BFS
This commit is contained in:
jbiesek
parent
cfeae8327b
commit
da2c86892d
54
agent.py
54
agent.py
@ -28,40 +28,50 @@ class Instance:
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def set_tank_capacity(self, fuel_units):
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self.tank_capacity = fuel_units
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def move(self):
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def move(self, action):
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key_pressed = pygame.key.get_pressed()
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height = settings.Pygame.height()
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width = settings.Pygame.width()
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tile_size = settings.Field.size()
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if key_pressed[pygame.K_UP] and self.direction == 'west' and self.rect.x > 0:
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if key_pressed[pygame.K_UP] and self.direction == 4 and self.rect.x > 0 and action is None:
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self.rect.x -= tile_size
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elif key_pressed[pygame.K_UP] and self.direction == 'east' and self.rect.x < width - tile_size:
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elif key_pressed[pygame.K_UP] and self.direction == 2 and self.rect.x < width - tile_size and action is None:
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self.rect.x += tile_size
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elif key_pressed[pygame.K_UP] and self.direction == 'north' and self.rect.y > 0:
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elif key_pressed[pygame.K_UP] and self.direction == 1 and self.rect.y > 0 and action is None:
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self.rect.y -= tile_size
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elif key_pressed[pygame.K_UP] and self.direction == 'south' and self.rect.y < height - tile_size:
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elif key_pressed[pygame.K_UP] and self.direction == 3 and self.rect.y < height - tile_size and action is None:
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self.rect.y += tile_size
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elif action == 'f' and self.direction == 4 and self.rect.x > 0:
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self.rect.x -= tile_size
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elif action == 'f' and self.direction == 2 and self.rect.x < width - tile_size:
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self.rect.x += tile_size
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elif action == 'f' and self.direction == 1 and self.rect.y > 0:
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self.rect.y -= tile_size
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elif action == 'f' and self.direction == 3 and self.rect.y < height - tile_size:
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self.rect.y += tile_size
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elif key_pressed[pygame.K_SPACE]:
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return 'open_window'
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return 'none'
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def rotate(self):
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def rotate(self, action):
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key_pressed = pygame.key.get_pressed()
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if key_pressed[pygame.K_LEFT] and self.direction == 'east':
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self.direction = 'north'
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elif key_pressed[pygame.K_LEFT] and self.direction == 'north':
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self.direction = 'west'
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elif key_pressed[pygame.K_LEFT] and self.direction == 'west':
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self.direction = 'south'
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elif key_pressed[pygame.K_LEFT] and self.direction == 'south':
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self.direction = 'east'
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elif key_pressed[pygame.K_RIGHT] and self.direction == 'north':
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self.direction = 'east'
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elif key_pressed[pygame.K_RIGHT] and self.direction == 'west':
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self.direction = 'north'
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elif key_pressed[pygame.K_RIGHT] and self.direction == 'south':
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self.direction = 'west'
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elif key_pressed[pygame.K_RIGHT] and self.direction == 'east':
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self.direction = 'south'
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if key_pressed[pygame.K_LEFT] and self.direction == 2 or action == 'l' and self.direction == 2:
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self.direction = 1
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elif key_pressed[pygame.K_LEFT] and self.direction == 1 or action == 'l' and self.direction == 1:
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self.direction = 4
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elif key_pressed[pygame.K_LEFT] and self.direction == 4 or action == 'l' and self.direction == 4:
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self.direction = 3
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elif key_pressed[pygame.K_LEFT] and self.direction == 3 or action == 'l' and self.direction == 3:
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self.direction = 2
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elif key_pressed[pygame.K_RIGHT] and self.direction == 1 or action == 'r' and self.direction == 1:
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self.direction = 2
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elif key_pressed[pygame.K_RIGHT] and self.direction == 4 or action == 'r' and self.direction == 4:
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self.direction = 1
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elif key_pressed[pygame.K_RIGHT] and self.direction == 3 or action == 'r' and self.direction == 3:
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self.direction = 4
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elif key_pressed[pygame.K_RIGHT] and self.direction == 2 or action == 'r' and self.direction == 2:
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self.direction = 3
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return 'none'
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207
graph.py
207
graph.py
@ -1,100 +1,151 @@
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import copy
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import settings
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import math
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from collections import defaultdict
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class Instance:
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def __init__(self):
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self.graph = defaultdict(list)
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self.directions_dict = defaultdict(list)
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class State:
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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 config(self, fields):
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adjacency_list = self.__generate_graph()
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nodes_to_visit = self.generate_target_fields(fields)
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shortest_path_bfs = self.generate_shortest_path_for_all_targets_bfs(nodes_to_visit)
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def get_direction(self):
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return self.direction
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print("Adjacency list: " + str(dict(adjacency_list)))
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print("List of targets: " + str(nodes_to_visit))
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print("The shortest path found by bfs algorithm: " + str(shortest_path_bfs))
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def set_direction(self, direction):
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self.direction = direction
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def generate_shortest_path_for_all_targets_bfs(self, nodes_to_visit):
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shortest_bfs_path = []
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start_node = 0
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def get_x(self):
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return self.x
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for target_node in nodes_to_visit:
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shortest_bfs_path.extend(self.__shortest_path_bfs(start_node, target_node)[1:])
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start_node = target_node
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def set_x(self, x):
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self.x = x
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return shortest_bfs_path
