Improvement on code + path creation

AI_brain/genetic_algorytm.py

@@ -0,0 +1,74 @@
+import random
+import configparser
+import math
+from domain.entities.entity import Entity
+
+
+config = configparser.ConfigParser()
+config.read("config.ini")
+
+from domain.world import World
+from AI_brain.rotate_and_go_aStar import RotateAndGoAStar, State
+
+
+steps_distance_cashed = {}
+
+
+class Path:
+    def __init__(self):
+        self.walk = []
+        self.distance = 0
+
+    def random_walk(self, dusts: list[Entity]):
+        random_permutation = generate_random_permutation(len(dusts))
+        self.walk = addStopsForStopStation(
+            random_permutation, config.getint("CONSTANT", "BananaFilling")
+        )
+
+    def calculate_distance(self, world: World):
+        distance = 0
+        for i in range(len(self.walk) - 1):
+            distance += self.step_distance(self.walk[i], self.walk[i + 1], world)
+        self.distance = distance
+
+    def step_distance(self, from_id: int, to_id: int, world: World) -> int:
+        if (from_id, to_id) in steps_distance_cashed:
+            return steps_distance_cashed[(from_id, to_id)]
+
+        path_searcher = RotateAndGoAStar(
+            world,
+            self.getPosition(from_id, world.dustList, world.doc_station),
+            self.getPosition(to_id, world.dustList, world.doc_station),
+        )
+        path_searcher.search()
+        number_of_go = path_searcher.number_of_moves_forward()
+        steps_distance_cashed[(from_id, to_id)] = path_searcher.cost
+        steps_distance_cashed[(to_id, from_id)] = path_searcher.cost
+        return path_searcher.cost
+
+    def getPosition(self, number: int, dusts: list[Entity], station: Entity) -> State:
+        if number == -1:
+            return State(station.x, station.y)
+
+        return State(dusts[number].x, dusts[number].y)
+
+
+def generate_random_permutation(n):
+    # Create a list of numbers from 1 to n
+    numbers = list(range(0, n))
+
+    # Shuffle the list using the random.shuffle function
+    random.shuffle(numbers)
+
+    return numbers
+
+
+def addStopsForStopStation(permutation: list[int], bananaFilling: int):
+    frequency = math.ceil(100 / bananaFilling)
+    numer_of_stops = math.ceil(len(permutation) / frequency)
+
+    for i in range(1, numer_of_stops):
+        permutation.insert((frequency + 1) * i - 1, -1)
+    permutation.insert(len(permutation), -1)
+
+    return permutation

AI_brain/rotate_and_go_aStar.py

@@ -3,12 +3,11 @@ from domain.world import World
 
 
 class State:
-    def __init__(self, x, y, direction=(1, 0), entity=None):
+    def __init__(self, x: int, y: int, direction=(1, 0), entity=None):
         self.x = x
         self.y = y
         self.direction = direction
 
-
     def __hash__(self):
         return hash((self.x, self.y))
 
@@ -19,7 +18,7 @@ class State:
             and self.direction == other.direction
         )
 
-    def heuristic(self, goal_state):
+    def heuristic(self, goal_state) -> int:
         return abs(self.x - goal_state.x) + abs(self.y - goal_state.y)
 
 
@@ -53,19 +52,19 @@ class RotateAndGoAStar:
         self.enqueued_states = set()
         self.explored = set()
         self.actions = []
+        self.cost = 0
 
-    def get_g_score(self, state):
+    def get_g_score(self, state) -> int:
         return self.world.get_cost(state.x, state.y)
 
     def search(self):
-        heapq.heappush(
+        heapq.heappush(self.fringe, Node(self.start_state, 0, self.goal_state))
-            self.fringe, Node(self.start_state, 0, self.goal_state)
-        )
 
         while self.fringe:
-            elem = heapq.heappop(self.fringe)
+            elem: Node = heapq.heappop(self.fringe)
             if self.is_goal(elem.state):
                 self.actions = action_sequence(elem)
+                self.cost = elem.g_score
                 return True
             self.explored.add(elem.state)
 
@@ -73,7 +72,7 @@ class RotateAndGoAStar:
                 if state in self.explored:
                     continue
 
