small fix + pygad install

This commit is contained in:
Kacper 2023-06-15 14:03:24 +02:00
parent 72cc8dcac3
commit acafb05ae0
14 changed files with 120 additions and 285 deletions

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@ -15,7 +15,6 @@ b = [Image.open("b1.png").convert('RGBA'), Image.open("b2.png").convert('RGBA'),
def generate(water, fertilizer, plantf):
new_im = None
if water == 1:
new_im = Image.new('RGB', (100, 100),
(160 + random.randint(-10, 10), 80 + random.randint(-10, 10), 40 + random.randint(-10, 10)))
@ -81,4 +80,3 @@ for x in range(0, 1000):
generate(0, 1, random.randint(0, 2)).save('datasets/01/' + str(x) + '.png')
for x in range(0, 1000):
generate(1, 1, random.randint(0, 2)).save('datasets/11/' + str(x) + '.png')

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@ -2,13 +2,14 @@ import pathlib
import random
import torch
from PIL.Image import Image
from torch import nn
from torch.utils.data import DataLoader
from torchvision import datasets, transforms
from torchvision.transforms import Lambda
device = torch.device('cuda')
device = torch.device('cpu')
def train(model, dataset, n_iter=100, batch_size=2560000):
optimizer = torch.optim.SGD(model.parameters(), lr=0.01)
@ -40,7 +41,7 @@ train_data = datasets.ImageFolder(root="./datasets",
transform=data_transform,
target_transform=None)
model1=nn.Sequential(nn.Linear(30000, 10000),nn.ReLU(),nn.Linear(10000,10000),nn.ReLU(),nn.Linear(10000,10000),nn.Linear(10000,4),nn.LogSoftmax(dim=-1)).to(device)
model1 = nn.Sequential(nn.Linear(30000, 10000), nn.ReLU(), nn.Linear(10000, 10000), nn.ReLU(), nn.Linear(10000, 0000), nn.Linear(10000, 4), nn.LogSoftmax(dim=-1)).to(device)
model1.load_state_dict(torch.load("./trained"))
train(model1, train_data)

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@ -1,7 +1,6 @@
from operator import itemgetter
import cart
import copy
from classes import Field
class Istate:
@ -92,7 +91,7 @@ def fieldCost(T,node):
def cost(T, node):
cost = 0
while (node.get_parent() != None):
while node.get_parent() is not None:
cost = cost + fieldCost(T, node)
node = node.get_parent()
@ -154,7 +153,7 @@ def heuristic(goaltest, node):
def print_moves(elem):
moves_list = []
while (elem.get_parent() != None):
while elem.get_parent() is not None:
moves_list.append(elem.get_action())
elem = elem.get_parent()
moves_list.reverse()
@ -184,7 +183,6 @@ def succ(elem):
temp_move_east = elem.get_x() + 1
temp_move_north = elem.get_y() + 1
if cart.Cart.is_move_allowed_succ(elem) == "x + 1":
actions_list.append(("move", (elem.get_direction(), temp_move_east, elem.get_y())))
elif cart.Cart.is_move_allowed_succ(elem) == "y + 1":
@ -194,8 +192,4 @@ def succ(elem):
elif cart.Cart.is_move_allowed_succ(elem) == "x - 1":
actions_list.append(("move", (elem.get_direction(), temp_move_west, elem.get_y())))
return actions_list

14
bfs.py
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@ -1,4 +1,3 @@
import sys
import cart
import copy
@ -74,16 +73,12 @@ def goal_test(goaltest,elem):
return False
# def graphsearch(explored, fringe, goaltest, istate, succ): # przeszukiwanie grafu wszerz
def graphsearch(explored, fringe, goaltest, istate): # przeszukiwanie grafu wszerz
def graphsearch(goaltest, istate): # przeszukiwanie grafu wszerz
node = Node(None, istate.get_direction(), None, istate.get_x(), istate.get_y())
fringe = []
#elem = []
explored = []
#action = []
fringe.append(node) # wierzchołki do odwiedzenia
# fringe = [node]
while True:
if not fringe:
return False
@ -109,7 +104,7 @@ def graphsearch(explored, fringe, goaltest, istate): # przeszukiwanie grafu wsz
def print_moves(elem):
moves_list = []
while (elem.get_parent() != None):
while elem.get_parent() is not None:
moves_list.append(elem.get_action())
elem = elem.get_parent()
moves_list.reverse()
@ -139,7 +134,6 @@ def succ(elem):
temp_move_east = elem.get_x() + 1
temp_move_north = elem.get_y() + 1
if cart.Cart.is_move_allowed_succ(elem) == "x + 1":
actions_list.append(("move", (elem.get_direction(), temp_move_east, elem.get_y())))
elif cart.Cart.is_move_allowed_succ(elem) == "y + 1":
@ -149,8 +143,4 @@ def succ(elem):
elif cart.Cart.is_move_allowed_succ(elem) == "x - 1":
actions_list.append(("move", (elem.get_direction(), temp_move_west, elem.get_y())))
return actions_list