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def get_y(self):
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return self.y
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# private
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def __add_edge(self, u, v):
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self.graph[u].append(v)
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def set_y(self, y):
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self.y = y
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def __generate_graph(self):
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width = settings.Field.horizontal_count()
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height = settings.Field.vertical_count()
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for i in range(height):
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for j in range(width):
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point = i * width + j
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point_left = i * width + j - 1
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point_left_column = point_left - width * i
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point_right = i * width + j + 1
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point_right_column = point_right % width
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point_up = (i - 1) * width + j
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point_up_row = math.floor(point_up / width)
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point_down = (i + 1) * width + j
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point_down_row = math.floor(point_down / width)
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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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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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if point_left_column >= 0:
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self.__add_edge(point, point_left)
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if point_right_column > 0:
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self.__add_edge(point, point_right)
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if point_up_row >= 0:
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self.__add_edge(point, point_up)
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if point_down_row < height:
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self.__add_edge(point, point_down)
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def get_action(self):
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return self.action
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return self.graph
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def set_action(self, action):
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self.action = action
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def __shortest_path_bfs(self, start_node, target_node):
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path_list = [[start_node]]
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path_index = 0
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visited_nodes = {start_node}
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def get_direction(self):
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return self.direction
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if start_node == target_node:
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return path_list[0]
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def set_direction(self, direction):
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self.direction = direction
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while path_index < len(path_list):
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current_path = path_list[path_index]
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prev_node = current_path[-1]
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next_nodes = self.graph[prev_node]
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def get_parent(self):
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return self.parent
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if target_node in next_nodes:
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current_path.append(target_node)
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return current_path
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def set_parent(self, parent):
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self.parent = parent
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for next_node in next_nodes:
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if not next_node in visited_nodes:
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new_path = current_path[:]
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new_path.append(next_node)
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path_list.append(new_path)
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visited_nodes.add(next_node)
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def get_x(self):
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return self.x
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path_index += 1
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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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def goal_test(goaltest,elem):
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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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# static
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@staticmethod
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def generate_target_fields(fields):
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width = settings.Field.horizontal_count()
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height = settings.Field.vertical_count()
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fields_to_visit = []
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for i in range(height):
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for j in range(width):
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point = i * width + j
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if fields[j][i] == 'dirt':
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fields_to_visit.append(point)
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return fields_to_visit
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def graphsearch(explored, fringe, goaltest, istate, succ):
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node = Node(None, istate.get_direction(), None, istate.get_x(),
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istate.get_y())
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fringe.append(node)
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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.pop(0)
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temp = copy.copy(elem)
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if goal_test(goaltest,
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elem) is True:
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return get_moves_list(elem)
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explored.append(elem)
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for (action, state) in succ(
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temp):
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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],
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state[2])
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fringe.append(x)
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def get_moves_list(node):
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moves_list = []
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while (node.get_parent() != None):
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moves_list.append(node.get_action())
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node = node.get_parent()
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moves_list.reverse()
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return moves_list
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def succ(node):
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actions_list = []
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direction = copy.copy(node.get_direction())
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if direction == 1:
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direction = 4
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else:
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direction = direction - 1
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actions_list.append(("l", (direction, node.get_x(), node.get_y())))
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direction = copy.copy(node.get_direction())
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if direction == 4:
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direction = 1
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else:
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direction = direction + 1
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actions_list.append(("r", (direction, node.get_x(), node.get_y())))
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temp_move_south = node.get_y() + 1
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temp_move_west = node.get_x() - 1
