zrobione obracanie i jedzie tylko do przodu
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@ -87,12 +87,13 @@ class AI:
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def bfs(self):
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dists = []
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dists = [] # how long way is to all mines from start([0, 0])
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for mine in self.current_map.mines:
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dists.append(sqrt((self.saper.position_x-mine.position_x)**2 + (self.saper.position_y-mine.position_y)**2))
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ind = dists.index(min(dists))
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# print(dists)
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ind = dists.index(min(dists)) # choose nearest mine
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goal_state = [self.current_map.mines[ind].position_x, self.current_map.mines[ind].position_y]
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print(goal_state)
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print(f'We go to {goal_state}')
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find_path = bfs.BFS(self.saper, self.window)
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self.the_way = find_path.graphsearch([], [], bfs.BFS.successor, goal_state)
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149
classes/bfs.py
149
classes/bfs.py
@ -15,19 +15,108 @@ class BFS:
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def successor(self, current_position):
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new_nodes = []
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neighbours_list = self.agent.sensor(current_position[0], current_position[1])
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#print(f'Current position {current_position}')
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#print(neighbours_list[0])
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#print(neighbours_list[1])
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#print(neighbours_list[2])
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if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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new_nodes.append([current_position[0] - 1, current_position[1]])
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if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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new_nodes.append([current_position[0], current_position[1] + 1])
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if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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new_nodes.append([current_position[0] + 1, current_position[1]])
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# if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# new_nodes.append([current_position[0] - 1, current_position[1]])
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# if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# new_nodes.append([current_position[0], current_position[1] + 1])
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# if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# new_nodes.append([current_position[0] + 1, current_position[1]])
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# if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# new_nodes.append([current_position[0],current_position[1] - 1])
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# if current_position[2] == 0: # jesli patrzy na polnoc
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# if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# tmp = ('forward', [current_position[0] - 1, current_position[1], 0])
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# new_nodes.append(tmp)
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# if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# tmp = ('left', [current_position[0],current_position[1], 270])
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# new_nodes.append(tmp)
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# if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# tmp = ('right', [current_position[0], current_position[1], 90])
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# new_nodes.append(tmp)
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#
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# if current_position[2] == 90: # jesli patrzy na wschod
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# if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# tmp = ('forward', [current_position[0], current_position[1] + 1, 90])
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# new_nodes.append(tmp)
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# if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# tmp = ('left', [current_position[0], current_position[1], 0])
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# new_nodes.append(tmp)
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# if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# tmp = ('right', [current_position[0], current_position[1], 180])
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# new_nodes.append(tmp)
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#
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# if current_position[2] == 180: # jesli patczy na poludzie
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# if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# tmp = ('forward', [current_position[0] + 1, current_position[1], 180])
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# new_nodes.append(tmp)
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# if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# tmp = ('left', [current_position[0], current_position[1], 90])
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# new_nodes.append(tmp)
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# if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# tmp = ('right', [current_position[0],current_position[1], 270])
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# new_nodes.append(tmp)
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#
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# if current_position[2] == 270: # jesli patczy na wschod
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# if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# tmp = ('forward', [current_position[0],current_position[1] - 1, 270])
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# new_nodes.append(tmp)
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# if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# tmp = ('left', [current_position[0], current_position[1], 180])
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# new_nodes.append(tmp)
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# if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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# tmp = ('right', [current_position[0], current_position[1], 0])
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# new_nodes.append(tmp)
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if current_position[2] == 180: # jesli patrzy na polnoc
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if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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new_nodes.append([current_position[0],current_position[1] - 1])
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tmp = ('forward', [current_position[0], current_position[1] - 1, 180])
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new_nodes.append(tmp)
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if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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tmp = ('left', [current_position[0],current_position[1], 270])
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new_nodes.append(tmp)
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if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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tmp = ('right', [current_position[0], current_position[1], 90])
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new_nodes.append(tmp)
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if current_position[2] == 90: # jesli patrzy na wschod
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if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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tmp = ('forward', [current_position[0] + 1, current_position[1], 90])
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new_nodes.append(tmp)
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if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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tmp = ('left', [current_position[0], current_position[1], 180])
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new_nodes.append(tmp)
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if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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tmp = ('right', [current_position[0], current_position[1], 0])
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new_nodes.append(tmp)
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if current_position[2] == 0: # jesli patczy na poludzie
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if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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tmp = ('forward', [current_position[0], current_position[1] + 1, 0])
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new_nodes.append(tmp)
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if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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tmp = ('left', [current_position[0], current_position[1], 90])
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new_nodes.append(tmp)
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if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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tmp = ('right', [current_position[0],current_position[1], 270])
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new_nodes.append(tmp)
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if current_position[2] == 270: # jesli patczy na wschod
