astar
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MonoYuku
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__pycache__/granny.cpython-39.pyc
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__pycache__/granny.cpython-39.pyc
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__pycache__/pool.cpython-39.pyc
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__pycache__/pool.cpython-39.pyc
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astar.py
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astar.py
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from truck import Truck
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class Node():
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def __init__(self, parent=None, position=None):
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self.parent = parent
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self.position = position
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self.g = 0
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self.h = 0
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self.f = 0
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def __eq__(self, other):
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return self.position == other.position
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def astar(maze, start, end):
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start_node = Node(position=start)
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end_node = Node(position=end)
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x=0
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open_list = []
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closed_list = []
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open_list.append(start_node)
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while len(open_list) > 0:
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current_node = open_list[0]
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current_index = 0
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for index, item in enumerate(open_list):
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if item.f < current_node.f:
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current_node = item
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current_index = index
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open_list.pop(current_index)
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closed_list.append(current_node)
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if current_node == end_node:
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path = []
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current = current_node
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while current is not None:
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path.append(current.position)
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if (maze[current.position[0]][current.position[1]] == 1):
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x = x + 1
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if (maze[current.position[0]][current.position[1]] == 2):
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x = x + 3
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if (maze[current.position[0]][current.position[1]] == 6):
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x = x + 20
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if (maze[current.position[0]][current.position[1]] == 7):
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x = x + 5
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if (maze[current.position[0]][current.position[1]] == 8):
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x = x + 1
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current = current.parent
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return path[::-1]
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#return x
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children = []
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for new_position in [(0, -1), (0, 1), (-1, 0), (1, 0)]:
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node_position = (
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current_node.position[0] + new_position[0], current_node.position[1] + new_position[1])
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if node_position[0] > (len(maze) - 1) or node_position[0] < 0 or node_position[1] > (len(maze[len(maze)-1]) - 1) or node_position[1] < 0:
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continue
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if Node(current_node, node_position) in closed_list:
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continue
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if maze[node_position[0]][node_position[1]] == 9:
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continue
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new_node = Node(current_node, node_position)
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children.append(new_node)
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for child in children:
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for closed_child in closed_list:
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if child == closed_child:
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continue
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if(maze[child.position[0]][child.position[1]]==1):
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child.g = 1
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if(maze[child.position[0]][child.position[1]]==2):
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child.g = 3
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if(maze[child.position[0]][child.position[1]]==6):
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child.g = 20
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if(maze[child.position[0]][child.position[1]]==7):
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child.g = 5
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if(maze[child.position[0]][child.position[1]]==8):
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child.g = 1
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child.h = ((child.position[0] - end_node.position[0]) **
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2) + ((child.position[1] - end_node.position[1]) ** 2)
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child.f = child.g + child.h
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for open_node in open_list:
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if child == open_node and child.g > open_node.g:
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continue
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open_list.append(child)
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def main():
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maze = [[9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9],
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[9, 9, 9, 9, 9, 1, 1, 9, 9, 9, 1, 1, 1, 9, 9, 9, 1,
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1, 9, 9, 1, 1, 1, 9, 9, 1, 1, 9, 1, 1, 9, 9],
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[9, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 1, 1, 1, 9, 1, 1,
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8, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 1, 1, 1, 9],
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[9, 1, 1, 1, 2, 1, 1, 6, 1, 1, 1, 1, 1, 1, 1, 1, 9,
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1, 0, 1, 7, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 9],
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[9, 1, 1, 1, 1, 9, 9, 9, 9, 9, 9, 1, 1, 1, 1, 9, 9,
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9, 9, 9, 1, 1, 1, 1, 1, 1, 1, 1, 1, 9, 9, 9],
