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zrobione obracanie i jedzie tylko do przodu

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Yurii 2022-04-16 00:11:24 +02:00
parent 02a833e0c3
commit 62c3409aa1
4 changed files with 166 additions and 85 deletions
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7
classes/ai.py
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@ -87,12 +87,13 @@ class AI:
def bfs(self): def bfs(self):
dists = [] dists = [] # how long way is to all mines from start([0, 0])
for mine in self.current_map.mines: for mine in self.current_map.mines:
dists.append(sqrt((self.saper.position_x-mine.position_x)**2 + (self.saper.position_y-mine.position_y)**2)) dists.append(sqrt((self.saper.position_x-mine.position_x)**2 + (self.saper.position_y-mine.position_y)**2))
ind = dists.index(min(dists)) # print(dists)
ind = dists.index(min(dists)) # choose nearest mine
goal_state = [self.current_map.mines[ind].position_x, self.current_map.mines[ind].position_y] goal_state = [self.current_map.mines[ind].position_x, self.current_map.mines[ind].position_y]
print(goal_state) print(f'We go to {goal_state}')
find_path = bfs.BFS(self.saper, self.window) find_path = bfs.BFS(self.saper, self.window)
self.the_way = find_path.graphsearch([], [], bfs.BFS.successor, goal_state) self.the_way = find_path.graphsearch([], [], bfs.BFS.successor, goal_state)

