Orientacja i A*
This commit is contained in:
parent
b55d836f59
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24
res/map.txt
24
res/map.txt
@ -1,14 +1,14 @@
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MP--H---------------------
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ORRRRRRRRRRRRRRRRRR---R---
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SZ--R------R------R---RRR-
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----R------R------R---R---
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-RRRR------RRRRRRRRRRRR---
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-R--R-------------R-------
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-R--RRRRRRRRRRRRRRRH------
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-R--R---R---RH----R-------
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-R--R---R---RH----RRRRRRR-
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-R--R-------H-----R-------
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-R--R-----R----R--R-------
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-R--R-----R----R--R-------
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-RRRRRRRRRRRRRRRRRRRRRRR--
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RRRRRRRRRRRRRRRRRRR---G---
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SZ--R------G------R---GGG-
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----R------G------R---G---
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-RRRR------GGGGGGGRRRRR---
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-R--G-------------R-------
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-R--GGGGGGGGGGGGGGRH------
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-R--G---G---GH----R-------
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-R--G---G---GH----RRRRRRR-
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-R--G-------H-----R-------
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-R--G-----G----G--R-------
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-R--G-----G----G--R-------
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-RRRRRRRRRRRRRRRRRRRORRR--
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--------------------------
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BIN
res/tiles.png
BIN
res/tiles.png
Binary file not shown.
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Before Width: | Height: | Size: 14 KiB After Width: | Height: | Size: 16 KiB |
165
src/agent.py
165
src/agent.py
@ -1,5 +1,6 @@
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from random import randint
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import random
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import pygame as pg
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import heapq
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def vector_to_tuple(vector):
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@ -23,20 +24,37 @@ class Agent:
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self.houses = {}
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self.dumps = {}
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self.fullness = None
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self.weights = {}
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self.orientation = 90
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# utworzenie grafu dróg
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roads_pos = [vector_to_tuple(pos) for pos in self.simulation.state.roads_pos]
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roads_pos = [vector_to_tuple(pos) for pos in self.simulation.state.road_pos_g + self.simulation.state.road_pos_r]
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roads_pos.sort()
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for index, pos in enumerate(roads_pos):
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if pos[0] < 0 or pos[0] >= 27 or pos[1] < 0 or pos[1] >= 14:
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continue
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for another_pos in roads_pos[index:]:
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if pos == another_pos:
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if pos == another_pos or another_pos[0] < 0 or another_pos[0] >= 27 or another_pos[1] < 0 or another_pos[1] >= 14:
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continue
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if abs(pos[0] - another_pos[0]) <= 1 and abs(pos[1] - another_pos[1]) <= 1:
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if ((abs(pos[0] - another_pos[0]) == 1 and abs(pos[1] - another_pos[1]) == 0) or (abs(pos[0] - another_pos[0]) == 0 and abs(pos[1] - another_pos[1]) == 1)):
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if pos not in self.graph.keys():
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self.graph[pos] = set()
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if another_pos not in self.graph.keys():
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self.graph[another_pos] = set()
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if another_pos in self.simulation.state.road_pos_r:
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weight = 2
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elif another_pos in self.simulation.state.road_pos_g:
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weight = 3
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else:
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weight = 1
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self.graph[pos].add(another_pos)
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self.graph[another_pos].add(pos)
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self.weights[(pos,another_pos)] = weight
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self.weights[(another_pos, pos)] = weight
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# dołączenie domów i składowisk do grafu dróg
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entities = self.simulation.state.entities
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@ -46,29 +64,160 @@ class Agent:
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(entity_pos[0]+1, entity_pos[1]),
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(entity_pos[0], entity_pos[1]-1),
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(entity_pos[0], entity_pos[1]+1)]:
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if neighbour_pos[0] < 0 or neighbour_pos[0] >= 27 or neighbour_pos[1] < 0 or neighbour_pos[1] >= 14:
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continue
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if neighbour_pos in roads_pos:
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if entity_pos not in self.graph.keys():
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self.graph[entity_pos] = set()
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self.graph[entity_pos].add(neighbour_pos)
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self.graph[neighbour_pos].add(entity_pos)
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self.weights[(entity_pos, neighbour_pos)] = 1
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self.weights[(neighbour_pos, entity_pos)] = 1
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if entity.entity_type == 'dump':
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self.dumps[entity.trash_type] = vector_to_tuple(entity.position)
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if entity.entity_type == 'house':
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self.houses[vector_to_tuple(entity.position)] = HousePOI()
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self.path = self.A_star()
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def update(self):
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entities = self.simulation.state.entities
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for entity in entities:
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if entity.entity_type == 'truck':
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self.current_pos = vector_to_tuple(entity.position)
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self.fullness = entity.fullness
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self.orientation = entity.orientation
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def decide_move(self):
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possible_positions = self.graph[self.current_pos]
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possible_moves = [pg.Vector2(pos[0] - self.current_pos[0], pos[1] - self.current_pos[1]) for pos in possible_positions]
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move = possible_moves[randint(0, len(possible_moves)-1)]
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return move
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move = self.path.pop
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if self.orientation == 0:
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if move[0] != 0:
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if move[0] == 1:
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return 90
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else:
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return 270
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elif move[1] != 0:
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if move[1] == 1:
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return pg.Vector2(move)
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else:
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return 180
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elif self.orientation == 90:
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if move[0] != 0:
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if move[0] == 1:
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return pg.Vector2(move)
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else:
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return 270
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elif move[1] != 0:
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if move[1] == 1:
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return 0
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else:
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return 180
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elif self.orientation == 180:
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if move[0] != 0:
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if move[0] == 1:
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return 90
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else:
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return 270
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elif move[1] != 0:
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if move[1] == 1:
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return 0
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else:
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return pg.Vector2(move)
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else:
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if move[0] != 0:
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if move[0] == 1:
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return 90
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else:
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return pg.Vector2(move)
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elif move[1] != 0:
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if move[1] == 0:
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return 0
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else:
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return 180
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def heuristic(self, start_pos, end_pos):
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return abs((end_pos[0] - start_pos[0])) + abs((end_pos[1] - start_pos[1]))
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def weight_cost(self, start_pos, end_pos):
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return self.weights[(start_pos, end_pos)]
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def get_move_cost(self, start_pos, end_pos):
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return self.heuristic(start_pos, end_pos) + self.weight_cost(start_pos, end_pos)
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def get_start_state(self):
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entities = self.simulation.state.entities
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for entity in entities:
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if entity.entity_type == 'truck':
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orientation = entity.orientation
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position = self.current_pos
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house_list = tuple(self.houses)
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start_state = (position, house_list)
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return start_state
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def get_end_state(self):
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position = (0,1)
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house_list = ()
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end_state = (position, house_list)
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return end_state
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def succesor(self, state):
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successors_pos = self.graph[state[0]]
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house_list = [state[1]]
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successors = ()
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for pos in successors_pos:
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if pos in house_list:
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house_list.remove(pos)
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successors += ((pos, tuple(house_list)),)
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else:
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successors += ((pos, tuple(house_list)),)
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return successors
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def A_star(self):
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fringe = []
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explored = set()
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istate = self.get_start_state()
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goaltest = self.get_end_state()
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node = (istate, None)
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heapq.heappush(fringe, (self.heuristic(istate[0], goaltest[0]), node))
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while fringe:
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_, el = heapq.heappop(fringe)
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elem = el[0]
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parent = el[1]
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if elem == goaltest:
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actions = []
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while parent is not None:
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actions.append(elem[0])
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elem = parent
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actions.reverse()
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return actions
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explored.add(elem)
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for succ in self.succesor(elem):
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node = (succ, elem)
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p = self.heuristic(succ[0], goaltest[0])
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if succ not in explored and not any(tup[1][0] == succ for tup in fringe):
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heapq.heappush(fringe, (p,node))
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elif any(tup[1] == succ for tup in fringe):
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i = next(i for node in enumerate(fringe) if node[1][0] == succ)
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if fringe[i][0] > p:
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fringe[i] = (p,node)
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return False
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def discover(self):
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if self.current_pos in self.houses.keys():
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@ -4,14 +4,18 @@ from random import randint
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import pygame as pg
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from agent import Agent
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ROAD_SPRITE = pg.Vector2(0, 0)
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ROAD_SPRITE_R = pg.Vector2(0, 0)
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ROAD_SPRITE_G = pg.Vector2(0, 1)
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HOUSE_WITHOUT_TRASH_SPRITE = pg.Vector2(1, 0)
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HOUSE_WITH_TRASH_SPRITE = pg.Vector2(1, 1)
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HOUSE_SPRITES = {0: HOUSE_WITHOUT_TRASH_SPRITE,
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1: HOUSE_WITH_TRASH_SPRITE}
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TRUCK_SPRITE = pg.Vector2(2, 0)
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TRUCK_SPRITE_R = pg.Vector2(2, 0)
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TRUCK_SPRITE_D = pg.Vector2(2,1)
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TRUCK_SPRITE_L = pg.Vector2(2,2)
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TRUCK_SPRITE_U = pg.Vector2(2,3)
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PAPER_DUMP_SPRITE = pg.Vector2(3, 0)
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PLASTIC_DUMP_SPRITE = pg.Vector2(3, 1)
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@ -34,18 +38,31 @@ class Entity:
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class TruckEntity(Entity):
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def __init__(self, state, position):
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super().__init__(state, position)
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self.tile = TRUCK_SPRITE
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self.entity_type = 'truck'
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self.tile = TRUCK_SPRITE_R
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self.fullness = {'paper': 0,
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'glass': 0,
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'plastic': 0,
