a_star #21

Merged
s464961 merged 15 commits from a_star into master 2022-04-27 19:50:51 +02:00
8 changed files with 271 additions and 43 deletions

198
algorithms/a_star.py Normal file
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@ -0,0 +1,198 @@
from __future__ import annotations
import heapq
from dataclasses import dataclass, field
from typing import Tuple, Optional, List
from common.constants import ROWS, COLUMNS
EMPTY_FIELDS = ['s', 'g', ' ']
LEFT = 'LEFT'
RIGHT = 'RIGHT'
UP = 'UP'
DOWN = 'DOWN'
TURN_LEFT = 'TURN_LEFT'
TURN_RIGHT = 'TURN_RIGHT'
FORWARD = 'FORWARD'
directions = {
LEFT: (0, -1),
RIGHT: (0, 1),
UP: (-1, 0),
DOWN: (1, 0)
}
@dataclass
class State:
position: Tuple[int, int]
direction: str
def __eq__(self, other: State) -> bool:
return other.position == self.position and self.direction == other.direction
def __lt__(self, state):
return self.position < state.position
def __hash__(self) -> int:
return hash(self.position)
@dataclass
class Node:
state: State
parent: Optional[Node]
action: Optional[str]
grid: List[List[str]]
cost: int = field(init=False)
depth: int = field(init=False)
def __lt__(self, node) -> None:
return self.state < node.state
def __post_init__(self) -> None:
if self.grid[self.state.position[0]][self.state.position[1]] == 'g':
self.cost = 1 if not self.parent else self.parent.cost + 1
else:
self.cost = 2 if not self.parent else self.parent.cost + 2
self.depth = 0 if not self.parent else self.parent.depth + 1
def __hash__(self) -> int:
return hash(self.state)
def expand(node: Node, grid: List[List[str]]) -> List[Node]:
return [child_node(node=node, action=action, grid=grid) for action in actions(node.state, grid)]
def child_node(node: Node, action: str, grid: List[List[str]]) -> Node:
next_state = result(state=node.state, action=action)
return Node(state=next_state, parent=node, action=action, grid=grid)
def next_position(current_position: Tuple[int, int], direction: str) -> Tuple[int, int]:
next_row, next_col = directions[direction]
row, col = current_position
return next_row + row, next_col + col
def valid_move(position: Tuple[int, int], grid: List[List[str]]) -> bool:
row, col = position
return grid[row][col] in EMPTY_FIELDS
def actions(state: State, grid: List[List[str]]) -> List[str]:
possible_actions = [FORWARD, TURN_LEFT, TURN_RIGHT]
row, col = state.position
direction = state.direction
if direction == UP and row == 0:
remove_forward(possible_actions)
if direction == DOWN and row == ROWS - 1:
remove_forward(possible_actions)
if direction == LEFT and col == 0:
remove_forward(possible_actions)
if direction == RIGHT and col == COLUMNS - 1:
remove_forward(possible_actions)
if FORWARD in possible_actions and not valid_move(next_position(state.position, direction), grid):
remove_forward(possible_actions)
return possible_actions
def remove_forward(possible_actions: List[str]) -> None:
if FORWARD in possible_actions:
possible_actions.remove(FORWARD)
def result(state: State, action: str) -> State:
next_state = State(state.position, state.direction)
if state.direction == UP:
if action == TURN_LEFT:
next_state.direction = LEFT
elif action == TURN_RIGHT:
next_state.direction = RIGHT
elif action == FORWARD:
next_state.position = next_position(state.position, UP)
elif state.direction == DOWN:
if action == TURN_LEFT:
next_state.direction = RIGHT
elif action == TURN_RIGHT:
next_state.direction = LEFT
elif action == FORWARD:
next_state.position = next_position(state.position, DOWN)
elif state.direction == LEFT:
if action == TURN_LEFT:
next_state.direction = DOWN
elif action == TURN_RIGHT:
next_state.direction = UP
elif action == FORWARD:
next_state.position = next_position(state.position, LEFT)
elif state.direction == RIGHT:
if action == TURN_LEFT:
next_state.direction = UP
elif action == TURN_RIGHT:
next_state.direction = DOWN
elif action == FORWARD:
next_state.position = next_position(state.position, RIGHT)
return next_state
def goal_test(state: State, goal_list: List[Tuple[int, int]]) -> bool:
return state.position in goal_list
def h(state: State, goal: Tuple[int, int]) -> int:
"""heuristics that calculates Manhattan distance between current position and goal"""
x1, y1 = state.position
x2, y2 = goal
return abs(x1 - x2) + abs(y1 - y2)
def f(current_node: Node, goal: Tuple[int, int]) -> int:
"""f(n) = g(n) + h(n), g stands for current cost, h for heuristics"""
return current_node.cost + h(state=current_node.state, goal=goal)
def get_path_from_start(node: Node) -> List[str]:
path = [node.action]
while node.parent is not None:
node = node.parent
if node.action:
path.append(node.action)
path.reverse()
return path
def a_star(state: State, grid: List[List[str]], goals: List[Tuple[int, int]]) -> List[str]:
node = Node(state=state, parent=None, action=None, grid=grid)
frontier = list()
heapq.heappush(frontier, (f(node, goals[0]), node))
explored = set()
while frontier:
r, node = heapq.heappop(frontier)
if goal_test(node.state, goals):
return get_path_from_start(node)
explored.add(node.state)
for child in expand(node, grid):
p = f(child, goals[0])
if child.state not in explored and (p, child) not in frontier:
heapq.heappush(frontier, (p, child))
elif (r, child) in frontier and r > p:
heapq.heappush(frontier, (p, child))
return []