149
classes/bfs.py
View File

@ -15,19 +15,108 @@ class BFS:
def successor(self, current_position): def successor(self, current_position):
new_nodes = [] new_nodes = []
neighbours_list = self.agent.sensor(current_position[0], current_position[1]) neighbours_list = self.agent.sensor(current_position[0], current_position[1])
#print(f'Current position {current_position}')
#print(neighbours_list[0]) #print(neighbours_list[0])
#print(neighbours_list[1]) #print(neighbours_list[1])
#print(neighbours_list[2]) #print(neighbours_list[2])
if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']: # if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
new_nodes.append([current_position[0] - 1, current_position[1]]) # new_nodes.append([current_position[0] - 1, current_position[1]])
if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']: # if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
new_nodes.append([current_position[0], current_position[1] + 1]) # new_nodes.append([current_position[0], current_position[1] + 1])
if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']: # if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
new_nodes.append([current_position[0] + 1, current_position[1]]) # new_nodes.append([current_position[0] + 1, current_position[1]])
# if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
# new_nodes.append([current_position[0],current_position[1] - 1])
# if current_position[2] == 0: # jesli patrzy na polnoc
# if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
# tmp = ('forward', [current_position[0] - 1, current_position[1], 0])
# new_nodes.append(tmp)
# if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
# tmp = ('left', [current_position[0],current_position[1], 270])
# new_nodes.append(tmp)
# if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
# tmp = ('right', [current_position[0], current_position[1], 90])
# new_nodes.append(tmp)
#
# if current_position[2] == 90: # jesli patrzy na wschod
# if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
# tmp = ('forward', [current_position[0], current_position[1] + 1, 90])
# new_nodes.append(tmp)
# if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
# tmp = ('left', [current_position[0], current_position[1], 0])
# new_nodes.append(tmp)
# if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
# tmp = ('right', [current_position[0], current_position[1], 180])
# new_nodes.append(tmp)
#
# if current_position[2] == 180: # jesli patczy na poludzie
# if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
# tmp = ('forward', [current_position[0] + 1, current_position[1], 180])
# new_nodes.append(tmp)
# if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
# tmp = ('left', [current_position[0], current_position[1], 90])
# new_nodes.append(tmp)
# if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
# tmp = ('right', [current_position[0],current_position[1], 270])
# new_nodes.append(tmp)
#
# if current_position[2] == 270: # jesli patczy na wschod
# if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
# tmp = ('forward', [current_position[0],current_position[1] - 1, 270])
# new_nodes.append(tmp)
# if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
# tmp = ('left', [current_position[0], current_position[1], 180])
# new_nodes.append(tmp)
# if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
# tmp = ('right', [current_position[0], current_position[1], 0])
# new_nodes.append(tmp)
if current_position[2] == 180: # jesli patrzy na polnoc
if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']: if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
new_nodes.append([current_position[0],current_position[1] - 1]) tmp = ('forward', [current_position[0], current_position[1] - 1, 180])
new_nodes.append(tmp)
if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
tmp = ('left', [current_position[0],current_position[1], 270])
new_nodes.append(tmp)
if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
tmp = ('right', [current_position[0], current_position[1], 90])
new_nodes.append(tmp)
if current_position[2] == 90: # jesli patrzy na wschod
if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
tmp = ('forward', [current_position[0] + 1, current_position[1], 90])
new_nodes.append(tmp)
if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
tmp = ('left', [current_position[0], current_position[1], 180])
new_nodes.append(tmp)
if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
tmp = ('right', [current_position[0], current_position[1], 0])
new_nodes.append(tmp)
if current_position[2] == 0: # jesli patczy na poludzie
if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
tmp = ('forward', [current_position[0], current_position[1] + 1, 0])
new_nodes.append(tmp)
if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
tmp = ('left', [current_position[0], current_position[1], 90])
new_nodes.append(tmp)
if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
tmp = ('right', [current_position[0],current_position[1], 270])
new_nodes.append(tmp)
if current_position[2] == 270: # jesli patczy na wschod
if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
tmp = ('forward', [current_position[0] - 1,current_position[1], 270])
new_nodes.append(tmp)
if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
tmp = ('left', [current_position[0], current_position[1], 0])
new_nodes.append(tmp)
if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
tmp = ('right', [current_position[0], current_position[1], 180])
new_nodes.append(tmp)
return new_nodes return new_nodes
@ -43,11 +132,12 @@ class BFS:
self.window.pause(True) self.window.pause(True)
positiont_at_beginning = [self.agent.position_x, self.agent.position_y, self.agent.rotation_degrees] # x, y, gdzie_patczy positiont_at_beginning = [self.agent.position_x, self.agent.position_y, self.agent.rotation_degrees] # x, y, gdzie_patczy
final_action_list = [] print(f'Position {positiont_at_beginning}')
root = node.Node(None, None, positiont_at_beginning[:2]) # parent, action, position final_action_list = [] # lista co ma robic zeby dojechac do miny
root = node.Node(None, None, positiont_at_beginning) # parent, action, position
counter = 0 counter = 0
heapq.heappush(fringe, (counter, root)) heapq.heappush(fringe, (counter, root))
visited_position = [] #visited_position = []
while len(fringe) != 0: while len(fringe) != 0:
@ -56,26 +146,18 @@ class BFS:
if len(fringe) == 0: if len(fringe) == 0:
return False return False
break
tmp_node = heapq.heappop(fringe) # node tmp_node = heapq.heappop(fringe) # node
#print(f'my parent is {tmp_node[1].get_parent()}') tmp_node_position = tmp_node[1].get_position() # x, y , gdzie patczy
tmp_node_position = tmp_node[1].get_position() #print(f'Position before succ {tmp_node_position}')
#print(f'Position of our node {tmp_node_position[:2]}') #visited_position.append(tmp_node_position)
explored.append(tmp_node_position)
visited_position.append(tmp_node_position[:2])
#print(f'visited position: {visited_position}')
if tmp_node_position[:2] == goaltest: if tmp_node_position[:2] == goaltest:
#print(' we find node') print('Find')
# print(visited_position)
#print(fringe)
#break
while tmp_node[1].get_parent() is not None: while tmp_node[1].get_parent() is not None:
#print('sdfhdfg')
#print(tmp_node[1].get_parent()[1].get_position())
final_action_list.append(tmp_node[1].get_action()) final_action_list.append(tmp_node[1].get_action())
tmp_node = tmp_node[1].get_parent() tmp_node = tmp_node[1].get_parent()
final_action_list.reverse() final_action_list.reverse()
@ -83,21 +165,18 @@ class BFS:
self.window.pause(False) self.window.pause(False)
return final_action_list return final_action_list
# nie wiem na razie po co to
# chyba visited_position lepszy odpowiednik
# explored.append(tmp_node)
explored.append(tmp_node)
neighbours_list_of_our_node = self.successor(tmp_node_position[:2]) neighbours_list_of_our_node = self.successor(tmp_node_position) # lista możliwych akcij
#print(neighbours_list_of_our_node) #print(neighbours_list_of_our_node)
for node_ in neighbours_list_of_our_node: for node_ in neighbours_list_of_our_node:
# jesli pozucja wezla nie jest w fringe i nie jest w explored # jesli pozucja wezla nie jest w fringe i nie jest w visited
if [node_[0], node_[1]] not in visited_position and node_[0] >= 0 and node_[1] >=0: if [node_[1][0], node_[1][1], node_[1][2]] not in explored and node_[1][0] >= 0 and node_[1][1] >=0:
counter += 1 counter += 1
#print([node_[0], node_[1]]) x = node.Node(tmp_node, node_[0], node_[1]) # action
x = node.Node(tmp_node, None, [node_[0], node_[1]]) # action
heapq.heappush(fringe, (counter, x)) heapq.heappush(fringe, (counter, x))
self.window.draw_search([self.agent.position_x, self.agent.position_y], [node_[0], node_[1]]) self.window.draw_search([self.agent.position_x, self.agent.position_y], [node_[1][0], node_[1][1]])
#time.sleep(0.01)