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'mixed': 0}
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self.orientation = 90
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def rotate_img(self, orientation):
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self.orientation = orientation
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if orientation == 0:
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self.tile = TRUCK_SPRITE_U
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elif orientation == 90:
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self.tile = TRUCK_SPRITE_R
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elif orientation == 180:
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self.tile = TRUCK_SPRITE_D
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elif orientation == 270:
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self.tile = TRUCK_SPRITE_L
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def move(self, move_vector):
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proposed_pos = self.position + move_vector
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move_valid = True
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if proposed_pos not in self.state.roads_pos \
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if proposed_pos not in self.state.road_pos_r \
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and proposed_pos not in self.state.road_pos_g \
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and proposed_pos not in self.state.houses_pos \
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and proposed_pos not in self.state.dumps_pos:
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move_valid = False
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@ -86,13 +103,14 @@ class DumpEntity(Entity):
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class SimulationState:
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def __init__(self):
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self.roads_pos = []
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self.road_pos_r = []
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self.road_pos_g = []
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self.houses_pos = []
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self.dumps_pos = []
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self.entities = []
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# stworzenie mapy i jednostek na podstawie pliku txt
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map_path = Path("../res/map.txt")
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map_path = Path(r"..\res\map.txt")
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with open(map_path, "r") as map_file:
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map_data = map_file.readlines()
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max_x = len(map_data[0].replace('\n', ''))
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@ -103,9 +121,11 @@ class SimulationState:
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if tile == "O":
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self.truck_origin = pg.Vector2(x, y)
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self.roads_pos.append(pg.Vector2(x, y))
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self.road_pos_r.append(pg.Vector2(x, y))
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if tile == "R":
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self.roads_pos.append(pg.Vector2(x, y))
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self.road_pos_r.append(pg.Vector2(x, y))
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if tile == "G":
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self.road_pos_g.append(pg.Vector2(x,y))
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if tile == "H":
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self.houses_pos.append(pg.Vector2(x, y))
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self.entities.append(HouseEntity(self, pg.Vector2(x, y)))
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@ -132,7 +152,12 @@ class SimulationState:
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def update(self, move_agent):
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for entity in self.entities:
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if entity.entity_type == 'truck':
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entity.move(move_agent)
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if isinstance(move_agent, int):
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entity.orientation = move_agent
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entity.rotate_img(move_agent)
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else:
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entity.move(move_agent)
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class Layer:
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@ -140,7 +165,7 @@ class Layer:
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self.sim = sim
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self.texture_atlas = pg.image.load(texture_file)
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def renderTile(self, surface, position, tile):
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def renderTile(self, surface, position, tile, orientation = 90, rotate=False):
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# pozycja na ekranie
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sprite_pos = position.elementwise() * self.sim.cell_size
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@ -151,6 +176,7 @@ class Layer:
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self.sim.cell_size.x,
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self.sim.cell_size.y)
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# render
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surface.blit(self.texture_atlas, sprite_pos, texture)
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@ -166,7 +192,10 @@ class EntityLayer(Layer):
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def render(self, surface):
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for entity in self.entities:
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self.renderTile(surface, entity.position, entity.tile)
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if entity.entity_type == 'truck':
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self.renderTile(surface, entity.position, entity.tile, entity.orientation, rotate=True)
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else:
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self.renderTile(surface, entity.position, entity.tile)
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class StructureLayer(Layer):
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@ -194,8 +223,9 @@ class Interface:
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# rendering
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self.cell_size = pg.Vector2(64, 64)
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texture_file = Path("../res/tiles.png")
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self.layers = [StructureLayer(self, texture_file, self.state, self.state.roads_pos, ROAD_SPRITE),
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texture_file = Path(r"..\res\tiles.png")
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self.layers = [StructureLayer(self, texture_file, self.state, self.state.road_pos_r, ROAD_SPRITE_R ),
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StructureLayer(self, texture_file, self.state, self.state.road_pos_g, ROAD_SPRITE_G ),
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EntityLayer(self, texture_file, self.state, self.state.entities)]
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# okno
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@ -227,12 +257,16 @@ class Interface:
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if self.debug_mode:
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if event.key == pg.K_RIGHT:
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self.move_truck.x = 1
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if event.key == pg.K_LEFT:
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self.move_truck.x = -1
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if event.key == pg.K_DOWN:
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self.move_truck.y = 1
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if event.key == pg.K_UP:
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self.move_truck.y = -1
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if event.key == pg.K_d:
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self.agent.discover()
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@ -242,6 +276,9 @@ class Interface:
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def update(self):
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self.state.update(self.move_truck)
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self.agent.update()
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if isinstance(self.move_truck, int):
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self.state.update(self.move_truck)
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self.agent.update()
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def render(self):
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if not self.debug_mode:
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