implemented a* with manhattan heuristics and nodes
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114
hero.py
114
hero.py
@ -1,4 +1,5 @@
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import random
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import heapq
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from mesa import Agent
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@ -6,6 +7,7 @@ from othercharacters import dice, Box, Creature, Armor, Weapon
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from actions import actions, actionsInterpreter
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from state import AgentState
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from direction import Direction
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from node import Node
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class Player(Creature):
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@ -117,7 +119,7 @@ class Player(Creature):
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def openChest(self, chest):
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self.gold = self.gold + chest.gold
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print("Chest opened. Gold inside:", chest.gold)
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print("------Chest opened. Gold inside:", chest.gold,"-----")
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chest.gold = 0
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self.openedchests += 1
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self.hasgoalchest = False
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@ -183,9 +185,15 @@ class Player(Creature):
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[actions["rotateRight"], rotateRight]
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]
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def heuristics(self, state, target_state):
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# cost is initially step distance in manhattan metric
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return abs(state.get_x() - target_state.get_x()) + abs(state.get_y() - target_state.get_y())
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def graphsearch(self, fringe, explored, istate, succesorFunction, goalState):
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finalActionList = []
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fringe.append([None, istate]) # at beginning do nothing
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init_state = [None, istate]
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root = Node(None, init_state, 0)
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heapq.heappush(fringe, (0, root)) # at beginning do nothing
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while len(fringe) != 0:
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_flag = True
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@ -193,41 +201,68 @@ class Player(Creature):
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if len(fringe) == 0:
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return False
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tmpState = fringe.pop(0)
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tmpNode = (heapq.heappop(fringe))[1] # node
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# build dictionary
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parent = tmpState[1].get_predecessor() #fetch paren state
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tmpState[1].set_predecessor(None) # clear predecessor - don't build a tree chain
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if parent is None:
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finalActionList.append([parent, tmpState])
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else:
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finalActionList.append([parent[1], tmpState]) # pair(key, value) - key: parent state, value: current state + action
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# parent = tmpNode.get_predecessor() # fetch parent state
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# tmpNode.set_predecessor(None) # clear predecessor - don't build a tree chain
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# if parent is None:
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# finalActionList.append([parent, tmpNode])
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# else:
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# finalActionList.append(
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# [parent[1], tmpNode]) # pair(key, value) - key: parent state, value: current state + action
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if tmpNode._state.get_x() == goalState.get_x() and tmpNode._state.get_y() == goalState.get_y():
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while tmpNode._parent is not None:
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finalActionList.append(tmpNode._action)
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tmpNode = tmpNode._parent
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finalActionList = list(reversed(finalActionList))
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return finalActionList # TODO change step!
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if tmpState[1].get_x() == goalState.get_x() and tmpState[1].get_y() == goalState.get_y():
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return finalActionList
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explored.append(tmpNode)
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explored.append(tmpState)
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tmpList = succesorFunction(tmpState[1])
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tmpList = succesorFunction(tmpNode._state)
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for newState in tmpList:
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_flag = True
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_flagFringe = True
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_flagExplored = True
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if newState[1] is None:
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continue
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for fringeState in fringe:
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if fringeState[1].get_x() == newState[1].get_x() and fringeState[1].get_y() == newState[1].get_y() and fringeState[1].get_direction() == newState[1].get_direction():
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# calculating priority
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monster = 0
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if any([thing.isCreature for thing in self.model.grid.get_cell_list_contents([(newState[1].get_x(), newState[1].get_y())])]):
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if newState[0] == 0:
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monster = 10
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p = self.heuristics(newState[1], goalState) + tmpNode._cost + monster + 1
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r = 0
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counter = 0
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pos = 0
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for fringeNode in fringe:
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if fringeNode[1]._state.get_x() == newState[1].get_x() and fringeNode[1]._state.get_y() == newState[1].get_y() and fringeNode[1]._state.get_direction() == newState[1].get_direction():
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_flagFringe = False
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_flag = False
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r = fringeNode[0]
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pos = counter
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counter = counter + 1
