diff --git a/NeuralNetwork/prediction.py b/NeuralNetwork/prediction.py index 94c2c6b..5f810cb 100644 --- a/NeuralNetwork/prediction.py +++ b/NeuralNetwork/prediction.py @@ -12,7 +12,7 @@ def getPrediction(img_path, network_name): img = Image.open(img_path) transform_tensor = transforms.ToTensor()(img).unsqueeze_(0) classes = ['glass', 'metal', 'paper', 'plastic'] - neural_net.load_state_dict(torch.load(PATH + network_name)) + neural_net.load_state_dict(torch.load(PATH + network_name, map_location='cpu')) neural_net.eval() outputs = neural_net(transform_tensor) diff --git a/data_structures/__init__.py b/data_structures/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/decision_tree/tree_as_txt.txt b/decision_tree/tree_as_txt.txt index aaa701a..2383fa8 100644 --- a/decision_tree/tree_as_txt.txt +++ b/decision_tree/tree_as_txt.txt @@ -4,40 +4,18 @@ | | | |--- class: 0 | | |--- feature_0 > 1.50 | | | |--- feature_3 <= 3.50 -| | | | |--- feature_2 <= 2.50 +| | | | |--- feature_4 <= 2.50 | | | | | |--- class: 1 -| | | | |--- feature_2 > 2.50 -| | | | | |--- feature_4 <= 2.50 +| | | | |--- feature_4 > 2.50 +| | | | | |--- feature_2 <= 2.50 | | | | | | |--- class: 1 -| | | | | |--- feature_4 > 2.50 +| | | | | |--- feature_2 > 2.50 | | | | | | |--- class: 0 | | | |--- feature_3 > 3.50 | | | | |--- feature_3 <= 4.50 | | | | | |--- feature_1 <= 2.50 | | | | | | |--- feature_0 <= 2.50 | | | | | | | |--- feature_1 <= 1.50 -| | | | | | | | |--- feature_2 <= 2.50 -| | | | | | | | | |--- class: 1 -| | | | | | | | |--- feature_2 > 2.50 -| | | | | | | | | |--- feature_4 <= 2.00 -| | | | | | | | | | |--- class: 1 -| | | | | | | | | |--- feature_4 > 2.00 -| | | | | | | | | | |--- class: 0 -| | | | | | | |--- feature_1 > 1.50 -| | | | | | | | |--- class: 0 -| | | | | | |--- feature_0 > 2.50 -| | | | | | | |--- feature_4 <= 2.50 -| | | | | | | | |--- class: 1 -| | | | | | | |--- feature_4 > 2.50 -| | | | | | | | |--- feature_2 <= 2.50 -| | | | | | | | | |--- class: 1 -| | | | | | | | |--- feature_2 > 2.50 -| | | | | | | | | |--- class: 0 -| | | | | |--- feature_1 > 2.50 -| | | | | | |--- feature_0 <= 3.50 -| | | | | | | |--- class: 0 -| | | | | | |--- feature_0 > 3.50 -| | | | | | | |--- feature_1 <= 3.50 | | | | | | | | |--- feature_4 <= 2.50 | | | | | | | | | |--- class: 1 | | | | | | | | |--- feature_4 > 2.50 @@ -45,8 +23,30 @@ | | | | | | | | | | |--- class: 1 | | | | | | | | | |--- feature_2 > 2.00 | | | | | | | | | | |--- class: 0 -| | | | | | | |--- feature_1 > 3.50 +| | | | | | | |--- feature_1 > 1.50 | | | | | | | | |--- class: 0 +| | | | | | |--- feature_0 > 2.50 +| | | | | | | |--- feature_2 <= 2.50 +| | | | | | | | |--- class: 1 +| | | | | | | |--- feature_2 > 2.50 +| | | | | | | | |--- feature_4 <= 2.50 +| | | | | | | | | |--- class: 1 +| | | | | | | | |--- feature_4 > 2.50 +| | | | | | | | | |--- class: 0 +| | | | | |--- feature_1 > 2.50 +| | | | | | |--- feature_1 <= 3.50 +| | | | | | | |--- feature_0 <= 3.50 +| | | | | | | | |--- class: 0 +| | | | | | | |--- feature_0 > 3.50 +| | | | | | | | |--- feature_4 <= 2.50 +| | | | | | | | | |--- class: 1 +| | | | | | | | |--- feature_4 > 2.50 +| | | | | | | | | |--- feature_2 <= 2.00 +| | | | | | | | | | |--- class: 1 +| | | | | | | | | |--- feature_2 > 2.00 +| | | | | | | | | | |--- class: 0 +| | | | | | |--- feature_1 > 3.50 +| | | | | | | |--- class: 0 | | | | |--- feature_3 > 4.50 | | | | | |--- class: 0 | |--- feature_4 > 3.50 @@ -73,8 +73,8 @@ | | |--- feature_2 > 1.50 | | | |--- class: 0 |--- feature_2 > 3.50 -| |--- feature_4 <= 1.50 -| | |--- feature_1 <= 1.50 +| |--- feature_1 <= 1.50 +| | |--- feature_4 <= 1.50 | | | |--- feature_2 <= 4.50 | | | | |--- feature_0 <= 1.50 | | | | | |--- class: 0 @@ -85,7 +85,7 @@ | | | | | | |--- class: 0 | | | |--- feature_2 > 4.50 | | | | |--- class: 0 -| | |--- feature_1 > 1.50 +| | |--- feature_4 > 1.50 | | | |--- class: 0 -| |--- feature_4 > 1.50 +| |--- feature_1 > 1.50 | | |--- class: 0 diff --git a/decision_tree/tree_model b/decision_tree/tree_model index bf4e0f6..66b76f8 100644 Binary files a/decision_tree/tree_model and b/decision_tree/tree_model differ diff --git a/last_map.nparr b/last_map.nparr new file mode 100644 index 0000000..2557fa5 Binary files /dev/null and b/last_map.nparr differ diff --git a/main.py b/main.py index dfc4b66..bcc7080 100644 --- a/main.py +++ b/main.py @@ -1,25 +1,24 @@ -from asyncio import sleep -from calendar import c -from random import randint -import time import os -from game_objects.player import Player -import pygame as pg import sys -from os import path +from random import randint import math -from map import * -from settings import * -from map import map -from map import map_utils -from path_search_algorthms import bfs -from path_search_algorthms import a_star, a_star_utils -from decision_tree import decisionTree -from NeuralNetwork import prediction + +import pygame as pg +import numpy + +from game_objects.player import Player +from game_objects.aiPlayer import aiPlayer from game_objects.trash import Trash -from game_objects import aiPlayer -import itertools +from map import map +from map import map_utils + +from path_search_algorthms import bfs +from path_search_algorthms import a_star_controller +from decision_tree import decisionTree +from NeuralNetwork import prediction + +from settings import * def getTree(): @@ -51,17 +50,7 @@ class Game(): # because dont work without data.txt # self.init_bfs() # self.init_a_star() - self.t = aiPlayer.aiPlayer(self.player, game=self) - - - def get_actions_by_coords(self,x,y): - pos = (x,y) - offset_x, offset_y = self.camera.offset() - clicked_coords = [math.floor(pos[0] / TILESIZE) - offset_x, math.floor(pos[1] / TILESIZE) - offset_y] - actions = a_star.search_path(math.floor(self.player.pos[0] / TILESIZE), - math.floor(self.player.pos[1] / TILESIZE), self.player.rotation(), - clicked_coords[0], clicked_coords[1], self.mapArray) - return actions + self.t = aiPlayer(self.player, game=self) def init_game(self): # initialize all variables and do all the setup for a new game @@ -70,6 +59,12 @@ class Game(): # sprite groups and map array for calculations (self.roadTiles, self.wallTiles, self.trashbinTiles), self.mapArray = map.get_tiles() + + # save current map + file = open('last_map.nparr', 'wb') + numpy.save(file, self.mapArray, allow_pickle=True) + file.close + self.trashDisplay = pg.sprite.Group() self.agentSprites = pg.sprite.Group() # player obj @@ -80,7 +75,6 @@ class Game(): # other self.debug_mode = False - def init_bfs(self): start_node = (0, 0) target_node = (18, 18) @@ -96,17 +90,8 @@ class Game(): nextNode = node[1] print(realPath) - def init_a_star(self): - # szukanie sciezki na sztywno i wyprintowanie wyniku (tablica stringow) - start_x = 0 - start_y = 0 - target_x = 6 - target_y = 2 - path = a_star.search_path(start_x, start_y, target_x, target_y, self.mapArray) - print(path) - def init_decision_tree(self): - # logika pracy z drzewem + # logika pracy z drzewem self.positive_decision = [] self.negative_decision = [] @@ -118,7 +103,7 @@ class