bfs na następnikach

bfs.py

@@ -1,83 +1,42 @@
-import pygame
 from config import *
+import queue
 class Bfs():
 
     def __init__(self,game):
 
         self.game = game
-        
-        self.open_queue = []
-        self.close_queue = []
         self.wall_cells = []
         self.enemy_cells = []
     def heuristic(a,b):
         return abs(a[0]-b[0])+abs(a[1]-b[1])
     def bfs(self,goal_cell):
         print("x: ", self.game.agent.x, "y: ", self.game.agent.y)
-        cost_road=0
-        self.open_queue.append(self.get_cell_number(self.game.agent.x,self.game.agent.y))
-        # tutaj dodaje się cel agenta
-        #goal_cell = self.get_cell_number(self.game.flower.x,self.game.flower.y)
+        visited = set()
+        q = queue.Queue()
+        start_position = self.get_cell_number(self.game.agent.x,self.game.agent.y)
+        q.put(start_position)
+        parent = {}
 
-        path = []
-        processing = True
-        find_path = False
-        while processing: # główna pętla
-            for event in pygame.event.get():
-                if event.type == pygame.QUIT:
-                    exit()
+        while not q.empty(): # główna pętla
+            current_pos = q.get()
+            visited.add(current_pos)
 
-            if len(self.open_queue) > 0 :
-                current_node_cell = self.open_queue.pop(0)
-            
-                if(current_node_cell in self.close_queue):
-                    continue
-
-                print("Aktualna kratka: ", current_node_cell)
-                print("Cel znajduje sie na kratce: ", goal_cell)
-
-                if (current_node_cell == goal_cell):
-                    self.close_queue.append(current_node_cell)
-                    found_goal_cell = current_node_cell
-                    print("Znaleziono cel, szukanie drogi z odwiedzonych wezlow, kolejka odwiedzonych:", self.close_queue)
-                    processing = False
-                    find_path = True
-                    self.game.clock.tick(2)
-                else:
-                    child_node_cells = self.get_child_nodes(current_node_cell)
-                    self.close_queue.append(current_node_cell) 
-                    print("Sasiedzi: ", child_node_cells)
-                    for child_node in child_node_cells:
-                        if child_node not in self.open_queue and child_node not in self.close_queue:
-                            self.open_queue.append(child_node)
-                    print("Kolejka: ", self.open_queue, "\n")            
-            else:
-                print("Brak nowych wezlow, kolejka: ",self. open_queue)
-                print("Odwiedzone : ", self.close_queue)
-                return self.close_queue
-    
-        dead_end_nodes = []
-        while find_path:
-            path.append(self.close_queue[0])
-
-            for i in range(len(self.close_queue) -1):
-                from_cell = path[-1]
-                to_cell = self.close_queue[i+1]
-
-                if to_cell in dead_end_nodes:
-                    continue
-
-                if self.verify_move(from_cell, to_cell):
-                    path.append(to_cell)
-        
-            if path[-1] == found_goal_cell:
-                find_path = False
-            else:
-                dead_end_nodes.append(path[-1])
+            if current_pos == goal_cell:
+                print("Osiągnięto cel, konstruowanie drogi")
                 path = []
+                while current_pos != start_position:
+                    path.append(current_pos)
+                    current_pos = parent[current_pos]
+                path.append(start_position)
+                return path[::-1]
             
-        print("Droga: ", path)
-        self.move_agent(path)
+            for successor in self.succesors(current_pos):
+                if successor not in visited:
+                    q.put(successor)
+                    parent[successor] = current_pos
+
+        print("Nieznaleziono drogi")
+        return None
 
 
     def get_cell_number(self,x, y): #zamienia koordynaty na numer kratki
@@ -85,7 +44,7 @@ class Bfs():
         cell_number =(x // TILE_SIZE) + (NUM_ROWS * (( y// TILE_SIZE)))
         return cell_number
     
-    def get_child_nodes(self,cell_number):
+    def get_possible_moves(self,cell_number):
         children = []
         up = self.get_up_cell(cell_number)
         if up is not None and up not in self.wall_cells and up not in self.enemy_cells:
@@ -152,40 +111,6 @@ class Bfs():
     
