bfs działający
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Weranda
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__pycache__/bfs.cpython-310.pyc
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__pycache__/bfs.cpython-310.pyc
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__pycache__/main.cpython-310.pyc
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__pycache__/main.cpython-310.pyc
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agent.py
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agent.py
@ -230,6 +230,3 @@ class Agent(pygame.sprite.Sprite):
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self.game.SCREEN.blit(lvlDisplay, (370,780))
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# brakuje schematu przeszukiwania
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132
main.py
132
main.py
@ -63,7 +63,7 @@ class Game:
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if event.type == pygame.MOUSEBUTTONDOWN:
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mouse_presses = pygame.mouse.get_pressed()
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if mouse_presses[0]:
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self.search_in_breadth_first_approach()
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self.bfs()
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def map(self): # tworzenie mapy
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self.clock.tick(FRAMERATE)
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@ -82,63 +82,60 @@ class Game:
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self.update()
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self.map()
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# BFS ALGORITHM
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open_queue = []
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close_queue = []
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wall_cells = []
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enemy_cells = []
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def search_in_breadth_first_approach(self):
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print("x is: ", self.agent.x, "y is: ", self.agent.y)
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def bfs(self):
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print("x: ", self.agent.x, "y: ", self.agent.y)
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self.open_queue.append(self.get_cell_number(self.agent.x,self.agent.y))
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goal_cell = self.get_cell_number(self.flower.x,self.flower.y)
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# tutaj dodaje się cel agenta
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goal_cell = self.get_cell_number(448,128)
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path = []
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processing = True
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find_path = False
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while processing: # main loop
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while processing: # główna pętla
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for event in pygame.event.get():
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if event.type == pygame.QUIT:
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exit()
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if len(self.open_queue) > 0 :
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current_node_cell = self.open_queue.pop(0) # remove and get first element of open_queue
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current_node_cell = self.open_queue.pop(0)
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# check if this cell allready processed
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if(current_node_cell in self.close_queue):
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continue
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print("current cell number is: ", current_node_cell)
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print("goal cell/s is/are at: ", goal_cell)
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print("Aktualna kratka: ", current_node_cell)
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print("Cel znajduje się na kratce: ", goal_cell)
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# cheking for goal
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if (current_node_cell == goal_cell):
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# add the goal cell to close queue too, this is helpfull to find the path
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self.close_queue.append(current_node_cell)
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found_goal_cell = current_node_cell
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print("goal found, now find the path from close_queue, close_queue is:", self.close_queue)
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print("Znaleziono cel, szukanie drogi z odwiedzonych węzłów, kolejka odwiedzonych:", self.close_queue)
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processing = False
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find_path = True
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self.clock.tick(2) # stay some time here without closing the windoew
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self.clock.tick(2)
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else:
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# goal not found, continue processing
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child_node_cells = self.get_child_nodes(current_node_cell) # find possible child cells nodes to process
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self.close_queue.append(current_node_cell) # putting the processed node to closed queue
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# add child nodes to open queue only if they are already not in both open_queue and close_queue
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print("childe nodes: ", child_node_cells)
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child_node_cells = self.get_child_nodes(current_node_cell)
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self.close_queue.append(current_node_cell)
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print("Sąsiedzi: ", child_node_cells)
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for child_node in child_node_cells:
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if child_node not in self.open_queue and child_node not in self.close_queue:
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self.open_queue.append(child_node) # add children to END OF THE OPEN QUEUE (BFS)
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print("open queue: ", self.open_queue, "open_queue length: ", len(self.open_queue), "\n")
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self.open_queue.append(child_node)
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print("Kolejka: ", self.open_queue, "\n")
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else:
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print("no nodes to processe, open_queue length: ", len(self.open_queue), ", open queue: ",self. open_queue)
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print("closed queue (processed nodes) : ", self.close_queue)
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print("Brak nowych węzłów, kolejka: ",self. open_queue)
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print("Odwiedzone : ", self.close_queue)
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return self.close_queue
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dead_end_nodes = []
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while find_path:
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path.append(self.close_queue[0]) # put the agent starting cell to path.
