygame.display.update()
|
||||||
|
|
||||||
|
# goalNode = (x/sx) * (y/sy)
|
||||||
|
# Delay to avoid multiple spawning of objects
|
||||||
|
pygame.time.wait(DELAY)
|
||||||
|
|
||||||
|
# If Key_x is pressed, spawn tree
|
||||||
|
if kbdObj[pygame.K_x]:
|
||||||
|
obs = Obstacle(mouseObj)
|
||||||
|
obstacleObjects[obstacles] = obs
|
||||||
|
# print(obs.gridBox)
|
||||||
|
obstacles += 1
|
||||||
|
# print(obstacleObjects)
|
||||||
|
gridObstacle[obs.gridBox] = obstacles
|
||||||
|
# Delay to avoid multiple spawning of objects
|
||||||
|
|
||||||
|
mseX = mouseObj[0]
|
||||||
|
mseY = mouseObj[1]
|
||||||
|
|
||||||
|
for grid in gridObjects:
|
||||||
|
g = getGridBoxes(grid)
|
||||||
|
x = g.x
|
||||||
|
y = g.y
|
||||||
|
sx = g.sx
|
||||||
|
sy = g.sy
|
||||||
|
if mseX > x and mseX < x + sx:
|
||||||
|
if mseY > y and mseY < y + sy:
|
||||||
|
posX = x
|
||||||
|
posY = y
|
||||||
|
|
||||||
|
T[int((posX/50)-1)][int((posY/50)-1)].plantType=4
|
||||||
|
|
||||||
|
|
||||||
|
pygame.display.update()
|
||||||
|
pygame.time.wait(DELAY)
|
||||||
|
|
||||||
|
|
||||||
|
# if Key_SPACE is pressed, start the magic
|
||||||
|
if kbdObj[pygame.K_SPACE]:
|
||||||
|
Ucelu = False
|
||||||
|
gBox = getGridBoxes(1)
|
||||||
|
|
||||||
|
x = gBox.x
|
||||||
|
y = gBox.y
|
||||||
|
sx = gBox.sx
|
||||||
|
sy = gBox.sy
|
||||||
|
|
||||||
|
x = (player.x +1) * 50
|
||||||
|
y = (player.y +1) * 50
|
||||||
|
|
||||||
|
# tmpImg = pygame.transform.rotate(imgPlayer, player.rotation)
|
||||||
|
# SCREEN.blit(tmpImg, (50 + 50 * player.x, 50 + 50 * player.y))
|
||||||
|
# pygame.display.update()
|
||||||
|
|
||||||
|
#when on it keeps flashing - among others
|
||||||
|
#bo = Box(x, y, sx, sy, RED)
|
||||||
|
#boxObjects[boxes] = bo
|
||||||
|
|
||||||
|
# boxes += 1
|
||||||
|
boxes = 1
|
||||||
|
|
||||||
|
# startNode.state = (10 * (player.x + 1) + (player.y + 1) - 10)
|
||||||
|
|
||||||
|
startNode.x = player.x + 1
|
||||||
|
startNode.y = player.y + 1
|
||||||
|
|
||||||
|
if player.rotation == 0:
|
||||||
|
startNode.direction = 1
|
||||||
|
elif player.rotation == 90:
|
||||||
|
startNode.direction = 2
|
||||||
|
elif player.rotation == 180:
|
||||||
|
startNode.direction = 3
|
||||||
|
elif player.rotation == 270:
|
||||||
|
startNode.direction = 4
|
||||||
|
|
||||||
|
print(' startNode x=', startNode.x, 'startNode y= ', startNode.y, 'startNode direction =', startNode.direction)
|
||||||
|
|
||||||
|
graph = generateGraph(GRIDY,GRIDX)
|
||||||
|
print(graph)
|
||||||
|
|
||||||
|
# if startNode != goalNode:
|
||||||
|
if startNode.x != goalNode[0] or startNode.y != goalNode[1]:
|
||||||
|
elem = []
|
||||||
|
|
||||||
