bug ruchu
This commit is contained in:
Tomasz Adamczyk
parent
58949ff985
commit
2836a0771d
@ -3,9 +3,10 @@
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107
graph.py
107
graph.py
@ -1,10 +1,27 @@
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import copy
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import tractor
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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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class Istate: #stan początkowy traktora (strona, w którą patrzy, miejsce, w którym się on znajduje)
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def __init__(self, direction, x, y):
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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_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: #wierzchołek grafu
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def __init__(self, action, direction, parent, x, y):
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self.action = action #akcja jaką ma wykonać (obróc się w lewo, obróć się w prawo, ruch do przodu)
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self.direction = direction
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self.parent = parent #ojciec wierzchołka
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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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@ -27,47 +44,19 @@ class Node:
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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 Istate: #stan początkowy traktora
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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 Fringe: #kolejka zawierająca akcje oraz pola do odwiedzenia
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# def __init__(self, fringe):
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# self.fringe = fringe
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# def get_fringe(self):
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# return self.fringe
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# def set_fringe(self, fringe):
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# self.fringe = fringe
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# def add_to_fringe(self, value):
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# self.fringe.append(value)
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# def get_element_from_fringe_pop(self):
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# return self.fringe.pop(0)
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def goal_test(elem, goaltest):
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if elem.get_x() == goaltest.get_x() and elem.get_y() == goaltest.get_y(): #goaltest bez getterów
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def goal_test(elem, goaltest): #funkcja sprawdzająca czy położenie traktora równa się położeniu punktu docelowego, jeśli tak zwraca prawdę, w przeciwnym wypadku fałsz
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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 print_moves(elem, explored):
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def print_moves(elem): #zwraca listę ruchów jakie należy wykonać by dotrzeć do punktu docelowego
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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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def succ(elem): #funkcja następnika, przypisuje jakie akcje są możliwe do wykonania na danym polu oraz jaki będzie stan (kierunek, położenie) po wykonaniu tej akcji
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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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@ -94,46 +83,24 @@ def succ(elem):
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elif tractor.Tractor.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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def graphsearch(fringe, explored, istate, succ, goaltest):
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node = Node(None, istate.get_direction(), None, istate.get_x(), istate.get_y()) #może None coś nie gra
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#fringe.add_to_fringe(node)
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fringe.append(node)
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def graphsearch(fringe, explored, istate, succ, goaltest): #przeszukiwanie grafu wszerz
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node = Node(None, istate.get_direction(), None, istate.get_x(), istate.get_y()) #wierzchołek początkowy, stworzony ze stanu początkowego traktora
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fringe.append(node) #wierzchołki do odwiedzenia
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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.get_element_from_fringe_pop()
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elem = fringe.pop(0)
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temp = copy.copy(elem) #żeby explored w for succ() nie zmieniało
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if goal_test(elem, goaltest) is True:
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# for x in fringe:
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# print("action: " + str(x.get_action()))
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# print("direction: " + str(x.get_direction()))
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# print("parent: " + str(x.get_parent()))
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# print("node: " + str(x))
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# print("x: " + str(x.get_x()))
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# print("y: " + str(x.get_y()))
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# for x in explored:
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# print("action ex: " + str(x.get_action()))
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# print("direction ex: " + str(x.get_direction()))
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# print("parent ex: " + str(x.get_parent()))
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# print("node ex: " + str(x))
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# print("x ex: " + str(x.get_x()))
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# print("y ex: " + str(x.get_y()))
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return print_moves(elem, explored)
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explored.append(elem)
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for (action, state) in succ(temp):
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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(elem, 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)
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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:
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x = Node(action, state[0], elem, state[1], state[2])
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# print(x.get_action())
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# print(state[0])
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# print(state[1])
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# print(state[2])
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# print(x.get_direction())
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# print(x.get_parent())
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fringe.append(x)
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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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28
plant.py
28
plant.py
@ -11,6 +11,34 @@ class Plant:
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return self.state
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def set_state(self, state):
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self.state = state