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@ -114,7 +114,7 @@ def go(row, column, direction):
def is_valid_move(map, target_row, target_column): def is_valid_move(map, target_row, target_column):
if 0 <= target_row < ROWS and 0 <= target_column < COLUMNS and map[target_row][target_column] == ' ': if 0 <= target_row < ROWS and 0 <= target_column < COLUMNS and map[target_row][target_column] in ['g', 's', ' ']:
return True return True
return False return False

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@ -4,7 +4,7 @@ GAME_TITLE = 'WMICraft'
WINDOW_HEIGHT = 800 WINDOW_HEIGHT = 800
WINDOW_WIDTH = 1360 WINDOW_WIDTH = 1360
FPS_COUNT = 60 FPS_COUNT = 60
TURN_INTERVAL = 1000 TURN_INTERVAL = 300
GRID_CELL_PADDING = 5 GRID_CELL_PADDING = 5
GRID_CELL_SIZE = 36 GRID_CELL_SIZE = 36
@ -29,6 +29,7 @@ CASTLE_SPAWN_FIRST_COL = 9
NBR_OF_WATER = 16 NBR_OF_WATER = 16
NBR_OF_TREES = 20 NBR_OF_TREES = 20
NBR_OF_MONSTERS = 2 NBR_OF_MONSTERS = 2
NBR_OF_SANDS = 35
TILES = [ TILES = [
'grass1.png', 'grass1.png',

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@ -19,12 +19,13 @@ class Game:
pygame.display.set_icon(pygame.image.load('./resources/icons/sword.png')) pygame.display.set_icon(pygame.image.load('./resources/icons/sword.png'))
self.screen = pygame.display.set_mode((WINDOW_WIDTH, WINDOW_HEIGHT)) self.screen = pygame.display.set_mode((WINDOW_WIDTH, WINDOW_HEIGHT))
self.logs = Logs(self.screen)
self.clock = pygame.time.Clock() self.clock = pygame.time.Clock()
self.bg = pygame.image.load("./resources/textures/bg.jpg") self.bg = pygame.image.load("./resources/textures/bg.jpg")
self.screens = {'credits': Credits(self.screen, self.clock), 'options': Options(self.screen, self.clock)} self.screens = {'credits': Credits(self.screen, self.clock), 'options': Options(self.screen, self.clock)}
self.level = Level(self.screen) self.level = Level(self.screen, self.logs)
def main_menu(self): def main_menu(self):
menu = MainMenu(self.screen, self.clock, self.bg, menu = MainMenu(self.screen, self.clock, self.bg,
@ -35,7 +36,6 @@ class Game:
def game(self): def game(self):
stats = Stats() stats = Stats()
logs = Logs()
# setup clock for rounds # setup clock for rounds
NEXT_TURN = pygame.USEREVENT + 1 NEXT_TURN = pygame.USEREVENT + 1
@ -62,7 +62,7 @@ class Game:
self.level.handle_turn() self.level.handle_turn()
stats.draw(self.screen) stats.draw(self.screen)
logs.draw(self.screen) self.logs.draw()
self.level.update() self.level.update()