|
|
||||||
|
move_list = (graphsearch([], [], goalNode, startNode)) # przeszukiwanie grafu wszerz
|
||||||
|
|
||||||
|
pathFound = move_list
|
||||||
|
|
||||||
|
# pathFound = bfs.graphsearch()
|
||||||
|
print('akcje które wykonuję by znalezc sie u celu')
|
||||||
|
print(move_list)
|
||||||
|
print('\n')
|
||||||
|
# Delay to avoid multiple spawning of objects
|
||||||
|
pygame.time.wait(DELAY)
|
||||||
|
# startNode = goalNode
|
||||||
|
|
||||||
|
|
||||||
|
if kbdObj[pygame.K_b]:
|
||||||
|
Ucelu = False
|
||||||
|
gBox = getGridBoxes(1)
|
||||||
|
|
||||||
|
x = gBox.x
|
||||||
|
y = gBox.y
|
||||||
|
sx = gBox.sx
|
||||||
|
sy = gBox.sy
|
||||||
|
|
||||||
|
x = (player.x +1) * 50
|
||||||
|
y = (player.y +1) * 50
|
||||||
|
|
||||||
|
# tmpImg = pygame.transform.rotate(imgPlayer, player.rotation)
|
||||||
|
# SCREEN.blit(tmpImg, (50 + 50 * player.x, 50 + 50 * player.y))
|
||||||
|
# pygame.display.update()
|
||||||
|
|
||||||
|
#when on it keeps flashing - among others
|
||||||
|
#bo = Box(x, y, sx, sy, RED)
|
||||||
|
#boxObjects[boxes] = bo
|
||||||
|
|
||||||
|
# boxes += 1
|
||||||
|
boxes = 1
|
||||||
|
|
||||||
|
# startNode.state = (10 * (player.x + 1) + (player.y + 1) - 10)
|
||||||
|
|
||||||
|
startNode.x = player.x + 1
|
||||||
|
startNode.y = player.y + 1
|
||||||
|
|
||||||
|
if player.rotation == 0:
|
||||||
|
startNode.direction = 1
|
||||||
|
elif player.rotation == 90:
|
||||||
|
startNode.direction = 2
|
||||||
|
elif player.rotation == 180:
|
||||||
|
startNode.direction = 3
|
||||||
|
elif player.rotation == 270:
|
||||||
|
startNode.direction = 4
|
||||||
|
|
||||||
|
print(' startNode x=', startNode.x, 'startNode y= ', startNode.y, 'startNode direction =', startNode.direction)
|
||||||
|
|
||||||
|
# startNode = (((player.x + 1)*10 - 9) * (player.y + 1) )
|
||||||
|
# startNode = 2
|
||||||
|
|
||||||
|
# tmpImg = pygame.transform.rotate(imgPlayer, player.rotation)
|
||||||
|
# SCREEN.blit(tmpImg, (55 + 50 * player.x, 55 + 50 * player.y))
|
||||||
|
# pygame.display.update()
|
||||||
|
|
||||||
|
# Delay to avoid multiple spawning of objects
|
||||||
|
#pygame.time.wait(DELAY)
|
||||||
|
|
||||||
|
graph = generateGraph(GRIDY,GRIDX)
|
||||||
|
print(graph)
|
||||||
|
|
||||||
|
# if startNode != goalNode:
|
||||||
|
if startNode.x != goalNode[0] or startNode.y != goalNode[1]:
|
||||||
|
elem = []
|
||||||
|
|
||||||
|
move_list = (astar.graphsearch([], astar.f, [], goalNode, startNode, T, succ)) # przeszukiwanie grafu wszerz
|
||||||
|
|
||||||
|
pathFound = move_list
|
||||||
|
|
||||||
|
# pathFound = bfs.graphsearch()
|
||||||
|
print('akcje które wykonuję by znalezc sie u celu')