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[9, 9, 9, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 1, 2, 1,
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1, 1, 1, 9, 6, 6, 9, 1, 1, 2, 1, 1, 9, 1, 9],
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[9, 1, 1, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 1, 1, 1,
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1, 1, 9, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 9],
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[9, 1, 1, 1, 9, 9, 9, 9, 9, 1, 1, 1, 1, 1, 9, 9, 9,
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9, 9, 9, 9, 1, 1, 1, 1, 1, 1, 1, 1, 1, 9, 9],
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[9, 1, 1, 1, 1, 1, 1, 9, 9, 9, 9, 9, 9, 1, 1, 1, 1,
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1, 9, 1, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 9],
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[9, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 9, 1, 1, 1, 9,
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9, 9, 7, 6, 9, 9, 9, 9, 6, 2, 1, 9, 9, 9, 9],
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[9, 1, 1, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 1, 1, 1,
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1, 9, 1, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 9],
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[9, 1, 1, 1, 9, 9, 9, 9, 9, 1, 1, 9, 9, 9, 1, 1, 9,
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9, 9, 1, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 9],
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[9, 1, 1, 1, 1, 1, 9, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
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1, 1, 2, 1, 1, 9, 9, 1, 9, 1, 1, 7, 1, 1, 9],
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[9, 1, 1, 1, 1, 1, 0, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1,
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1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 9],
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[9, 1, 1, 9, 1, 1, 9, 9, 9, 1, 9, 1, 1, 1, 9, 9, 9,
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1, 1, 1, 1, 1, 9, 1, 1, 1, 9, 9, 1, 1, 1, 9],
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[9, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 9, 1, 1, 2, 1,
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1, 1, 1, 9, 9, 9, 9, 1, 1, 1, 2, 1, 1, 9, 9],
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[9, 1, 1, 1, 9, 9, 9, 9, 1, 1, 1, 1, 1, 1, 9, 1, 1,
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1, 9, 1, 1, 9, 9, 1, 1, 1, 1, 1, 1, 1, 1, 9],
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[9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9, 9]]
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start = (13, 7)
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end = (3, 18)
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path = astar(maze, start, end)
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print(path)
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return path
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if __name__ == '__main__':
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main()
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14
granny.py
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granny.py
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class Granny:
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def __init__(self, position, grid_size):
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self.pos = position
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self.size = grid_size
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def create_granny(grid_size):
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grannies = []
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with open(file='houses.txt', mode='r', encoding='utf-8') as file:
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for l_index, line in enumerate(file):
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for h_index, if_house in enumerate(line):
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if if_house == '3':
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granny = Granny(
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[h_index*grid_size, l_index*grid_size], grid_size)
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grannies.append(granny)
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return grannies
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24
houses.txt
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houses.txt
@ -1,16 +1,16 @@
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11111111111111111111111111111111
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10100011110000111100010000011101
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10100000000000011000000111000001
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10100011110000111100010003011101
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10100020000000011002000111000001
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10111111110001011010001110011001
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10000000000001000010000100000001
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11111111110001000010000000001111
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11110000000111000100001111111111
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10000000000000010001100000000001
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10001110000011100010000000000001
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10000300002001000010000100000001
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11111111110001300010000002001111
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11110320000111200100001111111111
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10000000020000010301100300000001
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10001110000011120010200200000001
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11111011110111001010111111111011
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10001000001000011010000001110001
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10000010000001001000111100000011
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10011111111001000010011001111011
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10000110001000000001110000000011
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10010000100010111100000001100001
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10001030001000011010000001110001
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10200010000001001000111100200011
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10011111111001020010011001111011
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10000112001000000001110000000011
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10012000130010111100200001100001
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11111111111111111111111111111111
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img/granny.png
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img/granny.png
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After Width: | Height: | Size: 2.4 KiB |
23
main.py
23
main.py
@ -18,7 +18,8 @@ from truck import Truck
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from trash import Trash
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from TSP import tsp, tspmove
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from bfs import bfs, distance
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from pool import create_pools
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from granny import create_granny
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model = load_model("model.h5")