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@ -2,7 +2,7 @@ import random
import pygame import pygame
from algorithms.bfs import graphsearch, State from algorithms.a_star import a_star, State, TURN_RIGHT, TURN_LEFT, FORWARD, UP, DOWN, LEFT, RIGHT
from common.constants import * from common.constants import *
from common.helpers import castle_neighbors from common.helpers import castle_neighbors
from logic.knights_queue import KnightsQueue from logic.knights_queue import KnightsQueue
@ -14,13 +14,13 @@ from models.tile import Tile
class Level: class Level:
def __init__(self, screen): def __init__(self, screen, logs):
self.screen = screen self.screen = screen
self.logs = logs
# sprite group setup # sprite group setup
self.sprites = pygame.sprite.Group() self.sprites = pygame.sprite.Group()
self.map = [[' ' for x in range(COLUMNS)] for y in range(ROWS)] self.map = [['g' for _ in range(COLUMNS)] for y in range(ROWS)]
self.list_knights_blue = [] self.list_knights_blue = []
self.list_knights_red = [] self.list_knights_red = []
@ -37,18 +37,19 @@ class Level:
def generate_map(self): def generate_map(self):
spawner = Spawner(self.map) spawner = Spawner(self.map)
spawner.spawn_where_possible(['w' for x in range(NBR_OF_WATER)]) spawner.spawn_where_possible(['w' for _ in range(NBR_OF_WATER)])
spawner.spawn_where_possible(['t' for x in range(NBR_OF_TREES)]) spawner.spawn_where_possible(['t' for _ in range(NBR_OF_TREES)])
spawner.spawn_where_possible(['s' for _ in range(NBR_OF_SANDS)])
spawner.spawn_in_area(['k_b' for x in range(4)], LEFT_KNIGHTS_SPAWN_FIRST_ROW, LEFT_KNIGHTS_SPAWN_FIRST_COL, spawner.spawn_in_area(['k_b' for _ in range(4)], LEFT_KNIGHTS_SPAWN_FIRST_ROW, LEFT_KNIGHTS_SPAWN_FIRST_COL,
KNIGHTS_SPAWN_WIDTH, KNIGHTS_SPAWN_HEIGHT) KNIGHTS_SPAWN_WIDTH, KNIGHTS_SPAWN_HEIGHT)
spawner.spawn_in_area(['k_r' for x in range(4)], RIGHT_KNIGHTS_SPAWN_FIRST_ROW, RIGHT_KNIGHTS_SPAWN_FIRST_COL, spawner.spawn_in_area(['k_r' for _ in range(4)], RIGHT_KNIGHTS_SPAWN_FIRST_ROW, RIGHT_KNIGHTS_SPAWN_FIRST_COL,
KNIGHTS_SPAWN_WIDTH, KNIGHTS_SPAWN_HEIGHT) KNIGHTS_SPAWN_WIDTH, KNIGHTS_SPAWN_HEIGHT)
spawner.spawn_in_area(['c'], CASTLE_SPAWN_FIRST_ROW, CASTLE_SPAWN_FIRST_COL, CASTLE_SPAWN_WIDTH, spawner.spawn_in_area(['c'], CASTLE_SPAWN_FIRST_ROW, CASTLE_SPAWN_FIRST_COL, CASTLE_SPAWN_WIDTH,
CASTLE_SPAWN_HEIGHT, 2) CASTLE_SPAWN_HEIGHT, 2)
spawner.spawn_where_possible(['m' for x in range(NBR_OF_MONSTERS)]) spawner.spawn_where_possible(['m' for _ in range(NBR_OF_MONSTERS)])
def setup_base_tiles(self): def setup_base_tiles(self):
textures = [] textures = []
@ -69,8 +70,12 @@ class Level:
texture_index = 6 texture_index = 6
texture_surface = textures[texture_index][1] texture_surface = textures[texture_index][1]
Tile((col_index, row_index), texture_surface, self.sprites, 't') Tile((col_index, row_index), texture_surface, self.sprites, 't')
elif col == "s":
texture_index = 4
texture_surface = textures[texture_index][1]
Tile((col_index, row_index), texture_surface, self.sprites)
else: else:
texture_index = random.randint(0, 4) texture_index = random.randint(0, 3)
texture_surface = textures[texture_index][1] texture_surface = textures[texture_index][1]
Tile((col_index, row_index), texture_surface, self.sprites) Tile((col_index, row_index), texture_surface, self.sprites)
@ -106,34 +111,41 @@ class Level:
current_knight = self.knights_queue.dequeue_knight() current_knight = self.knights_queue.dequeue_knight()
knight_pos_x = current_knight.position[0] knight_pos_x = current_knight.position[0]
knight_pos_y = current_knight.position[1] knight_pos_y = current_knight.position[1]
state = State(knight_pos_y, knight_pos_x, current_knight.direction)
castle_cords = (self.list_castles[0].position[0], self.list_castles[0].position[1]) castle_cords = (self.list_castles[0].position[0], self.list_castles[0].position[1])
goal_list = castle_neighbors(self.map, castle_cords[0], castle_cords[1]) # list of castle neighbors goal_list = castle_neighbors(self.map, castle_cords[0], castle_cords[1]) # list of castle neighbors
action_list = graphsearch(state, self.map, goal_list)
state = State((knight_pos_y, knight_pos_x), current_knight.direction.name)
action_list = a_star(state, self.map, goal_list)
print(action_list) print(action_list)
if len(action_list) == 0: if len(action_list) == 0:
return return
next_action = action_list.pop(0) next_action = action_list.pop(0)
if next_action == ACTION.get("rotate_left"): if next_action == TURN_LEFT:
self.logs.enqueue_log(f'AI {current_knight.team}: Obrót w lewo.')
current_knight.rotate_left() current_knight.rotate_left()
elif next_action == ACTION.get("rotate_right"): elif next_action == TURN_RIGHT:
self.logs.enqueue_log(f'AI {current_knight.team}: Obrót w prawo.')
current_knight.rotate_right() current_knight.rotate_right()
elif next_action == ACTION.get("go"): elif next_action == FORWARD:
current_knight.step_forward() current_knight.step_forward()
self.map[knight_pos_y][knight_pos_x] = ' ' self.map[knight_pos_y][knight_pos_x] = 'g'
# update knight on map # update knight on map
if current_knight.direction.name == 'UP': if current_knight.direction.name == UP:
self.map[knight_pos_y - 1][knight_pos_x] = current_knight self.logs.enqueue_log(f'AI {current_knight.team}: Ruch do góry.')
elif current_knight.direction.name == 'RIGHT': self.map[knight_pos_y - 1][knight_pos_x] = current_knight.team_alias()
self.map[knight_pos_y][knight_pos_x + 1] = current_knight elif current_knight.direction.name == RIGHT:
elif current_knight.direction.name == 'DOWN': self.logs.enqueue_log(f'AI {current_knight.team}: Ruch w prawo.')
self.map[knight_pos_y + 1][knight_pos_x] = current_knight self.map[knight_pos_y][knight_pos_x + 1] = current_knight.team_alias()
elif current_knight.direction.name == 'LEFT': elif current_knight.direction.name == DOWN:
self.map[knight_pos_y][knight_pos_x - 1] = current_knight self.logs.enqueue_log(f'AI {current_knight.team}: Ruch w dół.')
self.map[knight_pos_y + 1][knight_pos_x] = current_knight.team_alias()
elif current_knight.direction.name == LEFT:
self.logs.enqueue_log(f'AI {current_knight.team}: Ruch w lewo.')
self.map[knight_pos_y][knight_pos_x - 1] = current_knight.team_alias()
def update(self): def update(self):
bg_width = (GRID_CELL_PADDING + GRID_CELL_SIZE) * COLUMNS + BORDER_WIDTH bg_width = (GRID_CELL_PADDING + GRID_CELL_SIZE) * COLUMNS + BORDER_WIDTH