|
||||||
|
print(move_list)
|
||||||
|
print('\n')
|
||||||
|
|
||||||
|
|
||||||
|
# else:
|
||||||
|
# startNode = (10 * (player.x + 1) + (player.y + 1) - 10)
|
||||||
|
# Ucelu = True
|
||||||
|
|
||||||
|
# Delay to avoid multiple spawning of objects
|
||||||
|
pygame.time.wait(DELAY)
|
||||||
|
|
||||||
|
#With it it keeps going, if without it turns off
|
||||||
|
|
||||||
|
# Ucelu = False
|
||||||
|
|
||||||
|
T = [[Field(1,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,2,1,0,0,0),Field(1,3,0,0,0,0),Field(0,3,0,0,0,0),Field(0,0,1,0,0,0),Field(0,0,0,0,0,0),Field(1,3,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,1,0,0,0)],
|
||||||
|
[Field(1,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,0,1,0,0,0),Field(1,3,1,0,0,0),Field(0,0,0,0,0,0),Field(0,0,0,0,0,0),Field(0,0,0,0,0,0),Field(1,3,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,1,0,0,0)],
|
||||||
|
[Field(0,2,1,0,0,0),Field(0,0,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,0,0,0,0),Field(0,2,1,0,0,0),Field(0,1,1,0,0,0),Field(0,0,0,0,0,0),Field(1,3,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,1,0,0,0)],
|
||||||
|
[Field(1,0,1,0,0,0),Field(0,0,1,0,0,0),Field(1,1,1,0,0,0),Field(1,2,0,0,0,0),Field(0,3,1,0,0,0),Field(0,1,0,0,0,0),Field(0,0,0,0,0,0),Field(1,3,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,1,0,0,0)],
|
||||||
|
[Field(1,3,0,0,0,0),Field(0,3,1,0,0,0),Field(1,2,1,0,0,0),Field(1,1,1,0,0,0),Field(0,1,1,0,0,0),Field(0,0,0,0,0,0),Field(0,0,0,0,0,0),Field(1,3,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,1,0,0,0)],
|
||||||
|
[Field(1,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,1,1,0,0,0),Field(1,2,0,0,0,0),Field(0,1,0,0,0,0),Field(0,2,0,0,0,0),Field(0,1,0,0,0,0),Field(1,0,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,1,0,0,0)],
|
||||||
|
[Field(1,0,0,0,0,0),Field(0,0,0,0,0,0),Field(1,1,1,0,0,0),Field(1,2,0,0,0,0),Field(0,0,1,0,0,0),Field(0,0,1,0,0,0),Field(0,1,0,0,0,0),Field(1,0,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,1,0,0,0)],
|
||||||
|
[Field(1,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,3,1,0,0,0),Field(1,2,1,0,0,0),Field(0,0,1,0,0,0),Field(0,0,0,0,0,0),Field(0,1,0,0,0,0),Field(1,0,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,1,0,0,0)],
|
||||||
|
[Field(1,0,0,0,0,0),Field(0,2,0,0,0,0),Field(1,1,0,0,0,0),Field(1,0,1,0,0,0),Field(0,2,1,0,0,0),Field(0,3,0,0,0,0),Field(0,0,0,0,0,0),Field(1,0,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,1,0,0,0)],
|
||||||
|
[Field(1,0,1,0,0,0),Field(0,0,0,0,0,0),Field(1,1,1,0,0,0),Field(1,0,0,0,0,0),Field(0,1,1,0,0,0),Field(0,0,1,0,0,0),Field(0,0,0,0,0,0),Field(1,0,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,1,0,0,0)]]
