89 lines
2.6 KiB
Python
89 lines
2.6 KiB
Python
import Board
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import FindPath
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import TractorAction
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import WeatherConditions
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import convertToPrediction
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import drawUI
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import Graphsearch as graph
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from Tractor import Tractor
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from TractorLoad import TillageUnit
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from constants import *
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from manualSteering import manualSteeringDriver
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import joblib
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import pygame
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pygame.init()
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display = pygame.display.set_mode((DISPLAY_SIZE_HORIZONTAL, DISPLAY_SIZE_VERTICAL))
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pygame.display.set_caption('Tractor')
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working = True
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autoAction = True
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animationSpeed = ANIMATION_PART
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hitchCounter = 0
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loadCounter = 0
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toolCounter = - 1
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board = Board.generate()
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tractor = Tractor(horizontal_index=-0, vertical_index=0, hitch="nothing", header=False, autodrive=True,
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direction="RIGHT")
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tillageUnit = TillageUnit("Nothing")
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tractor.turnOnEngine()
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move_list = []
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clock = pygame.time.Clock()
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weather, day_time, temperature, wind, humidy = WeatherConditions.checkConditions()
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weatherTimer = 0
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while working:
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for event in pygame.event.get():
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if event.type == pygame.QUIT:
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working = False
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if event.type == pygame.KEYDOWN:
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hitchCounter, loadCounter = \
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manualSteeringDriver(event, board, tractor, hitchCounter, tillageUnit, loadCounter)
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field = board[tractor.horizontal_index][tractor.vertical_index]
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if weatherTimer == 2:
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weatherTimer = 0
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weather, day_time, temperature, wind, humidy = WeatherConditions.checkConditions()
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question = [convertToPrediction.convert(field.state, weather, day_time, temperature, wind, humidy)]
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dtree = joblib.load('treedata\\DecisionTree.pkl')
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decision = dtree.predict(question)
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if tractor.autodrive:
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if not move_list and decision == 1:
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field.state = TractorAction.changeFieldState(field, tractor)
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istate = graph.Istate(tractor.direction, tractor.horizontal_index, tractor.vertical_index)
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move_list = graph.graphsearch([], [], istate, FindPath.nearestLookingField(board, tractor, TillageUnit), board)
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print(move_list)
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elif move_list:
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tractor.auto_movement(move_list.pop(0))
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# TractorAction.changeFieldState(field, tractor)
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if field.horizontal_index == 0 and field.vertical_index == 0 and not move_list:
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tractor, tillageUnit, toolCounter = TractorAction.autoToolsChange(tractor, tillageUnit, toolCounter)
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drawUI.drawUI(board, display, tractor, tractor.direction, tillageUnit, field, animationSpeed, weather, day_time,
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temperature, wind, humidy, decision)
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clock.tick(FPS)
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weatherTimer = weatherTimer + 1
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pygame.quit()
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quit()
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