wozek-projekt/Program.py

import pygame
import random
import a_star

from pygame.locals import *
from Forklift import Forklift

HORIZONTAL = 1250
VERTICAL = 750

TILE_SIZE = 50


def handle_turn(initial_state, turn_count):
    if turn_count % 2 == 0:
        commands = a_star.a_star(state=initial_state, goal=(7, 23))
    else:
        row = random.randint(0, 1) * 10 + 2 * random.randint(0, 2)
        col = random.randint(1, 5) + 6 * random.randint(0, 3)
        commands = a_star.a_star(state=initial_state, goal=(row, col))
        print('I need to go to row: ' + str(row) + ' column: ' + str(col))
    return commands


class Program:
    def __init__(self):
        pygame.init()
        self.window = pygame.display.set_mode((HORIZONTAL, VERTICAL))
        self.caption = pygame.display.set_caption('Autonomiczny wózek widłowy')
        self.agent = Forklift(self.window)
        self.agent.drawForklift()

        running = True
        turn_count = 0

        initial_state = a_star.State(row=int(self.agent.y/50), column=int(self.agent.x/50),
                                     direction=self.agent.direction)

        while running:
            commands = handle_turn(initial_state=initial_state, turn_count=turn_count)

            while commands:
                pygame.event.poll()
                step = commands.pop(0)
                if step == 'rotate_left':
                    self.agent.rotate_forklift_left()
                elif step == 'rotate_right':
                    self.agent.rotate_forklift_right()
                elif step == 'go':
                    self.agent.forklift_move()
                pygame.time.delay(250)
                print(commands)
            turn_count += 1
            pygame.time.delay(2000)

            initial_state.row = int(self.agent.y / 50)
            initial_state.column = int(self.agent.x / 50)
            initial_state.direction = self.agent.direction