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temp_move_east = node.get_x() + 1
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temp_move_north = node.get_y() - 1
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if is_move_allowed(node) == "x + 1":
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actions_list.append(("f", (node.get_direction(), temp_move_east, node.get_y())))
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elif is_move_allowed(node) == "y - 1":
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actions_list.append(("f", (node.get_direction(), node.get_x(), temp_move_north)))
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elif is_move_allowed(node) == "y + 1":
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actions_list.append(("f", (node.get_direction(), node.get_x(), temp_move_south)))
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elif is_move_allowed(node) == "x - 1":
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actions_list.append(("f", (node.get_direction(), temp_move_west, node.get_y())))
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return actions_list
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def is_move_allowed(node):
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if node.get_direction() == 2 and node.get_x() + 1 < settings.Pygame.width():
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return "x + 1"
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elif node.get_direction() == 1 and node.get_y() - 1 >= 0:
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return "y - 1"
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elif node.get_direction() == 3 and node.get_y() + 1 < settings.Pygame.height():
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return "y + 1"
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elif node.get_direction() == 4 and node.get_x() - 1 >= 0:
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return "x - 1"
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else:
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return False
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41
main.py
41
main.py
@ -6,8 +6,7 @@ import settings
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import common
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import agent
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import math
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import time
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possibleFields = {
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'dirt': field.Dirt(),
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@ -32,13 +31,13 @@ def randomize_map():
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for j in range(height):
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# k = random.choice(list(possibleFields.keys()))
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x = random.uniform(0, 100)
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if x < 80:
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if x < 4:
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field_array_small.append(possibleFields['dirt'].tile.object)
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field_array_small_2.append('dirt')
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elif 80 < x < 90:
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elif 4 < x < 55:
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field_array_small.append(possibleFields['sand'].tile.object)
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field_array_small_2.append('sand')
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elif 90 < x < 100:
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elif 55 < x < 100:
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field_array_small.append(possibleFields['grass'].tile.object)
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field_array_small_2.append('grass')
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field_array_big.append(field_array_small)
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@ -88,19 +87,19 @@ def draw_window(agent, fields):
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for i in range(settings.Field.horizontal_count()):
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for j in range(settings.Field.vertical_count()):
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window.blit(fields[i][j], (i * settings.Field.size(), j * settings.Field.size()))
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if agent.direction == 'east':
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if agent.direction == 2:
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AGENT_IMG = pygame.image.load('./assets/tracktor/tractor_east.png')
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AGENT = pygame.transform.scale(AGENT_IMG, (settings.Field.size(), settings.Field.size()))
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window.blit(AGENT, (rect.x, rect.y))
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elif agent.direction == 'west':
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elif agent.direction == 4:
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AGENT_IMG = pygame.image.load('./assets/tracktor/tractor_west.png')
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AGENT = pygame.transform.scale(AGENT_IMG, (settings.Field.size(), settings.Field.size()))
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window.blit(AGENT, (rect.x, rect.y))
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elif agent.direction == 'north':
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elif agent.direction == 1:
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AGENT_IMG = pygame.image.load('./assets/tracktor/tractor_north.png')
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AGENT = pygame.transform.scale(AGENT_IMG, (settings.Field.size(), settings.Field.size()))
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window.blit(AGENT, (rect.x, rect.y))
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elif agent.direction == 'south':
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elif agent.direction == 3:
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AGENT_IMG = pygame.image.load('./assets/tracktor/tractor_south.png')
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AGENT = pygame.transform.scale(AGENT_IMG, (settings.Field.size(), settings.Field.size()))
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window.blit(AGENT, (rect.x, rect.y))
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@ -108,8 +107,7 @@ def draw_window(agent, fields):
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common = common.Instance()
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agent = agent.Instance(1000, 'east')
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graph = graph.Instance()
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agent = agent.Instance(1000, 2)
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def main():
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@ -122,22 +120,31 @@ def main():
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settings.Pygame.height())))
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pygame.display.set_caption(settings.Pygame.display_name())
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fields, fields_2 = randomize_map()
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graph.config(fields_2)
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state = graph.State(2, 0, 0)
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move_list = (graph.graphsearch([], [], [10,10] , state, graph.succ))
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print(move_list)
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x = True
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while common.get('game_running'):
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pygame.time.Clock().tick(settings.Pygame.fps())
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for event in pygame.event.get():
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if event.type == pygame.QUIT:
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common.set('game_running', False)
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if common.get('state_imgShown'):
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read_img(agent, fields)
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else:
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draw_window(agent, fields)
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agent_action(agent.rotate())
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agent_action(agent.move())
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if x:
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for action in move_list:
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if action == 'l' or action == 'r':
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agent_action(agent.rotate(action))
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elif action == 'f':
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agent_action(agent.move(action))
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draw_window(agent, fields)
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time.sleep(0.5)
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x = False
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agent_action(agent.rotate(None))
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agent_action(agent.move(None))
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pygame.quit()
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