Merge pull request '[a_star_search_with_heap] added a_star_search and heap data structure, moved bfs algorithm to folder' (#19) from a_star_search_with_heap into master

Reviewed-on: #19

data_structures/heap.py

@@ -0,0 +1,82 @@
+class HeapElement:
+    def __init__(self, value, index, compare_value):
+        self.value = value
+        self.index = index 
+        self.compare_value = compare_value
+
+class Heap:
+    def __init__(self):
+        self.array: list[HeapElement] = []
+
+    def length(self) -> int:
+        return len(self.array)
+
+    def contains(self, value) -> bool:
+        for item in self.array:
+            if(item.value == value):
+                return True
+        return False
+
+    def append(self, item, compare_value):
+        new_element = HeapElement(item, len(self.array), compare_value)
+        self.array.append(new_element)
+        self.sort_up(new_element)
+
+    def take_first(self):
+        first_item = self.array[0]
+        new_first_item = self.array.pop()
+        if(len(self.array) > 0):
+            new_first_item.index = 0
+            self.array[0] = new_first_item
+            self.sort_down(new_first_item)
+        return first_item.value
+
+    def sort_up(self, item: HeapElement):
+        parent_index = (item.index - 1)//2
+        if(parent_index < 0):
+            return
+
+        parent_item = self.array[parent_index]
+
+        if(item.compare_value < parent_item.compare_value):
+            self.swap_items(item, parent_item)
+            item.index = parent_index
+            self.sort_up(item)
+
+    def sort_down(self, item: HeapElement):
+        child_left_index = item.index * 2 + 1
+        child_right_index = item.index * 2 + 2
+
+        if (child_left_index < len(self.array)):
+            swap_index = child_left_index
+
+            if(child_right_index < len(self.array)):
+                child_left_item = self.array[child_left_index]
+                child_right_item = self.array[child_right_index]
+                if(child_left_item.compare_value > child_right_item.compare_value):
+                    swap_index = child_right_index
+
+            self.swap_items(item, self.array[swap_index])
+            item.index = swap_index
+            self.sort_down(item)
+          
+    def swap_items(self, item_a: HeapElement, item_b: HeapElement):
+            item_a.index, item_b.index = item_b.index, item_a.index
+            self.array[item_a.index] = item_a
+            self.array[item_b.index] = item_b
+
+# some test code
+
+# heap = Heap()
+# heap.append(5, 5)
+# heap.append(2, 2)
+# heap.append(3, 3)
+# heap.append(4, 4)
+# heap.append(6, 6)
+# heap.append(1, 1)
+# print(heap.take_first())
+# print("heap:")
+# for item in heap.array:
+#     print(item.value)
+
+

main.py

@@ -3,15 +3,14 @@ from game_objects.player import Player
 import pygame as pg
 import sys
 from os import path
+import math
 
 from map import *
-# from agent import trashmaster
-# from house import House
 from settings import *
 from map import map
 from map import map_utils
-from SearchBfs import *
-import math
+from path_search_algorthms import bfs
+from path_search_algorthms import a_star
 
 
 class Game():
@@ -23,7 +22,8 @@ class Game():
         pg.display.set_caption("Trashmaster")
         self.load_data()
         self.init_game()
-        self.init_bfs()
+        # self.init_bfs()
+        self.init_a_star()
 
     def init_game(self):
         # initialize all variables and do all the setup for a new game
@@ -39,12 +39,12 @@ class Game():
         self.camera = map_utils.Camera(MAP_WIDTH_PX, MAP_HEIGHT_PX)
 
         # other
-        self.draw_debug = False
+        self.debug_mode = False
 
     def init_bfs(self):
         start_node = (0, 0)
         target_node = (18, 18)
-        find_path = BreadthSearchAlgorithm(start_node, target_node, self.mapArray)
+        find_path = bfs.BreadthSearchAlgorithm(start_node, target_node, self.mapArray)
         path = find_path.bfs()
         # print(path)
         realPath = []
@@ -56,6 +56,15 @@ 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 load_data(self):
         game_folder = path.dirname(__file__)
         img_folder = path.join(game_folder, 'resources/textures')
@@ -88,12 +97,12 @@ class Game():
 
         #rerender map
         map.render_tiles(self.roadTiles, self.screen, self.camera)
-        map.render_tiles(self.wallTiles, self.screen, self.camera, self.draw_debug)
+        map.render_tiles(self.wallTiles, self.screen, self.camera, self.debug_mode)
 