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path.append(self.close_queue[0])
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for i in range(len(self.close_queue) -1):
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from_cell = path[-1]
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@ -147,22 +144,20 @@ class Game:
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if to_cell in dead_end_nodes:
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continue
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if self.verify_to_cell_is_navigatable_from_from_cell(from_cell, to_cell):
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if self.verify_move(from_cell, to_cell):
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path.append(to_cell)
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if path[-1] == found_goal_cell:
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find_path = False
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else:
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# a dead end has occured, start finding path avoiding this dead end cell
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dead_end_nodes.append(path[-1])
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path = [] # to start again
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path = []
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print("path: ", path)
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print("Droga: ", path)
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self.move_agent(path)
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def get_cell_number(self,x, y):
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def get_cell_number(self,x, y): #zamienia koordynaty na numer kratki
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cell_number = None
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cell_number =(x // TILE_SIZE) + (NUM_ROWS * (( y// TILE_SIZE)))
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return cell_number
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@ -187,83 +182,88 @@ class Game:
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return children
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def get_up_cell(self,cell_number):
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cell_row_number = cell_number // NUM_ROWS # current row number of agent
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if (cell_row_number - 1 < 0): # above /up row number of agent
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cell_row_number = cell_number // NUM_ROWS
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if (cell_row_number - 1 < 0):
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return None
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else:
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return (cell_number - NUM_ROWS)
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def get_right_cell(self,cell_number):
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cell_column_number = cell_number % NUM_ROWS # current column number of agent
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cell_column_number = cell_number % NUM_ROWS
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if (cell_column_number + 1 >= NUM_ROWS):
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# current cell is at the right edge, so no rigth child / right cell available
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return None
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else:
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return (cell_number + 1) # else return next cell number
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return (cell_number + 1)
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def get_down_cell(self,cell_number):
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cell_row_number = cell_number // NUM_ROWS # current row number of agent
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if (cell_row_number + 1 >= NUM_ROWS): # down / next row number of agent
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cell_row_number = cell_number // NUM_ROWS
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if (cell_row_number + 1 >= NUM_ROWS):
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return None
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else:
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return (cell_number + NUM_ROWS)
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def get_left_cell(self,cell_number):
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cell_column_number = cell_number % NUM_ROWS # current column number of agent
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cell_column_number = cell_number % NUM_ROWS
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if (cell_column_number - 1 < 0):
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# current cell is at the left edge, so no left child / right cell available
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return None
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else:
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return (cell_number - 1) # else return previous cell number
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return (cell_number - 1)
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def verify_to_cell_is_navigatable_from_from_cell(self,from_cell, to_cell):
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if (to_cell in self.wall_cells or to_cell in self.enemy_cells): # if to_cell is a wall cell, return False
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def verify_move(self,from_cell, to_cell): #sprawdzenie czy ruch jest poprawny czyt. czy następna kratka to przeszkoda lub mob
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if (to_cell in self.wall_cells or to_cell in self.enemy_cells):
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return False
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if(from_cell + 1 == to_cell): # check to_cell is the right cell
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if(from_cell + 1 == to_cell):
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return True
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if(from_cell - 1 == to_cell): # check to_cell is the left cell
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if(from_cell - 1 == to_cell):
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return True
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if(from_cell - NUM_ROWS == to_cell): # check to_cell is the top / up cell
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if(from_cell - NUM_ROWS == to_cell):
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return True
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if(from_cell + NUM_ROWS == to_cell): # check to_cell is the down / bottom cell
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if(from_cell + NUM_ROWS == to_cell):
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return True
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return False # Else not navigatable, return False
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return False
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# trzeba poprawić poruszanie się agenta, sam bfs działa dobrze raczej
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def move_agent(self,path):
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for cell_to_move in path:
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x, y = self.get_top_left_cordinates_given_cell_number(cell_to_move)
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print("moving to cell : ", cell_to_move, " of cordinates x: ", x, ", y: ", y, ", line_width: ", TILE_SIZE)
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if x > self.agent.x and y == self.agent.y:
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x, y = self.get_coordinates(cell_to_move)
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print("Ruch do kratki : ", cell_to_move, " z x: ", x, ", y: ", y, ", agent.x: ", self.agent.rect.x, ", agent.y: ", self.agent.rect.y)
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if(self.get_cell_number(self.agent.x,self.agent.y)!=cell_to_move):
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if x > self.agent.rect.x:
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self.agent.direction = 0
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if x == self.agent.x and y > self.agent.y:
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elif y > self.agent.rect.y:
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self.agent.direction = 1
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if x < self.agent.x and y == self.agent.y:
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elif x < self.agent.rect.x:
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self.agent.direction = 2
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if x == self.agent.x and y < self.agent.y:
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elif y < self.agent.rect.y:
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self.agent.direction = 3
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if self.agent.direction==0:
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self.agent.x += TILE_SIZE
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if self.agent.direction==1:
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self.agent.y += TILE_SIZE
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if self.agent.direction==2:
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self.agent.x -= TILE_SIZE
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if self.agent.direction==3:
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self.agent.y -= TILE_SIZE
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print("DIRECTION: "+self.agent.AGENT_IMAGES[self.agent.direction])
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self.agent.x_change += TILE_SIZE
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elif self.agent.direction==1:
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print("DIRECTION: "+self.agent.AGENT_IMAGES[self.agent.direction])
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self.agent.y_change += TILE_SIZE
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elif self.agent.direction==2:
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print("DIRECTION: "+self.agent.AGENT_IMAGES[self.agent.direction])
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self.agent.x_change -= TILE_SIZE
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elif self.agent.direction==3:
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print("DIRECTION: "+self.agent.AGENT_IMAGES[self.agent.direction])
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self.agent.y_change -= TILE_SIZE
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print("moved agent attributes: agent.x: ", self.agent.x, ", agent.y: ", self.agent.y)
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self.update()
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self.map()
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print("Położenie agenta: agent.x: ", self.agent.rect.x, ", agent.y: ", self.agent.rect.y)
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self.clock.tick(2)
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def get_top_left_cordinates_given_cell_number(self,cell_to_move):
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cell_row_number = cell_to_move // NUM_ROWS # cell row number
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cell_column_number = cell_to_move % NUM_ROWS # cell column number
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def get_coordinates(self,cell_to_move): #zamienia numer kratki na koordynaty
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cell_row_number = cell_to_move // NUM_ROWS
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cell_column_number = cell_to_move % NUM_ROWS
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y = cell_row_number * TILE_SIZE
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x = cell_column_number * TILE_SIZE
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