-                new_g_score = new_g_score = elem.g_score + self.world.get_cost(state.x, state.y)
+                new_g_score = elem.g_score + self.world.get_cost(state.x, state.y)
                 if state not in self.enqueued_states:
                     next_node = Node(state, new_g_score, self.goal_state)
                     next_node.action = action
@@ -84,8 +83,8 @@ class RotateAndGoAStar:
                     for node in self.fringe:
                         if node.state == state:
                             node.g_score = new_g_score
-                            node.f_score = (
+                            node.f_score = new_g_score + node.state.heuristic(
-                                new_g_score + node.state.heuristic(self.goal_state)
+                                self.goal_state
                             )
                             node.parent = elem
                             node.action = action
@@ -102,12 +101,12 @@ class RotateAndGoAStar:
         next_x = state.x + state.direction[0]
         next_y = state.y + state.direction[1]
         if self.world.accepted_move(next_x, next_y):
-            new_successors.append(
+            new_successors.append(("GO", State(next_x, next_y, state.direction)))
-                ("GO", State(next_x, next_y, state.direction))
-            )
         return new_successors
 
     def is_goal(self, state: State) -> bool:
-        return (
+        return state.x == self.goal_state.x and state.y == self.goal_state.y
-                state.x == self.goal_state.x
+
-                and state.y == self.goal_state.y )
+    def number_of_moves_forward(self) -> int:
+        go_count = self.actions.count("GO")
+        return go_count

config.ini

@@ -4,9 +4,14 @@ movement = robot
 #accept: human, robot
 
 [CONSTANT]
-NumberOfBananas = 10
+NumberOfBananas = 5
 NumberOfEarrings = 3
 NumberOfPlants = 5
+BananaFilling = 25
 
 [NEURAL_NETWORK]
 is_neural_network_off = True
+
+[AI_BRAIN]
+mode = full_clean 
+#accept: full_clean, to_station

domain/commands/vacuum_move_command.py

@@ -21,12 +21,12 @@ class VacuumMoveCommand(Command):
         if not self.world.accepted_move(end_x, end_y):
             return
 
-        tmp = self.world.is_garbage_at(end_x, end_y)
+        garbage = self.world.garbage_at(end_x, end_y)
-        if len(tmp) > 0:
+        if len(garbage) > 0:
-            for t in tmp:
+            for item in garbage:
                 if self.vacuum.get_container_filling() < 100:
                     self.vacuum.increase_container_filling()
-                    self.world.dust[end_x][end_y].remove(t)
+                    self.world.delete_entities_at_Of_type(item.x, item.y, item.type)
 
         if self.world.is_docking_station_at(end_x, end_y):
             self.vacuum.dump_trash()

domain/entities/vacuum.py

@@ -1,5 +1,9 @@
 from domain.entities.entity import Entity
 from domain.world import World
+import configparser
+
+config = configparser.ConfigParser()
+config.read("config.ini")
 
 
 class Vacuum(Entity):
@@ -11,7 +15,7 @@ class Vacuum(Entity):
         self.container_filling = 0
 
     def increase_container_filling(self) -> None:
-        self.container_filling += 5
+        self.container_filling += config.getint("CONSTANT", "BananaFilling")
 
     def dump_trash(self) -> None:
         self.container_filling = 0

domain/world.py

@@ -8,7 +8,9 @@ class World:
         self.width = width
         self.height = height
         self.dust = [[[] for j in range(height)] for i in range(width)]
+        self.dustList = []
         self.obstacles = [[[] for j in range(height)] for i in range(width)]
+        self.entity = [[[] for j in range(height)] for i in range(width)]
 
         self.vacuum = None
         self.cat = None
@@ -19,8 +21,10 @@ class World:
             self.doc_station = entity
         elif entity.type == "PEEL":
             self.dust[entity.x][entity.y].append(entity)
+            self.dustList.append(Entity(entity.x, entity.y, "PEEL"))
         elif entity.type == "EARRING":
             self.dust[entity.x][entity.y].append(entity)
+            self.dustList.append(Entity(entity.x, entity.y, "EARRING"))
         elif entity.type == "VACUUM":
             self.vacuum = entity
         elif entity.type == "CAT":
@@ -29,10 +33,27 @@ class World:
         else:
             self.obstacles[entity.x][entity.y].append(entity)
 
+        self.entity[entity.x][entity.y].append(entity)
+
+    def is_entity_at(
+        self,
+        x: int,
+        y: int,
+    ) -> bool:
+        if len(self.entity[x][y]) > 0:
+            return True
+        return False
+
+    def delete_entities_at_Of_type(self, x: int, y: int, type: str):
+        entities = self.entity[x][y]
+        for entity in entities:
+            if entity.type == type:
+                entities.remove(entity)
+
     def is_obstacle_at(self, x: int, y: int) -> bool:
         return bool(self.obstacles[x][y])
 
-    def is_garbage_at(self, x: int, y: int):
+    def garbage_at(self, x: int, y: int) -> list[Entity]:
         if len(self.dust[x][y]) == 0:
             return []
         return [i for i in self.dust[x][y] if evaluate([i.properties])[0] == 1]
@@ -54,5 +75,5 @@ class World:
 
         return True
 
-    def get_cost(self, x, y):
+    def get_cost(self, x, y) -> float:
         return self.costs[x][y]

main.py

@@ -16,6 +16,7 @@ from domain.entities.earring import Earring
 from domain.entities.docking_station import Doc_Station
 from domain.world import World
 from view.renderer import Renderer
+from AI_brain.genetic_algorytm import Path
 
 if not config.getboolean("NEURAL_NETWORK", "is_neural_network_off"):
     from AI_brain.image_recognition import VacuumRecognizer
@@ -52,24 +53,38 @@ class Main:
     def run_robot(self):
         self.renderer.render(self.world)
 