         #rerender additional sprites
         for sprite in self.agentSprites:
             self.screen.blit(sprite.image, self.camera.apply(sprite))
-            if self.draw_debug:
+            if self.debug_mode:
                 pg.draw.rect(self.screen, CYAN, self.camera.apply_rect(sprite.hit_rect), 1)
         
         #finally update screen
@@ -107,7 +116,7 @@ class Game():
                 if event.key == pg.K_ESCAPE:
                     self.quit()
                 if event.key == pg.K_h:
-                    self.draw_debug = not self.draw_debug
+                    self.debug_mode = not self.debug_mode
             if event.type == pg.MOUSEBUTTONUP:
                 pos = pg.mouse.get_pos()
                 clicked_coords = [math.floor(pos[0] / TILESIZE), math.floor(pos[1] / TILESIZE)]

map/map.py

@@ -4,7 +4,18 @@ import pygame as pg
 from settings import *
 
 def get_tiles():
-    array = map_utils.generate_map()
+    # array = map_utils.generate_map()
+    array = map_utils.get_blank_map_array()
+
+    array[1][1] = 1
+    array[1][2] = 1
+    array[1][3] = 1
+    array[1][4] = 1
+    array[1][5] = 1
+    array[1][6] = 1
+
+    array[2][5] = 1
+
     pattern = map_pattern.get_pattern()
     tiles = map_utils.get_sprites(array, pattern)
     return tiles, array

path_search_algorthms/a_star.py

@@ -0,0 +1,112 @@
+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, target_x: int, target_y: int, array: list[list[int]]) -> list[str]:
+
+    start_node = utils.Node(start_x, start_y, utils.Rotation.RIGHT)
+    target_node = utils.Node(target_x, target_y, utils.Rotation.NONE)
+
+    # heap version
+
+    # nodes for check
+    search_list = Heap()
+    search_list.append(start_node, 0)
+
+    # checked nodes
+    searched_list: list[(int, int)] = []
+
+    while (search_list.length() > 0):
+        node: utils.Node = search_list.take_first()
+
+        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 not search_list.contains(neighbour)):
+
+                # 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(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) -> list[str]:
+    path = []
+    node = end_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
+        node = node.parent
+
+    # delete move on initial tile
+    path.pop()
+
+    # we found path from end, so we need to reverse it (get_move reverse move words)
+    path.reverse()
+
+    # last forward to destination
+    path.append("forward")
+
+    return path
+
+
+
+        

path_search_algorthms/a_star_utils.py

@@ -0,0 +1,102 @@
+from enum import Enum
+
+from settings import *
+
+ROAD_TILE = 0
+
+class Rotation(Enum):
+    UP = 0
+    RIGHT = 1
+    DOWN = 2
+    LEFT = 3
+    NONE = 100
+
+    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
+    
+    def f_cost(self):
+        return self.g_cost + self.h_cost
+
+def get_neighbours(node: Node, searched_list: list[Node], array: list[list[int]]) -> list[Node]:
+    neighbours = []
+    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):
+                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(array[y][x] == ROAD_TILE 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
+def get_h_cost(start_node: Node, target_node: Node) -> int:
+    distance_x = abs(start_node.x - target_node.x)
+    distance_y = abs(start_node.y - target_node.y)
+    cost = (distance_x + distance_y) * 10
+
+    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
+def get_neighbour_cost(start_node: Node, target_node: Node) -> int:
+    new_rotation = get_needed_rotation(start_node, target_node)
+    rotate_change = abs(get_rotate_change(start_node.rotation, new_rotation))
+    if (rotate_change == 0):
+        return 10
+    elif (rotate_change == 1 or rotate_change == 3):
+        return 20
+    else:
+        return 30
+
+# translate rotation change to move
+def get_move(start_node: Node, target_node: Node) -> list[str]:
+    rotate_change = get_rotate_change(start_node.rotation, target_node.rotation)
+    if (rotate_change == 0):
+        return ["forward"]
+    if (abs(rotate_change) == 2):
+        return ["right", "right", "forward"]
+    if (rotate_change < 0 or rotate_change == 3):
+        return ["right", "forward"]
+    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):
+        return Rotation.LEFT
+    if (start_node.x - target_node.x < 0):
+        return Rotation.RIGHT
+    if (start_node.y - target_node.y > 0):
+        return Rotation.UP
+    if (start_node.y - target_node.y < 0):
+        return Rotation.DOWN 
+    
+
+
+
+
+