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@ -8,7 +8,7 @@ class Spawner:
self.map = map self.map = map
def __is_free_field(self, field): def __is_free_field(self, field):
return field == ' ' return field in ['g', 's', ' ']
def spawn_in_area(self, objects: list, spawn_area_pos_row=0, spawn_area_pos_column=0, spawn_area_width=0, def spawn_in_area(self, objects: list, spawn_area_pos_row=0, spawn_area_pos_column=0, spawn_area_width=0,
spawn_area_height=0, size=1): spawn_area_height=0, size=1):
@ -17,17 +17,17 @@ class Spawner:
while spawned_objects_count != len(objects): while spawned_objects_count != len(objects):
x = random.randint(0, spawn_area_height) + spawn_area_pos_row x = random.randint(0, spawn_area_height) + spawn_area_pos_row
y = random.randint(0, spawn_area_width) + spawn_area_pos_column y = random.randint(0, spawn_area_width) + spawn_area_pos_column
if x < ROWS-1 and y < COLUMNS-1 and self.__is_free_field(self.map[x][y]): if x < ROWS - 1 and y < COLUMNS - 1 and self.__is_free_field(self.map[x][y]):
for i in range(size): for i in range(size):
for j in range(size): for j in range(size):
self.map[x-i][y-j] = objects[spawned_objects_count] self.map[x - i][y - j] = objects[spawned_objects_count]
spawned_objects_count += 1 spawned_objects_count += 1
def spawn_where_possible(self, objects: list): def spawn_where_possible(self, objects: list):
spawned_objects_count = 0 spawned_objects_count = 0
while spawned_objects_count != len(objects): while spawned_objects_count != len(objects):
x = random.randint(0, ROWS-1) x = random.randint(0, ROWS - 1)
y = random.randint(0, COLUMNS-1) y = random.randint(0, COLUMNS - 1)
if self.__is_free_field(self.map[x][y]): if self.__is_free_field(self.map[x][y]):
self.map[x][y] = objects[spawned_objects_count] self.map[x][y] = objects[spawned_objects_count]
spawned_objects_count += 1 spawned_objects_count += 1