Game(): self.positive_decision.append(i) else: self.negative_decision.append(i) - + # print('positive actions') # for i in self.positive_actions: # print('----') @@ -129,8 +114,10 @@ class Game(): print(len(self.positive_decision)) for i in self.positive_decision: # print(i.get_coords()) + print('action') trash_x, trash_y = i.get_coords() - action = self.get_actions_by_coords(trash_x, trash_y) + action = a_star_controller.get_actions_for_target_coords(trash_x, trash_y, self) + print(action) self.t.startAiController(action) print('') @@ -140,32 +127,31 @@ class Game(): for i in range(0, 10): random = randint(0, 48) file = files[random] - result = prediction.getPrediction(dir + '/' +file, 'trained_nn_20.pth') - img = pg.image.load(dir + '/' +file).convert_alpha() + result = prediction.getPrediction(dir + '/' + file, 'trained_nn_20.pth') + img = pg.image.load(dir + '/' + file).convert_alpha() img = pg.transform.scale(img, (128, 128)) trash = Trash(img, 0, 0, 128, 128) self.trashDisplay.add(trash) self.text_display = result self.draw() - print(result + ' ' + file) - pg.time.wait(1000) + # print(result + ' ' + file) + pg.time.wait(100) self.text_display = '' self.draw() # print(self.positive_actions[0]) # self.t.startAiController(self.positive_actions[0]) - def load_data(self): - game_folder = path.dirname(__file__) - img_folder = path.join(game_folder, 'resources/textures') + game_folder = os.path.dirname(__file__) + img_folder = os.path.join(game_folder, 'resources/textures') - self.player_img = pg.image.load(path.join(img_folder, PLAYER_IMG)).convert_alpha() + self.player_img = pg.image.load(os.path.join(img_folder, PLAYER_IMG)).convert_alpha() self.player_img = pg.transform.scale(self.player_img, (PLAYER_WIDTH, PLAYER_HEIGHT)) def run(self): - # game loop - set self.playing = False to end the game + # game loop - set self.playing = False to end the game self.playing = True self.init_decision_tree() while self.playing: @@ -195,8 +181,8 @@ class Game(): map.render_tiles(self.trashDisplay, self.screen, self.camera) # draw text - text_surface = pg.font.SysFont('Comic Sans MS', 30).render(self.text_display, False, (0,0,0)) - self.screen.blit(text_surface, (0,128)) + text_surface = pg.font.SysFont('Comic Sans MS', 30).render(self.text_display, False, (0, 0, 0)) + self.screen.blit(text_surface, (0, 128)) # rerender additional sprites for sprite in self.agentSprites: @@ -221,20 +207,16 @@ class Game(): pos = pg.mouse.get_pos() offset_x, offset_y = self.camera.offset() clicked_coords = [math.floor(pos[0] / TILESIZE) - offset_x, math.floor(pos[1] / TILESIZE) - offset_y] - actions = a_star.search_path(math.floor(self.player.pos[0] / TILESIZE), - math.floor(self.player.pos[1] / TILESIZE), self.player.rotation(), - clicked_coords[0], clicked_coords[1], self.mapArray) - # print(actions) - + actions = a_star_controller.get_actions_by_coords(clicked_coords[0], clicked_coords[1], self) + if (actions != None): self.t.startAiController(actions) - # create the game object if __name__ == "__main__": g = Game() - + g.run() g.show_go_screen() \ No newline at end of file diff --git a/main_test.py b/main_test.py new file mode 100644 index 0000000..101b11a --- /dev/null +++ b/main_test.py @@ -0,0 +1,10 @@ +from map import map_utils +from path_search_algorthms import a_star, a_star_utils +import numpy + +file = open('last_map.nparr', 'rb') +array = numpy.load(file) +file.close + +actions = a_star.search_path(12, 0, a_star_utils.Rotation.UP, 1, 5, array) +print(actions) \ No newline at end of file diff --git a/path_search_algorthms/a_star.py b/path_search_algorthms/a_star.py index c3c1efe..bfccb9f 100644 --- a/path_search_algorthms/a_star.py +++ b/path_search_algorthms/a_star.py @@ -1,8 +1,13 @@ from data_structures.heap import Heap from path_search_algorthms import a_star_utils as utils -def search_path(start_x: int, start_y: int, agent_rotation: utils.Rotation, target_x: int, target_y: int, array): +def get_cost(start_x: int, start_y: int, target_x: int, target_y: int, array): + actions = search_path(start_x, start_y, utils.Rotation.NONE, target_x, target_y, array) + return len(actions) + + +def search_path(start_x: int, start_y: int, agent_rotation: utils.Rotation, target_x: int, target_y: int, array): start_node = utils.Node(start_x, start_y, agent_rotation) target_node = utils.Node(target_x, target_y, utils.Rotation.NONE) @@ -38,51 +43,10 @@ def search_path(start_x: int, start_y: int, agent_rotation: utils.Rotation, targ neighbour.h_cost = utils.get_h_cost(neighbour, target_node) neighbour.parent = node - # add to search - if(not search_list.contains(neighbour)): + # add to search + if (not search_list.contains(neighbour)): search_list.append(neighbour, neighbour.f_cost()) - # array version - - # nodes for check - # search_list = [start_node] - - # checked nodes - # searched_list: list[(int, int)] = [] - - # while (len(search_list) > 0): - # node = search_list[0] - - # # find cheapest node in search_list - # for i in range(1, len(search_list)): - # if (search_list[i].f_cost() <= node.f_cost()): - # if(search_list[i].h_cost < node.h_cost): - # node = search_list[i] - - # search_list.remove(node) - # searched_list.append((node.x, node.y)) - - # # check for target node - # if ((node.x, node.y) == (target_x, target_y)): - # return trace_path(node) - - # # neightbours processing - # neighbours = utils.get_neighbours(node, searched_list, array) - # for neighbour in neighbours: - - # # calculate new g cost for neightbour (start -> node -> neightbour) - # new_neighbour_cost = node.g_cost + utils.get_neighbour_cost(node, neighbour) - - # if (new_neighbour_cost < neighbour.g_cost or neighbour not in search_list): - - # # replace cost and set parent node - # neighbour.g_cost = new_neighbour_cost - # neighbour.h_cost = utils.get_h_cost(neighbour, target_node) - # neighbour.parent = node - - # # add to search - # if(neighbour not in search_list): - # search_list.append(neighbour) def trace_path(end_node: utils.Node): path = [] @@ -91,9 +55,11 @@ def trace_path(end_node: utils.Node): # set final rotation of end_node because we don't do it before node.rotation = utils.get_needed_rotation(node.parent, node) - while (node.parent != 0): - move = utils.get_move(node.parent, node) - path += move + while (node.parent != False): + if (node.parent == utils.Rotation.NONE): + path += "forward" + else: + path += utils.get_move(node.parent, node) node = node.parent # delete move on initial tile @@ -107,6 +73,3 @@ def trace_path(end_node: utils.Node): return path - - - \ No newline at end of file diff --git a/path_search_algorthms/a_star_controller.py b/path_search_algorthms/a_star_controller.py new file mode 100644 index 0000000..ee1294f --- /dev/null +++ b/path_search_algorthms/a_star_controller.py @@ -0,0 +1,26 @@ +import math +from path_search_algorthms import a_star +from settings import * + +def get_actions_by_coords(x, y, game): + # print('get_actions_by_coords') + # print(x, y, x/TILESIZE, y/TILESIZE) + offset_x, offset_y = game.camera.offset() + # print('offset ' + str(self.camera.offset())) + clicked_coords = [math.floor(x / TILESIZE) - offset_x, math.floor(y / TILESIZE) - offset_y] + # print(self.player.pos[0], self.player.pos[1], clicked_coords) + actions = a_star.search_path(math.floor(game.player.pos[0] / TILESIZE), + math.floor(game.player.pos[1] / TILESIZE), game.player.rotation(), + clicked_coords[0], clicked_coords[1], game.mapArray) + return actions + +def get_actions_for_target_coords(x, y, game): + actions = a_star.search_path( + math.floor(game.player.pos[0] / TILESIZE), + math.floor(game.player.pos[1] / TILESIZE), + game.player.rotation(), + x / TILESIZE, + y / TILESIZE, + game.mapArray + ) + return actions \ No newline at end of file diff --git a/path_search_algorthms/a_star_utils.py b/path_search_algorthms/a_star_utils.py index ee24f61..628676c 100644 --- a/path_search_algorthms/a_star_utils.py +++ b/path_search_algorthms/a_star_utils.py @@ -3,6 +3,7 @@ from enum import Enum from map import map_utils from settings import * + class Rotation(Enum): UP = 0 RIGHT = 1 @@ -13,34 +14,37 @@ class Rotation(Enum): def __int__(self): return self.value + class Node: def __init__(self, x: int, y: int, rotation: Rotation): self.x = x self.y = y self.g_cost = 0 self.h_cost = 0 - self.parent = 0 - self.rotation = rotation - + self.parent: Node | bool = False + self.rotation: Rotation = rotation + def f_cost(self): return self.g_cost + self.h_cost + def get_neighbours(node, searched_list, array): neighbours = [] - for offset_x in range (-1, 2): - for offset_y in range (-1, 2): + for offset_x in range(-1, 2): + for offset_y in range(-1, 2): # don't look for cross neighbours - if(abs(offset_x) + abs(offset_y) == 1): + if (abs(offset_x) + abs(offset_y) == 1): x = node.x + offset_x y = node.y + offset_y # prevent out of map coords if (x >= 0 and x < MAP_WIDTH and y >= 0 and y < MAP_HEIGHT): - if(map_utils.isRoadTile(array[y][x]) and (x, y) not in searched_list): + if (map_utils.isRoadTile(array[y][x]) and (x, y) not in searched_list): neighbour = Node(x, y, Rotation.NONE) neighbour.rotation = get_needed_rotation(node, neighbour) neighbours.append(neighbour) return neighbours + # move cost schema: # - move from tile to tile: 10 # - add extra 10 (1 rotation) if it exists @@ -49,11 +53,12 @@ def get_h_cost(start_node: Node, target_node: Node): distance_y = abs(start_node.y - target_node.y) cost = (distance_x + distance_y) * 10 - if(distance_x > 0 and distance_y > 0): + if (distance_x > 0 and distance_y > 0): cost += 10 - + return cost + # move cost schema: # - move from tile to tile: 10 # - every rotation 90*: 10 @@ -67,6 +72,7 @@ def get_neighbour_cost(start_node: Node, target_node: Node) -> int: else: return 30 + # translate rotation change to move def get_move(start_node: Node, target_node: Node): rotate_change = get_rotate_change(start_node.rotation, target_node.rotation) @@ -79,10 +85,12 @@ def get_move(start_node: Node, target_node: Node): else: return ["left", "forward"] + # simple calc func def get_rotate_change(rotationA: Rotation, rotationB: Rotation) -> int: return int(rotationA) - int(rotationB) + # get new rotation for target_node as neighbour of start_node def get_needed_rotation(start_node: Node, target_node: Node) -> Rotation: if (start_node.x - target_node.x > 0): @@ -92,10 +100,9 @@ def get_needed_rotation(start_node: Node, target_node: Node) -> Rotation: if (start_node.y - target_node.y > 0): return Rotation.UP if (start_node.y - target_node.y < 0): - return Rotation.DOWN - + return Rotation.DOWN + - \ No newline at end of file