|
||||||
|
|
||||||
|
|
||||||
|
#T = [[Field(1,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,2,1,0,0,0),Field(1,3,0,0,0,0),Field(0,3,0,0,0,0),Field(0,0,1,0,0,0),Field(0,3,0,0,0,0),Field(1,0,1,0,0,0),Field(1,3,0,0,0,0),Field(1,2,1,0,0,0)],
|
||||||
|
# [Field(1,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,0,1,0,0,0),Field(1,3,1,0,0,0),Field(0,0,0,0,0,0),Field(0,0,0,0,0,0),Field(0,2,0,0,0,0),Field(1,1,0,0,0,0),Field(1,0,1,0,0,0),Field(1,1,0,0,0,0)],
|
||||||
|
# [Field(0,2,1,0,0,0),Field(0,0,1,0,0,0),Field(1,0,0,0,0,0),Field(1,0,0,0,0,0),Field(0,2,1,0,0,0),Field(0,1,1,0,0,0),Field(0,2,0,0,0,0),Field(1,0,0,0,0,0),Field(1,0,0,0,0,0),Field(1,1,0,0,0,0)],
|
||||||
|
# [Field(1,0,1,0,0,0),Field(0,0,1,0,0,0),Field(1,1,1,0,0,0),Field(1,2,0,0,0,0),Field(0,3,1,0,0,0),Field(0,1,0,0,0,0),Field(0,0,0,0,0,0),Field(1,2,0,0,0,0),Field(1,0,0,0,0,0),Field(1,0,0,0,0,0)],
|
||||||
|
# [Field(1,3,0,0,0,0),Field(0,3,1,0,0,0),Field(1,2,1,0,0,0),Field(1,1,1,0,0,0),Field(0,1,1,0,0,0),Field(0,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,0,1,0,0,0),Field(1,3,0,0,0,0),Field(1,0,1,0,0,0)],
|
||||||
|
# [Field(1,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,1,1,0,0,0),Field(1,2,0,0,0,0),Field(0,1,0,0,0,0),Field(0,2,0,0,0,0),Field(0,1,0,0,0,0),Field(1,0,1,0,0,0),Field(1,0,0,0,0,0),Field(1,1,1,0,0,0)],
|
||||||
|
# [Field(1,0,0,0,0,0),Field(0,0,0,0,0,0),Field(1,1,1,0,0,0),Field(1,2,0,0,0,0),Field(0,0,1,0,0,0),Field(0,0,1,0,0,0),Field(0,1,0,0,0,0),Field(1,2,1,0,0,0),Field(1,2,1,0,0,0),Field(1,0,0,0,0,0)],
|
||||||
|
# [Field(1,0,0,0,0,0),Field(0,0,1,0,0,0),Field(1,3,1,0,0,0),Field(1,2,1,0,0,0),Field(0,0,1,0,0,0),Field(0,0,0,0,0,0),Field(0,1,1,0,0,0),Field(1,0,0,0,0,0),Field(1,1,1,0,0,0),Field(1,1,1,0,0,0)],
|
||||||
|
# [Field(1,0,0,0,0,0),Field(0,2,0,0,0,0),Field(1,1,0,0,0,0),Field(1,0,1,0,0,0),Field(0,2,1,0,0,0),Field(0,3,0,0,0,0),Field(0,0,0,0,0,0),Field(1,0,0,0,0,0),Field(1,2,1,0,0,0),Field(1,2,1,0,0,0)],
|
||||||
|
# [Field(1,0,1,0,0,0),Field(0,0,0,0,0,0),Field(1,1,1,0,0,0),Field(1,0,0,0,0,0),Field(0,1,1,0,0,0),Field(0,0,1,0,0,0),Field(0,1,0,0,0,0),Field(1,1,1,0,0,0),Field(1,0,1,0,0,0),Field(1,0,0,0,0,0)]]
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
# =========================================================================================
|
||||||
|
# no i tutaj mamy główna pętlę programu
|
||||||
|
|
||||||
pygame.init()
|
pygame.init()
|
||||||
|
|
||||||
player = Player()
|
player = Player()
|
||||||
|
|
||||||
screen = pygame.display.set_mode([600, 600])
|
|
||||||
|
|
||||||
running = True
|
running = True
|
||||||
clock = pygame.time.Clock()
|