         return False
 
-    def move_agent(self,path):
-        print("PATH:::::",path)
-        for cell_to_move in path:
-            x, y = self.get_coordinates(cell_to_move)
-            print("Ruch do kratki : ", cell_to_move, " z x: ", x, ", y: ", y, ",  agent.x: ", self.game.agent.rect.x, ", agent.y: ", self.game.agent.rect.y)
-            if(self.get_cell_number(self.game.agent.x,self.game.agent.y)!=cell_to_move):
-                if x > self.game.agent.rect.x:
-                    self.game.agent.direction = 0
-                elif y > self.game.agent.rect.y:
-                    self.game.agent.direction = 1
-                elif x < self.game.agent.rect.x:
-                    self.game.agent.direction = 2
-                elif y < self.game.agent.rect.y:
-                    self.game.agent.direction = 3
-                if self.game.agent.direction==0:
-                    print("DIRECTION: "+self.game.agent.AGENT_IMAGES[self.game.agent.direction])
-                    self.game.agent.x_change += TILE_SIZE
-                elif self.game.agent.direction==1:
-                    print("DIRECTION: "+self.game.agent.AGENT_IMAGES[self.game.agent.direction])
-                    self.game.agent.y_change += TILE_SIZE
-                elif self.game.agent.direction==2:
-                    print("DIRECTION: "+self.game.agent.AGENT_IMAGES[self.game.agent.direction])
-                    self.game.agent.x_change -= TILE_SIZE
-                elif self.game.agent.direction==3:
-                    print("DIRECTION: "+self.game.agent.AGENT_IMAGES[self.game.agent.direction])
-                    self.game.agent.y_change -= TILE_SIZE
-
-            self.game.agent.rotate()
-            self.game.update()
-            self.game.map()
-
-            print("Polozenie agenta: agent.x: ", self.game.agent.rect.x, ", agent.y: ", self.game.agent.rect.y)
-            self.game.clock.tick(2)
-
     def get_coordinates(self,cell_to_move): #zamienia numer kratki na koordynaty
         cell_row_number = cell_to_move // NUM_ROWS 
         cell_column_number = cell_to_move % NUM_ROWS 
@@ -193,3 +118,12 @@ class Bfs():
         y = cell_row_number * TILE_SIZE
         x = cell_column_number * TILE_SIZE
         return x, y
+    
+    def succesors(self,current_pos):
+        possible_moves = self.get_possible_moves(current_pos)
+        valid_moves = []
+        for move in possible_moves:
+            if self.verify_move(current_pos,move) == True:
+                valid_moves.append(move)
+        return valid_moves
+

main.py

@@ -3,7 +3,6 @@ from config import *
 from agent import *
 from map_add_ons import *
 from mobs import *
-#from unknown_mob import *  #unknown mob
 from bfs import *
 from heapq import *
 from nn import *
@@ -28,6 +27,7 @@ class Game:
         self.bfs = Bfs(self)
         self.nn = NeuralN()
 
+
     def new(self): # tworzy się nowa sesja grania
         self.all_sprites = pygame.sprite.LayeredUpdates()
 
@@ -35,23 +35,21 @@ class Game:
         self.grass_sprites = pygame.sprite.LayeredUpdates()
         self.archer_orks = pygame.sprite.LayeredUpdates()
         self.infantry_orks = pygame.sprite.LayeredUpdates()
-        #self.infantry_orks2 = pygame.sprite.LayeredUpdates()
+        
         self.sauronL = pygame.sprite.LayeredUpdates()
         self.flowers = pygame.sprite.LayeredUpdates()
         self.little_rock_sprites = pygame.sprite.LayeredUpdates()
     
-        #self.unknown_mobs = pygame.sprite.LayeredUpdates() #unknown mob
         self.agent = Agent(self,1,1)
         self.archer_ork = Archer_ork(self,10,10)
         self.bfs.enemy_cells.append(self.bfs.get_cell_number(self.archer_ork.x,self.archer_ork.y))
         self.infantry_ork = Infantry_ork(self,10,4)
         self.bfs.enemy_cells.append(self.bfs.get_cell_number(self.infantry_ork.x,self.infantry_ork.y))
-        #self.infantry_ork2 = Infantry_ork2(self,6,3)
-        #self.bfs.enemy_cells.append(self.bfs.get_cell_number(self.infantry_ork2.x,self.infantry_ork2.y))
+       
         self.sauron = Sauron(self, 1, 10)
         self.bfs.enemy_cells.append(self.bfs.get_cell_number(self.sauron.x,self.sauron.y))
         self.flower = Health_flower(self, 8,2)
-        #self.unknown_mob = Unknown_mob(self,8,8)  #unknown mob
+       
         self.grass = Grass(self,0,2)
         self.grass = Grass(self,1,2)
         self.grass = Grass(self,0,3)
@@ -62,18 +60,6 @@ class Game:
         for y in range(5):
             self.rock = Rocks(self,3,y)
             self.bfs.wall_cells.append(self.bfs.get_cell_number(self.rock.x,self.rock.y))
-        '''
-        for i in range(10):
-            x = random.randint(0,12)
-            y = random.randint(0,11)
-            self.grass = Grass(self,x,y)
-            self.grass_cells.append(self.bfs.get_cell_number(self.grass.x,self.grass.y))
-        
-        for y in range(5,8):
-            self.little_rocks = Little_Rocks(self,4,y)
-        '''
-
-        
   