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if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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tmp = ('forward', [current_position[0] - 1,current_position[1], 270])
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new_nodes.append(tmp)
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if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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tmp = ('left', [current_position[0], current_position[1], 0])
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new_nodes.append(tmp)
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if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
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tmp = ('right', [current_position[0], current_position[1], 180])
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new_nodes.append(tmp)
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return new_nodes
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@ -43,11 +132,12 @@ class BFS:
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self.window.pause(True)
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positiont_at_beginning = [self.agent.position_x, self.agent.position_y, self.agent.rotation_degrees] # x, y, gdzie_patczy
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final_action_list = []
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root = node.Node(None, None, positiont_at_beginning[:2]) # parent, action, position
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print(f'Position {positiont_at_beginning}')
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final_action_list = [] # lista co ma robic zeby dojechac do miny
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root = node.Node(None, None, positiont_at_beginning) # parent, action, position
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counter = 0
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heapq.heappush(fringe, (counter, root))
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visited_position = []
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#visited_position = []
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while len(fringe) != 0:
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@ -56,26 +146,18 @@ class BFS:
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if len(fringe) == 0:
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return False
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break
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tmp_node = heapq.heappop(fringe) # node
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#print(f'my parent is {tmp_node[1].get_parent()}')
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tmp_node_position = tmp_node[1].get_position()
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tmp_node_position = tmp_node[1].get_position() # x, y , gdzie patczy
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#print(f'Position before succ {tmp_node_position}')
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#print(f'Position of our node {tmp_node_position[:2]}')
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visited_position.append(tmp_node_position[:2])
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#print(f'visited position: {visited_position}')
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#visited_position.append(tmp_node_position)
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explored.append(tmp_node_position)
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if tmp_node_position[:2] == goaltest:
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#print(' we find node')
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# print(visited_position)
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print('Find')
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#print(fringe)
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#break
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while tmp_node[1].get_parent() is not None:
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#print('sdfhdfg')
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#print(tmp_node[1].get_parent()[1].get_position())
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final_action_list.append(tmp_node[1].get_action())
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tmp_node = tmp_node[1].get_parent()
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final_action_list.reverse()
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@ -83,21 +165,18 @@ class BFS:
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self.window.pause(False)
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return final_action_list
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# nie wiem na razie po co to
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# chyba visited_position lepszy odpowiednik
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# explored.append(tmp_node)
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explored.append(tmp_node)
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neighbours_list_of_our_node = self.successor(tmp_node_position[:2])
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neighbours_list_of_our_node = self.successor(tmp_node_position) # lista możliwych akcij
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#print(neighbours_list_of_our_node)
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for node_ in neighbours_list_of_our_node:
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# jesli pozucja wezla nie jest w fringe i nie jest w explored
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if [node_[0], node_[1]] not in visited_position and node_[0] >= 0 and node_[1] >=0:
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# jesli pozucja wezla nie jest w fringe i nie jest w visited
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if [node_[1][0], node_[1][1], node_[1][2]] not in explored and node_[1][0] >= 0 and node_[1][1] >=0:
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counter += 1
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#print([node_[0], node_[1]])
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x = node.Node(tmp_node, None, [node_[0], node_[1]]) # action
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x = node.Node(tmp_node, node_[0], node_[1]) # action
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heapq.heappush(fringe, (counter, x))
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self.window.draw_search([self.agent.position_x, self.agent.position_y], [node_[0], node_[1]])
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#time.sleep(0.01)
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self.window.draw_search([self.agent.position_x, self.agent.position_y], [node_[1][0], node_[1][1]])
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@ -1,22 +1,23 @@
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class Node:
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def __init__(self, parent, action, state_array):
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self.parent = parent
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self.action = action
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self.position = state_array
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if parent:
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parent_pos = parent[1].get_position()
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diff = [state_array[0] - parent_pos[0], state_array[1] - parent_pos[1]]
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if diff[0]==1:
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action="E"
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elif diff[0]==-1:
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action="W"
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elif diff[1]==1:
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action="S"
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elif diff[1]==-1:
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action="N"
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self.action=action
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else:
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self.action=action
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# if parent:
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# parent_pos = parent[1].get_position()
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# diff = [state_array[0] - parent_pos[0], state_array[1] - parent_pos[1]]
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# if diff[0]==1:
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# action="E"
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# elif diff[0]==-1:
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# action="W"
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# elif diff[1]==1:
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# action="S"
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# elif diff[1]==-1:
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# action="N"
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# self.action=action
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# else:
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# self.action=action
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def get_position(self):
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return self.position
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2
main.py
2
main.py
@ -16,6 +16,7 @@ MUSIC=True
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# ustalenie FPS
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FPS = 60
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def main():
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if MUSIC:
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pygame.mixer.init()
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@ -24,7 +25,6 @@ def main():
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# utworzenie okna do gry
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window = system.Window(TILE_SIZE * TILES_X, TILE_SIZE * TILES_Y, "Intelligent Minesweeper", "icon.png")
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# utworzenie objektu mapy, wygenerowanie jej i narysowanie na ekranie
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map = minesweeper.Map(window, TILE_SIZE, TILES_X, TILES_Y)
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map.generate()
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