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@ -1,6 +1,5 @@
import pygame
from screen import SCREEN
global BLACK
# global SCREEN
global BLACK
@ -8,9 +7,9 @@ global gridObjects
global imgTree
global imgTree
imgTree = pygame.image.load('img/tree.png')
gridObjects = {} # Store grid-box objects from Grid Class
class Grid(object):
# ta klasa rysuje kratę na ekranie
def __init__(self, x, y, sx, sy):
@ -27,6 +26,7 @@ class Grid(object):
BLACK = (0, 0, 0)
pygame.draw.rect(SCREEN, BLACK, (self.x, self.y, self.sx, self.sy), self.width)
class Box(object):
# global SCREEN
@ -43,6 +43,7 @@ class Box(object):
# 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]
@ -66,6 +67,7 @@ class Obstacle(object):
SCREEN.blit(imgTree, (self.posX, self.posY))
# pygame.display.update()
def getGridBoxes(grid_box):
global gridObjects
return gridObjects[grid_box]

View File

@ -25,7 +25,6 @@ class Cart:
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:
@ -74,4 +73,3 @@ class Cart:
self.direction = 1
else:
self.direction = self.direction + 1

View File

@ -7,6 +7,7 @@ class Field:
self.isFertilized = isFertilized # yes/no
self.fertilizedTime = fertilizedTime # number
class Plant:
def __init__(self, plantType, growthState):
self.plantType = plantType # wheat/carrot/cabbage

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@ -1,5 +1,6 @@
import random
# Generowanie unikalnej losowej linii tekstu
def generate_unique_line(existing_lines):
while True:
@ -9,6 +10,7 @@ def generate_unique_line(existing_lines):
if line not in existing_lines:
return line
# Generowanie 200 unikalnych linii tekstu
lines = []
while len(lines) < 200:

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@ -1,5 +1,3 @@
# from sklearn.datasets import load_iris
from sklearn.tree import export_text

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@ -1,5 +1,3 @@
# definicje
import os
import pygame
pygame.init()