# clock = pygame.time.Clock()
|
||||||
while running:
|
|
||||||
for event in pygame.event.get():
|
|
||||||
if event.type == pygame.QUIT:
|
|
||||||
running = False
|
|
||||||
if event.type == pygame.KEYDOWN:
|
|
||||||
if event.key == pygame.K_LEFT:
|
|
||||||
if player.x > 0:
|
|
||||||
player.x = player.x - 1
|
|
||||||
if event.key == pygame.K_UP:
|
|
||||||
if player.y > 0:
|
|
||||||
player.y = player.y - 1
|
|
||||||
if event.key == pygame.K_RIGHT:
|
|
||||||
if player.x < 9:
|
|
||||||
player.x = player.x + 1
|
|
||||||
if event.key == pygame.K_DOWN:
|
|
||||||
if player.y < 9:
|
|
||||||
player.y = player.y + 1
|
|
||||||
|
|
||||||
screen.fill((175, 255, 50))
|
SCREEN.fill(WHITE)
|
||||||
|
|
||||||
|
while running:
|
||||||
|
|
||||||
|
for event in pygame.event.get():
|
||||||
|
kbd = pygame.key.get_pressed()
|
||||||
|
mse = pygame.mouse.get_pos()
|
||||||
|
UIHandler(mse)
|
||||||
|
eventHandler(kbd, mse)
|
||||||
|
pygame.display.update()
|
||||||
|
# CLOCK.tick(FPS)
|
||||||
|
|
||||||
|
#screen.fill((175, 255, 50, 0))
|
||||||
|
|
||||||
|
# SCREEN.fill((WHITE))
|
||||||
imgWheat = pygame.image.load('img/wheat.png')
|
imgWheat = pygame.image.load('img/wheat.png')
|
||||||
imgCarrot = pygame.image.load('img/carrot.png')
|
imgCarrot = pygame.image.load('img/carrot.png')
|
||||||
imgCabbage = pygame.image.load('img/cabbage.png')
|
imgCabbage = pygame.image.load('img/cabbage.png')
|
||||||
imgPlayer = pygame.image.load('img/player.png')
|
imgPlayer = pygame.image.load('img/player.png')
|
||||||
|
global imgTree
|
||||||
|
imgTree = pygame.image.load('img/tree.png')
|
||||||
|
# pygame.display.update()
|
||||||
|
|
||||||
i = 0
|
i = 0
|
||||||
while i < len(T):
|
while i < len(T):
|
||||||
j = 0
|
j = 0
|
||||||
while j < len(T[i]):
|
while j < len(T[i]):
|
||||||
color = (0, 0, 0)
|
# color = (255, 255, 255, 0)
|
||||||
if T[i][j].isWet == 0:
|
if T[i][j].isWet == 0:
|
||||||
color = (160, 80, 40)
|
# a = 1
|
||||||
|
color = (160, 80, 40, 0)
|
||||||
else:
|
else:
|
||||||
color = (50, 25, 0)
|
# a = 1
|
||||||
pygame.draw.rect(screen, color, pygame.Rect(50 + 50 * i, 50 + 50 * j, 50, 50))
|
color = (50, 25, 0, 0)
|
||||||
|
#colour from the beginning
|
||||||
|
pygame.draw.rect(SCREEN, color, pygame.Rect(50 + 50 * i, 50 + 50 * j, 50, 50))
|
||||||
if T[i][j].plantType == 1:
|
if T[i][j].plantType == 1:
|
||||||
screen.blit(imgWheat, (50 + 50 * i, 50 + 50 * j))
|
SCREEN.blit(imgWheat, (50 + 50 * i, 50 + 50 * j))
|
||||||
if T[i][j].plantType == 2:
|
if T[i][j].plantType == 2:
|
||||||
screen.blit(imgCarrot, (50 + 50 * i, 50 + 50 * j))
|
SCREEN.blit(imgCarrot, (50 + 50 * i, 50 + 50 * j))
|
||||||