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# @staticmethod
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# def get_closest_mature_plant(map1, tractor1):
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# x = -1
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# y = -1
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# min = definitions.WIDTH_AMOUNT + definitions.HEIGHT_AMOUNT + 1
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# for i in range(definitions.WIDTH_AMOUNT):
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# for j in range(definitions.HEIGHT_AMOUNT):
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# field = map1.get_fields()[i][j]
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# if field.get_plant().get_name() == "beetroot" and field.get_plant().get_state() == definitions.BEETROOTS_MAXIMUM_STATE: #and abs(tractor1.get_x() - i) + abs(tractor1.get_y() - j) < min:
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# x = i
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# y = j
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# min = abs(tractor1.get_x() - i) + abs(tractor1.get_y() - j)
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# elif field.get_plant().get_name() == "carrot" and field.get_plant().get_state() == definitions.CARROTS_MAXIMUM_STATE: #and abs(tractor1.get_x() - i) + abs(tractor1.get_y() - j) < min:
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# x = i
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# y = j
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# min = abs(tractor1.get_x() - i) + abs(tractor1.get_y() - j)
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# elif field.get_plant().get_name() == "potato" and field.get_plant().get_state() == definitions.POTATOES_MAXIMUM_STATE: #and abs(tractor1.get_x() - i) + abs(tractor1.get_y() - j) < min:
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# x = i
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# y = j
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# min = abs(tractor1.get_x() - i) + abs(tractor1.get_y() - j)
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# elif field.get_plant().get_name() == "wheat" and field.get_plant().get_state() == definitions.WHEAT_MAXIMUM_STATE: #and abs(tractor1.get_x() - i) + abs(tractor1.get_y() - j) < min:
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# x = i
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# y = j
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# min = abs(tractor1.get_x() - i) + abs(tractor1.get_y() - j)
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# if x == -1 and y == -1:
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# return False
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# else:
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# return x, y
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@staticmethod
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def grow_plants(map1): #metoda statyczna, która zwiększa pole state (etap rozwoju rośliny) dla danej rośliny na danym polu o 1
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for i in range(definitions.WIDTH_AMOUNT):
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18
py.py
18
py.py
@ -3,6 +3,7 @@ import graph
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import map
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import plant
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import pygame
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import random
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import station
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import tractor
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pygame.display.set_caption("Smart Tractor")
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@ -10,11 +11,12 @@ def main():
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#tworzenie podstawowych obiektów
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map1 = map.Map([])
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map1.create_base_map()
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move_list = []
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amount_of_seeds_dict = {"beetroot": definitions.TRACTOR_AMOUNT_OF_SEEDS_EACH_TYPE, "carrot": definitions.TRACTOR_AMOUNT_OF_SEEDS_EACH_TYPE, "potato": definitions.TRACTOR_AMOUNT_OF_SEEDS_EACH_TYPE, "wheat": definitions.TRACTOR_AMOUNT_OF_SEEDS_EACH_TYPE}
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collected_plants_dict = {"beetroot": 0, "carrot": 0, "potato": 0, "wheat": 0}
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fertilizer_dict = {"beetroot": definitions.TRACTOR_FERTILIZER, "carrot": definitions.TRACTOR_FERTILIZER, "potato": definitions.TRACTOR_FERTILIZER, "wheat": definitions.TRACTOR_FERTILIZER}
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station1 = station.Station(collected_plants_dict)
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tractor1 = tractor.Tractor(amount_of_seeds_dict, collected_plants_dict, definitions.TRACTOR_DIRECTION_SOUTH, fertilizer_dict, definitions.TRACTOR_FUEL, definitions.TRACTOR_WATER_LEVEL, 0, 0)
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tractor1 = tractor.Tractor(amount_of_seeds_dict, collected_plants_dict, definitions.TRACTOR_DIRECTION_NORTH, fertilizer_dict, definitions.TRACTOR_FUEL, definitions.TRACTOR_WATER_LEVEL, 0, 0)
|
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tractor1_rect = pygame.Rect(tractor1.get_x(), tractor1.get_y(), definitions.BLOCK_SIZE, definitions.BLOCK_SIZE)
|
||||
clock = pygame.time.Clock()
|
||||
run = True
|
||||
@ -23,11 +25,17 @@ def main():
|
||||
for event in pygame.event.get():
|
||||
if event.type == pygame.QUIT:
|
||||
run = False
|
||||
istate = graph.Istate(definitions.TRACTOR_DIRECTION_SOUTH, 0, 0)
|
||||
istate1 = graph.Istate(None, 4, 6)
|
||||
print(graph.graphsearch([], [], istate, graph.succ, istate1))
|
||||
map1.draw_window(tractor1, tractor1_rect)
|
||||
tractor1.tractor1_handle_movement(tractor1_rect)
|
||||
if not move_list:
|
||||
istate = graph.Istate(tractor1.get_direction(), 0, 0)
|
||||
move_list = (graph.graphsearch([], [], istate, graph.succ, (4, 4)))
|
||||
print(move_list)
|
||||
elif move_list:
|
||||
temp = move_list.pop(0)
|
||||
print(temp)
|
||||
tractor1.handle_movement(temp, tractor1_rect)
|
||||
else:
|
||||
tractor1.handle_random_movement(tractor1_rect)
|
||||
tractor1.do_work(map1, station1, tractor1_rect)
|
||||
plant.Plant.grow_plants(map1)
|
||||
pygame.quit()
|
||||
|
||||
25
tractor.py
25
tractor.py
@ -184,17 +184,30 @@ class Tractor:
|
||||
return "x - 1"
|
||||
else:
|
||||
return False
|
||||
def tractor1_handle_movement(self, tractor1_rect): #odpowiada za poruszanie się traktora po mapie
|
||||
def handle_movement(self, move, tractor1_rect): #odpowiada za poruszanie się traktora po mapie
|
||||
if self.get_fuel() > 0:
|
||||
if move == "move":
|
||||
self.move()
|
||||
elif move == "rotate_left":
|
||||
self.rotate_left()
|
||||
elif move == "rotate_right":
|
||||
self.rotate_right()
|
||||
self.set_fuel(self.get_fuel() - 1)
|
||||
tractor1_rect.x = self.get_x()
|
||||
tractor1_rect.y = self.get_y()
|
||||
def handle_random_movement(self, tractor1_rect): #odpowiada za losowe poruszanie się traktora po mapie
|
||||
loop = True
|
||||
while loop and self.get_fuel() > 0:
|
||||
if self.is_move_allowed(tractor1_rect) is True:
|
||||
random1 = random.randint(1, 3)
|
||||
if random1 == 1 and self.is_move_allowed(tractor1_rect) is True:
|
||||
self.move()
|
||||
tractor1_rect.x = self.get_x()
|
||||
tractor1_rect.y = self.get_y()
|
||||
loop = False
|
||||
else:
|
||||
elif random1 == 2:
|
||||
self.rotate_left()
|
||||
loop = False
|
||||
elif random1 == 3:
|
||||
self.rotate_right()
|
||||
loop = False
|
||||
self.set_fuel(self.get_fuel() - 1)
|
||||
if tractor1_rect.x == 0 and tractor1_rect.y == 0:
|
||||
self.set_fuel(definitions.TRACTOR_FUEL)
|
||||
self.set_water_level(definitions.TRACTOR_WATER_LEVEL)
|
||||
Loading…
Reference in New Issue
Block a user