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223
main.py
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@ -1,18 +1,15 @@
import pygame
import pathlib
import random
import torch
from torch import nn
from torch.utils.data import DataLoader
from torchvision import datasets, transforms
from torchvision.transforms import Lambda
from PIL import Image
import astar
from classes import Field, Plant, Fertilizer, Player
from bfs import Node
from bfs import Istate, print_moves, succ
from classes import Field, Player
from bfs import Istate, succ
from bfs import graphsearch
from board import Grid, Box, Obstacle, getGridBoxes, gridObjects
from screen import SCREEN
@ -40,8 +37,8 @@ plants[2].append(Image.open("NN/ca2.png"))
plants[2].append(Image.open("NN/ca3.png"))
b = [Image.open("NN/b1.png").convert('RGBA'), Image.open("NN/b2.png").convert('RGBA'), Image.open("NN/b3.png").convert('RGBA')]
def generate(water, fertilizer, plantf):
new_im = None
if water == 1:
new_im = Image.new('RGB', (100, 100),
(160 + random.randint(-10, 10), 80 + random.randint(-10, 10), 40 + random.randint(-10, 10)))
@ -98,6 +95,7 @@ def generate(water, fertilizer, plantf):
return new_im
# COLORS
WHITE = (255, 255, 255)
BLACK = (0, 0, 0)
@ -124,18 +122,16 @@ obstacles = 1
# BFS Variables
startNode = Istate(1, 1, 1)
goalNode = [1, 1]
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):
@ -144,16 +140,18 @@ def drawGrid(sizex,sizey):
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']
}
# 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)):
@ -214,12 +212,13 @@ def generateGraph(row,col):
return miniG2
def drawGraph(pathF):
# Draws the path given the path-list
global Ucelu
# print(pathF)
if (Ucelu == False):
if not Ucelu:
for grid in pathF:
# g = gridObjects[grid] # Get the grid-box object mentioned in the path
# x = g.x
@ -250,44 +249,6 @@ def drawGraph(pathF):
if player.y > 0:
player.y = player.y - 1
# if player.x < (x/50 - 1):
# a = 1
# 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
# 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))
# 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
@ -318,7 +279,6 @@ def drawGraph(pathF):
for obs in obstacleObjects:
obstacleObjects[obs].draw()
for bx in boxObjects:
boxObjects[bx].draw()
@ -336,24 +296,15 @@ def drawGraph(pathF):
# 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))
SCREEN.fill(WHITE)
# pygame.time.wait(50)
# pygame.draw.rect(SCREEN, WHITE, pygame.Rect(x, y, sx, sy))
Ucelu = True
def UIHandler(mouseObj):
def UIHandler():
# drawGrid(GRIDX, GRIDY)
global Ucelu
drawGrid(10, 10)
@ -369,7 +320,7 @@ def UIHandler(mouseObj):
if pathFound:
drawGraph(pathFound)
# Ucelu = False
def eventHandler(kbdObj, mouseObj):
global boxes
@ -380,7 +331,7 @@ def eventHandler(kbdObj,mouseObj):
global Ucelu
if event.type == pygame.QUIT:
running = False
pygame.quit()
if event.type == pygame.KEYDOWN:
pygame.time.wait(DELAY)
@ -426,15 +377,10 @@ def eventHandler(kbdObj,mouseObj):
# 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]
@ -444,15 +390,11 @@ def eventHandler(kbdObj,mouseObj):
y = g.y
sx = g.sx
sy = g.sy
if mseX > x and mseX < x + sx:
if mseY > y and mseY < y + sy:
if x < mseX < x + sx:
if y < 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
@ -470,9 +412,6 @@ def eventHandler(kbdObj,mouseObj):
print(' goalNode x=', goalNode[0], 'goalNode y=', goalNode[1])
# pygame.display.update()
# goalNode = (x/sx) * (y/sy)
@ -527,44 +466,22 @@ def eventHandler(kbdObj,mouseObj):
y = g.y
sx = g.sx
sy = g.sy
if mseX > x and mseX < x + sx:
if mseY > y and mseY < y + sy:
if x < mseX < x + sx:
if y < 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
@ -582,12 +499,9 @@ def eventHandler(kbdObj,mouseObj):
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
move_list = (graphsearch(goalNode, startNode)) # przeszukiwanie grafu wszerz
pathFound = move_list
@ -599,32 +513,11 @@ def eventHandler(kbdObj,mouseObj):
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
@ -639,22 +532,11 @@ def eventHandler(kbdObj,mouseObj):
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
@ -665,17 +547,11 @@ def eventHandler(kbdObj,mouseObj):
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)],
@ -688,20 +564,6 @@ 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(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
@ -718,7 +580,7 @@ while running:
for event in pygame.event.get():
kbd = pygame.key.get_pressed()
mse = pygame.mouse.get_pos()
UIHandler(mse)
UIHandler()
eventHandler(kbd, mse)
pygame.display.update()
# CLOCK.tick(FPS)
@ -756,7 +618,6 @@ while running:
if T[i][j].plantType == 4:
SCREEN.blit(imgTree, (50 + 50 * i, 50 + 50 * j))
j = j + 1
i = i + 1
@ -774,7 +635,6 @@ while running:
for bx in boxObjects:
boxObjects[bx].draw()
tmpImg = pygame.transform.rotate(imgPlayer, player.rotation)
if player.rotation == 180:
tmpImg = pygame.transform.flip(tmpImg, True, True)
@ -783,21 +643,14 @@ while running:
# 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))
font = pygame.font.SysFont('comicsans', 22)
label = font.render('F - cel | X - drzewo', True, (0, 0, 0))
label1 = font.render('ARROWS - ręczne poruszanie', True, (0, 0, 0))
label2 = font.render('A - lewo | D - prawo | W - ruch', True, (0, 0, 0))
label3 = font.render('SPACE - start BFS | B - start A*', True, (0, 0, 0))
SCREEN.blit(label, (10, 555))
SCREEN.blit(label1, (10, 580))
SCREEN.blit(label2, (10, 605))
SCREEN.blit(label3, (10, 630))
# pygame.display.flip()