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@ -70,10 +71,14 @@ def game_keys(truck, multi_trash, houses, auto=False):
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break
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def update_images(gameDisplay, truck, multi_trash, houses):
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def update_images(gameDisplay, truck, multi_trash, houses,pools,grannies):
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gameDisplay.fill(gray)
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for house in houses:
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gameDisplay.blit(pygame.image.load('./img/house.png'), house.pos)
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for pool in pools:
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gameDisplay.blit(pygame.image.load('./img/wet.png'), pool.pos)
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for granny in grannies:
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gameDisplay.blit(pygame.image.load('./img/granny.png'), granny.pos)
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for trash in multi_trash:
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gameDisplay.blit(pygame.image.load('./img/trash.png'), trash.pos)
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gameDisplay.blit(truck.image, truck.pos)
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@ -93,6 +98,8 @@ def game_loop():
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truck = Truck(game_w, game_h, grid_size)
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houses = create_houses(grid_size)
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pools = create_pools(grid_size)
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grannies = create_granny(grid_size)
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for _ in range(7):
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trash = Trash(game_w, game_h, grid_size)
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@ -118,7 +125,9 @@ def game_loop():
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if (event.key == pygame.K_k):
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print(":>")
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trash = multi_trash[0]
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dis_dump = distance(truck.pos,[80,80])
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dis = [120,120]
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print(truck.pos)
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dis_dump = distance(dis,truck.pos)
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dis_trash = distance(truck.pos, trash.pos)
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print(dis_dump, dis_trash, truck.mass, truck.space, trash.mass, trash.space)
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decision = tree.making_decision(decision_tree,
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@ -144,7 +153,7 @@ def game_loop():
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pygame.KEYDOWN, {'key': action}))
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game_keys(truck, multi_trash, houses, True)
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update_images(gameDisplay, truck, multi_trash, houses)
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update_images(gameDisplay, truck, multi_trash, houses,pools,grannies)
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else:
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truck.space=0
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truck.mass=0
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@ -165,7 +174,7 @@ def game_loop():
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pygame.KEYDOWN, {'key': action}))
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game_keys(truck, multi_trash, houses, True)
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update_images(gameDisplay, truck, multi_trash, houses)
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update_images(gameDisplay, truck, multi_trash, houses,pools,grannies)
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if (event.key == pygame.K_t):
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solution = tsp(multi_trash, truck)
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actions = tspmove(solution, truck, multi_trash)
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@ -184,7 +193,7 @@ def game_loop():
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pygame.KEYDOWN, {'key': action}))
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game_keys(truck, multi_trash, houses, True)
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update_images(gameDisplay, truck, multi_trash, houses)
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update_images(gameDisplay, truck, multi_trash, houses,pools,grannies)
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truck.direction = [1, 0]
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truck.dir_control = 0
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truck.image = pygame.image.load('./img/truck.png')
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@ -196,7 +205,7 @@ def game_loop():
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else:
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pygame.event.post(event)
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game_keys(truck, multi_trash, houses)
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update_images(gameDisplay, truck, multi_trash, houses)
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update_images(gameDisplay, truck, multi_trash, houses,pools,grannies)
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clock.tick(60)
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14
pool.py
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pool.py
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class Pool:
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def __init__(self, position, grid_size):
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self.pos = position
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self.size = grid_size
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def create_pools(grid_size):
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pools = []
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with open(file='houses.txt', mode='r', encoding='utf-8') as file:
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for l_index, line in enumerate(file):
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for h_index, if_house in enumerate(line):
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if if_house == '2':
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pool = Pool(
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[h_index*grid_size, l_index*grid_size], grid_size)
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pools.append(pool)
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return pools
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4
trash.py
4
trash.py
@ -37,8 +37,8 @@ class Trash:
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self.size = grid_size
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self.content = draw_trash(filenames)[0]
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self.names = draw_trash(filenames)[1]
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self.mass = random.randint(0, 25)
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self.space = random.randint(0, 25)
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self.mass = random.randint(1, 25)
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self.space = random.randint(1, 25)
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def new_pos(self, truck_pos, houses, multi):
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self.trash_content, self.trash_names = draw_trash(filenames)
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