29
classes/node.py
View File

@ -1,22 +1,23 @@
class Node: class Node:
def __init__(self, parent, action, state_array): def __init__(self, parent, action, state_array):
self.parent = parent self.parent = parent
self.action = action
self.position = state_array self.position = state_array
if parent: # if parent:
parent_pos = parent[1].get_position() # parent_pos = parent[1].get_position()
diff = [state_array[0] - parent_pos[0], state_array[1] - parent_pos[1]] # diff = [state_array[0] - parent_pos[0], state_array[1] - parent_pos[1]]
if diff[0]==1: # if diff[0]==1:
action="E" # action="E"
elif diff[0]==-1: # elif diff[0]==-1:
action="W" # action="W"
elif diff[1]==1: # elif diff[1]==1:
action="S" # action="S"
elif diff[1]==-1: # elif diff[1]==-1:
action="N" # action="N"
self.action=action # self.action=action
else: # else:
self.action=action # self.action=action
def get_position(self): def get_position(self):
return self.position return self.position

48
main.py
View File

@ -1,71 +1,71 @@
#pygame - biblioteka do symulacji graficznych # pygame - biblioteka do symulacji graficznych
import pygame import pygame
#system - klasy związane z pygame # system - klasy związane z pygame
#minesweeper - klasy związane z samym saperem # minesweeper - klasy związane z samym saperem
#ai - klasa wykonująca ruchy sapera # ai - klasa wykonująca ruchy sapera
from classes import system, minesweeper, ai from classes import system, minesweeper, ai
#ustalenie wielkości pojedyńczych kawałków mapy, oraz wielkości mapy # ustalenie wielkości pojedyńczych kawałków mapy, oraz wielkości mapy
TILE_SIZE = 64 TILE_SIZE = 64
TILES_X = int(12) TILES_X = int(12)
TILES_Y = int(10) TILES_Y = int(10)
#wł/wył muzyki # wł/wył muzyki
MUSIC=True MUSIC = True
#ustalenie FPS # ustalenie FPS
FPS = 60 FPS = 60
def main(): def main():
if MUSIC: if MUSIC:
pygame.mixer.init() pygame.mixer.init()
pygame.mixer.Channel(0).play(pygame.mixer.Sound("assets/music.ogg"), -1) pygame.mixer.Channel(0).play(pygame.mixer.Sound("assets/music.ogg"), -1)
#utworzenie okna do gry # utworzenie okna do gry
window = system.Window(TILE_SIZE*TILES_X, TILE_SIZE*TILES_Y, "Intelligent Minesweeper", "icon.png") window = system.Window(TILE_SIZE * TILES_X, TILE_SIZE * TILES_Y, "Intelligent Minesweeper", "icon.png")
# utworzenie objektu mapy, wygenerowanie jej i narysowanie na ekranie
#utworzenie objektu mapy, wygenerowanie jej i narysowanie na ekranie
map = minesweeper.Map(window, TILE_SIZE, TILES_X, TILES_Y) map = minesweeper.Map(window, TILE_SIZE, TILES_X, TILES_Y)
map.generate() map.generate()
map.draw_tiles() map.draw_tiles()
#utworzenie sapera # utworzenie sapera
saper = minesweeper.Minesweeper(0,0, TILE_SIZE) saper = minesweeper.Minesweeper(0, 0, TILE_SIZE)
#pierwszy render # pierwszy render
map.draw_tiles() map.draw_tiles()
map.draw_objects() map.draw_objects()
saper.draw(window.window, 0.1) saper.draw(window.window, 0.1)
pygame.display.update() pygame.display.update()
#utworzenie objektu klasy AI # utworzenie objektu klasy AI
AI = ai.AI(window, map, saper) AI = ai.AI(window, map, saper)
#wykonanie funkcji ready() AI # wykonanie funkcji ready() AI
AI.ready() AI.ready()
#główna pętla # główna pętla
game_loop = True game_loop = True
clock = pygame.time.Clock() clock = pygame.time.Clock()
while game_loop: while game_loop:
#wdrożenie FPS, delta - czas od ostatniej klatki # wdrożenie FPS, delta - czas od ostatniej klatki
delta = clock.tick(FPS) delta = clock.tick(FPS)
#wykonanie funkcji update() AI # wykonanie funkcji update() AI
AI.updateFPS() AI.updateFPS()
if saper.offset_x==0 and saper.offset_y==0: if saper.offset_x == 0 and saper.offset_y == 0:
AI.updateTile() AI.updateTile()
#narysowanie terenu i obiektów # narysowanie terenu i obiektów
map.draw_tiles() map.draw_tiles()
map.draw_objects() map.draw_objects()
saper.draw(window.window, delta) saper.draw(window.window, delta)
#odświeżenie ekranu # odświeżenie ekranu
pygame.display.update() pygame.display.update()
#sprawdzanie różnych interakcji użytkownika # sprawdzanie różnych interakcji użytkownika
for event in pygame.event.get(): for event in pygame.event.get():
if event.type == pygame.QUIT: if event.type == pygame.QUIT:
game_loop = False game_loop = False