+        # path_searcher = GoAnyDirectionBFS(self.world, start_state, end_state)
+        # path_searcher = RotateAndGoBFS(self.world, start_state, end_state)
+
+        if config["AI_BRAIN"]["mode"] == "to_station":
             start_state = State(self.world.vacuum.x, self.world.vacuum.y)
             end_state = State(self.world.doc_station.x, self.world.doc_station.y)
 
-        # path_searcher = GoAnyDirectionBFS(self.world, start_state, end_state)
-        # path_searcher = RotateAndGoBFS(self.world, start_state, end_state)
             path_searcher = RotateAndGoAStar(self.world, start_state, end_state)
+
             if not path_searcher.search():
                 print("No solution")
                 exit(0)
+            print(path_searcher.actions)
+            print(path_searcher.cost)
+        elif config["AI_BRAIN"]["mode"] == "full_clean":
+            x = Path()
+            x.random_walk(self.world.dustList)
+            x.calculate_distance(self.world)
+            print(x.walk)
+            print(x.distance)
+            exit(0)
+        else:
+            print("Wrong mode")
+            exit(0)
 
-        path_searcher.actions.reverse()
         while self.running:
             for event in pygame.event.get():
                 if event.type == pygame.QUIT:
                     self.running = False
 
             if len(path_searcher.actions) > 0:
-                action_direction = path_searcher.actions.pop()
+                action_direction = path_searcher.actions.pop(0)
                 # self.handle_action1(action_direction)
                 self.handle_action2(action_direction)
 
@@ -148,15 +163,14 @@ class Main:
 def generate_world(tiles_x: int, tiles_y: int) -> World:
     if config.getboolean("NEURAL_NETWORK", "is_neural_network_off"):
         world = World(tiles_x, tiles_y)
-        for _ in range(config.getint("CONSTANT", "NumberOfBananas")):
-            temp_x = randint(0, tiles_x - 1)
-            temp_y = randint(0, tiles_y - 1)
-            world.add_entity(Garbage(temp_x, temp_y))
         world.vacuum = Vacuum(1, 1)
         world.doc_station = Doc_Station(9, 8)
         if config.getboolean("APP", "cat"):
             world.cat = Cat(7, 8)
             world.add_entity(world.cat)
+
+        world.add_entity(world.doc_station)
+        world.add_entity(world.vacuum)
         world.add_entity(Entity(2, 8, "PLANT1"))
         world.add_entity(Entity(4, 1, "PLANT1"))
         world.add_entity(Entity(3, 4, "PLANT2"))
@@ -165,6 +179,16 @@ def generate_world(tiles_x: int, tiles_y: int) -> World:
         world.add_entity(Earring(9, 7))
         world.add_entity(Earring(5, 5))
         world.add_entity(Earring(4, 6))
+
+        for _ in range(config.getint("CONSTANT", "NumberOfBananas")):
+            temp_x = randint(0, tiles_x - 1)
+            temp_y = randint(0, tiles_y - 1)
+
+            while world.is_entity_at(temp_x, temp_y):
+                temp_x = randint(0, tiles_x - 1)
+                temp_y = randint(0, tiles_y - 1)
+
+            world.add_entity(Garbage(temp_x, temp_y))
     else:
 
         def world_adder(x, y, object, style=None):
@@ -207,7 +231,7 @@ def generate_world(tiles_x: int, tiles_y: int) -> World:
 
     for x in range(world.width):
         for y in range(world.height):
-            if world.is_garbage_at(x, y):
+            if world.garbage_at(x, y):
                 world.costs[x][y] = 1
             else:
                 world.costs[x][y] = 10

view/renderer.py

@@ -115,16 +115,8 @@ class Renderer:
         self.render_board()
         for x in range(world.width):
             for y in range(world.height):
-                for entity in world.dust[x][y]:
+                for entity in world.entity[x][y]:
                     self.draw_entity(entity)
-        for x in range(world.width):
-            for y in range(world.height):
-                for entity in world.obstacles[x][y]:
-                    self.draw_entity(entity)
-        self.draw_entity(world.vacuum)
-        self.draw_entity(world.doc_station)
-        if config.getboolean("APP", "cat"):
-            self.draw_entity(world.cat)
         pygame.display.update()
 
     def line(self, x_1, y_1, x_2, y_2, color=None):