 
     def update(self):
@@ -88,11 +74,11 @@ class Game:
             if event.type == pygame.MOUSEBUTTONDOWN:
                 mouse_presses = pygame.mouse.get_pressed()
                 if mouse_presses[0]:
-                    #self.bfs.bfs(self.bfs.get_cell_number(self.flower.x,self.flower.y))
+                   
                     x = self.sauron.x
                     y = self.sauron.y
                     mob_image = self.sauron.SAURON_IMG
-                    while True:
+                    while True:   #do poprawienia poprawne rozpoznawanie póki co nie będzie działać dobrze
                         prediction = self.prediction_road(x,y,mob_image)
                         if prediction == "SAURON":
                             x = self.infantry_ork.x
@@ -100,13 +86,13 @@ class Game:
                             mob_image = self.infantry_ork.INFANTRY_ORK_IMG
                             prediction = self.prediction_road(x,y,mob_image)
                         if prediction == "ORK_INFANTRY":
-                            self.bfs.bfs(self.bfs.get_cell_number(x,y))
+                            self.move_agent(self.bfs.bfs(self.bfs.get_cell_number(x,y)))
                             x = self.archer_ork.x
                             y = self.archer_ork.y
                             mob_image = self.archer_ork.ARCHER_ORK_IMG
                             prediction = self.prediction_road(x,y,mob_image)
                         if prediction == "ORK_ARCHER":
-                            self.bfs.bfs(self.bfs.get_cell_number(x,y))
+                            self.move_agent(self.bfs.bfs(self.bfs.get_cell_number(x,y)))
                             x = self.sauron.x
                             y = self.sauron.y
                             mob_image = self.sauron.SAURON_IMG
@@ -119,11 +105,43 @@ class Game:
             goal = self.bfs.get_down_cell(mob_goal)
         else:
             goal = self.bfs.get_up_cell(mob_goal)
-            self.bfs.bfs(goal)
+            self.move_agent(self.bfs.bfs(goal))
             prediction = self.nn.predict(mob_image)
         return prediction
 
+    def move_agent(self,path):
+        print("PATH:::::",path)
+        for cell_to_move in path:
+            x, y = self.bfs.get_coordinates(cell_to_move)
+            print("Ruch do kratki : ", cell_to_move, " z x: ", x, ", y: ", y, ",  agent.x: ", self.agent.rect.x, ", agent.y: ", self.agent.rect.y)
+            if(self.bfs.get_cell_number(self.agent.x,self.agent.y)!=cell_to_move):
+                if x > self.agent.rect.x:
+                    self.agent.direction = 0
+                elif y > self.agent.rect.y:
+                    self.agent.direction = 1
+                elif x < self.agent.rect.x:
+                    self.agent.direction = 2
+                elif y < self.agent.rect.y:
+                    self.agent.direction = 3
+                if self.agent.direction==0:
+                    print("DIRECTION: "+self.agent.AGENT_IMAGES[self.agent.direction])
+                    self.agent.x_change += TILE_SIZE
+                elif self.agent.direction==1:
+                    print("DIRECTION: "+self.agent.AGENT_IMAGES[self.agent.direction])
+                    self.agent.y_change += TILE_SIZE
+                elif self.agent.direction==2:
+                    print("DIRECTION: "+self.agent.AGENT_IMAGES[self.agent.direction])
+                    self.agent.x_change -= TILE_SIZE
+                elif self.agent.direction==3:
+                    print("DIRECTION: "+self.agent.AGENT_IMAGES[self.agent.direction])
+                    self.agent.y_change -= TILE_SIZE
 
+            self.agent.rotate()
+            self.update()
+            self.map()
+
+            print("Polozenie agenta: agent.x: ", self.agent.rect.x, ", agent.y: ", self.agent.rect.y)
+            self.clock.tick(2)
 
     def map(self): # tworzenie mapy
         self.clock.tick(FRAMERATE)

unknown_mob.py

@@ -1,29 +0,0 @@
-import pygame
-from config import *
-
-class Unknown_mob(pygame.sprite.Sprite):
-
-
-    def __init__(self, game, x, y):
-        self.game = game
-        self.groups = self.game.all_sprites, self.game.unknown_mobs
-        pygame.sprite.Sprite.__init__(self, self.groups)
-
-        self.x = x * TILE_SIZE
-        self.y = y * TILE_SIZE
-        self.width = TILE_SIZE
-        self.height = TILE_SIZE
-
-        self.UNKNOWN_MOB_IMG = pygame.image.load("./pozostale_zdjecia/dragon.jpg")
-        self.UKNOWN_MOB = pygame.transform.scale(self.UNKNOWN_MOB_IMG,(64,64))  
-
-        self.image = pygame.Surface([self.width, self.height])
-        self.image.blit(self.UKNOWN_MOB, (0,0))
-        self.image.set_colorkey((0, 0, 0))
-
-        self.rect = self.image.get_rect()
-        self.rect.x = self.x
-        self.rect.y = self.y
-
-        self.level = 1
-        self.damage = 50*self.level