if T[i][j].plantType == 3:
|
if T[i][j].plantType == 3:
|
||||||
screen.blit(imgCabbage, (50 + 50 * i, 50 + 50 * j))
|
SCREEN.blit(imgCabbage, (50 + 50 * i, 50 + 50 * j))
|
||||||
|
if T[i][j].plantType == 4:
|
||||||
|
SCREEN.blit(imgTree, (50 + 50 * i, 50 + 50 * j))
|
||||||
|
|
||||||
|
|
||||||
j = j + 1
|
j = j + 1
|
||||||
i = i + 1
|
i = i + 1
|
||||||
|
|
||||||
i = 0
|
i = 0
|
||||||
while i < len(T)+1:
|
while i < len(T)+1:
|
||||||
pygame.draw.line(screen, (0, 0, 0), (50 + i * 50, 50), (50 + i * 50, 50 + len(T) * 50), 5)
|
pygame.draw.line(SCREEN, (0, 0, 0), (50 + i * 50, 50), (50 + i * 50, 50 + len(T) * 50), 1)
|
||||||
pygame.draw.line(screen, (0, 0, 0), (50, 50 + i * 50), (50 + len(T) * 50, 50 + i * 50), 5)
|
pygame.draw.line(SCREEN, (0, 0, 0), (50, 50 + i * 50), (50 + len(T) * 50, 50 + i * 50), 1)
|
||||||
i = i + 1
|
i = i + 1
|
||||||
|
|
||||||
|
for obs in obstacleObjects:
|
||||||
|
obstacleObjects[obs].draw()
|
||||||
|
|
||||||
|
# if startNode.state != goalNode.state:
|
||||||
|
if startNode.x != goalNode[0] or startNode.y != goalNode[1] :
|
||||||
|
for bx in boxObjects:
|
||||||
|
boxObjects[bx].draw()
|
||||||
|
|
||||||
|
|
||||||
tmpImg = pygame.transform.rotate(imgPlayer, player.rotation)
|
tmpImg = pygame.transform.rotate(imgPlayer, player.rotation)
|
||||||
screen.blit(tmpImg, (55 + 50 * player.x, 55 + 50 * player.y))
|
if player.rotation == 180:
|
||||||
pygame.display.flip()
|
tmpImg = pygame.transform.flip(tmpImg, True, True)
|
||||||
# clock.tick(30)
|
tmpImg = pygame.transform.flip(tmpImg, True, False)
|
||||||
|
|
||||||
|
#player seen at the beginning
|
||||||
|
SCREEN.blit(tmpImg, (55 + 50 * player.x, 55 + 50 * player.y))
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
# if Ucelu == False:
|
||||||
|
# for bx in boxObjects:
|
||||||
|
# boxObjects[bx].draw()
|
||||||
|
|
||||||
|
|
||||||
|
font = pygame.font.SysFont('comicsans', 18)
|
||||||
|
label = font.render('f- punkt końcowy, x- drzewa, spacja- uruchomienie', 1, (0, 0, 0))
|
||||||
|
label1 = font.render('strzałki-ręczne poruszanie traktorem,', 1, (0, 0, 0))
|
||||||
|
label2 = font.render('a- obrót w lewo, d- w prawo, w-ruch naprzód', 1, (0, 0, 0))
|
||||||
|
label3 = font.render('b - uruchom A*', 1, (0, 0, 0))
|
||||||
|
SCREEN.blit(label, (10, 570))
|
||||||
|
SCREEN.blit(label1, (10, 590))
|
||||||
|
SCREEN.blit(label2, (10, 610))
|
||||||
|
SCREEN.blit(label3, (10, 630))
|
||||||
|
|
||||||
|
# pygame.display.flip()
|
||||||
|
|
||||||
|
pygame.display.update()
|
||||||
|
CLOCK.tick(FPS)
|
||||||
|
|
||||||
# Done! Time to quit.
|
# Done! Time to quit.
|
||||||
|
|
||||||
|
Loading…
Reference in New Issue
Block a user