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for exploredNode in explored:
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if exploredNode._state.get_x() == newState[1].get_x() and exploredNode._state.get_y() == newState[1].get_y() and exploredNode._state.get_direction() == newState[1].get_direction():
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_flagExplored = False
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_flag = False
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for exploredState in explored:
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if exploredState[1].get_x() == newState[1].get_x() and exploredState[1].get_y() == newState[1].get_y() and exploredState[1].get_direction() == newState[1].get_direction():
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_flag = False
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if _flag:
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newState[1].set_predecessor(tmpState)
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fringe.append(newState)
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# if _flag:
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# newState[1].set_predecessor(tmpNode)
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if _flagFringe and _flagExplored:
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newNode = Node(tmpNode, newState, tmpNode._cost + 1 + monster)
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heapq.heappush(fringe, (p, newNode))
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elif not _flagFringe and (p < r):
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newNode = Node(tmpNode, newState, tmpNode._cost + 1 + monster)
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fringe[pos][0] = p
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fringe[pos][1] = newNode
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return None
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@ -256,38 +291,7 @@ class Player(Creature):
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if self.__actionsCollection is None:
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raise Exception("CRITICAL ERROR - Algorithm error - Path doesn't exist!!! ://")
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else: #build list from dictionary by last element
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goalActionsList = []
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#keysList = list(self.__actionsCollection.keys())
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#valuesList = list(self.__actionsCollection.values())
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stateWithChest = self.__actionsCollection[-1] # fetch last item
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#stateWithChest:
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# [
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# [0] key - parent ActionState: object,
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# [1] value - node successor:
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# {
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# [0] action: string - action to get state
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# [1] AgentState: object - current state
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# }
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# ]
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goalActionsList.append(stateWithChest[1][0]) # save action
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tmpState = stateWithChest[0]
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while tmpState is not None: # iterate while key (parent state) != None
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index = 0
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for valeState in self.__actionsCollection: # find new key(parent status) index in array data
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if valeState[1][1].get_x() == tmpState.get_x() and valeState[1][1].get_y() == tmpState.get_y() and valeState[1][1].get_direction() == tmpState.get_direction():
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break
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index += 1
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goalActionsList.append(self.__actionsCollection[index][1][0]) # get action
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tmpState = self.__actionsCollection[index][0] # get state - and next we will find key equal it's value
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self.__actionsCollection = list(reversed(goalActionsList))
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else:
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self.__actionsCollection = [action for action in self.__actionsCollection if action is not None] # remove first None action
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else:
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raise Exception("WIN!!! :D")
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15
node.py
Normal file
15
node.py
Normal file
@ -0,0 +1,15 @@
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class Node:
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def __init__(self, parent, state_tuple, cost):
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self._cost = cost
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self._action = state_tuple[0]
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self._state = state_tuple[1]
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self._parent = parent
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def get_predecessor(self):
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return self._parent
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def set_predecessor(self, predecessor):
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self._parent = predecessor
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def __lt__(self, other):
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return self._cost < other._cost
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@ -18,5 +18,5 @@ server = ModularServer(GameMap,
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[grid],
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"Map",
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{"x":10, "y":10})
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server.port = 8080
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server.port = 8081
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server.launch()
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9
state.py
9
state.py
@ -1,9 +1,8 @@
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class AgentState:
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def __init__(self, x, y, direction, predecessor = None):
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def __init__(self, x, y, direction):
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self.__x = x
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self.__y = y
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self.__direction = direction
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self.__predecessor = predecessor
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def get_x(self):
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return self.__x
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@ -28,9 +27,3 @@ class AgentState:
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def set_direction(self, direction):
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self.__direction = direction
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def get_predecessor(self):
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return self.__predecessor
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def set_predecessor(self, predecessor):
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self.__predecessor = predecessor
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