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@ -1,6 +1,7 @@
import pygame.image
import random import random
import pygame.image
from common.constants import GRID_CELL_SIZE, Direction from common.constants import GRID_CELL_SIZE, Direction
from common.helpers import parse_cord from common.helpers import parse_cord
@ -56,3 +57,6 @@ class Knight(pygame.sprite.Sprite):
elif self.direction.name == 'LEFT': elif self.direction.name == 'LEFT':
self.position = (self.position[0] - 1, self.position[1]) self.position = (self.position[0] - 1, self.position[1])
self.rect.x = self.rect.x - GRID_CELL_SIZE - 5 self.rect.x = self.rect.x - GRID_CELL_SIZE - 5
def team_alias(self) -> str:
return "k_b" if self.team == "blue" else "k_r"

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@ -1,3 +1,5 @@
from queue import Queue
import pygame import pygame
from common.colors import FONT_DARK, ORANGE, WHITE from common.colors import FONT_DARK, ORANGE, WHITE
@ -6,20 +8,31 @@ from common.helpers import draw_text
class Logs: class Logs:
def __init__(self): def __init__(self, screen):
self.grid = [] self.log_queue = Queue(maxsize=7)
self.screen = screen
def draw(self, screen): def draw(self):
x = (GRID_CELL_PADDING + GRID_CELL_SIZE) * COLUMNS + BORDER_WIDTH + 15 x = (GRID_CELL_PADDING + GRID_CELL_SIZE) * COLUMNS + BORDER_WIDTH + 15
y = 470 y = 470
# background # background
pygame.draw.rect(screen, WHITE, pygame.Rect(x, y, 340, 323), 0, BORDER_RADIUS) pygame.draw.rect(self.screen, WHITE, pygame.Rect(x, y, 340, 323), 0, BORDER_RADIUS)
# title # title
draw_text('LOGS', FONT_DARK, screen, x + 120, y + 10, 36) draw_text('LOGS', FONT_DARK, self.screen, x + 120, y + 10, 36)
pygame.draw.rect(screen, ORANGE, pygame.Rect(x, y + 65, 340, 3)) pygame.draw.rect(self.screen, ORANGE, pygame.Rect(x, y + 65, 340, 3))
# texts # texts
draw_text('AI Blue: Zniszczyła fortecę (4, 8).', FONT_DARK, screen, x + 35, y + 90, 16) next_y = y + 90
draw_text('AI Red: Zniszczyła fortecę (12, 5).', FONT_DARK, screen, x + 35, y + 120, 16) i = 0
start = len(self.log_queue.queue) - 1
for idx in range(start, -1, -1):
draw_text(self.log_queue.queue[idx], FONT_DARK, self.screen, x + 35, next_y + i * 30, 16)
i = i + 1
def enqueue_log(self, text):
if self.log_queue.full():
self.log_queue.get()
self.log_queue.put(text)
self.draw()