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f20ac56cc0
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f20ac56cc0 | |||
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afdcac8b56 |
3
.gitignore
vendored
3
.gitignore
vendored
@ -2,3 +2,6 @@
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.DS_Store
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.DS_Store
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/.vscode
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/.vscode
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__pycache__
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__pycache__
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#PyCharm
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.idea/
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@ -14,7 +14,7 @@ class State:
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return self.x == other.x and self.y == other.y
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return self.x == other.x and self.y == other.y
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class StateGraphSearchBFS:
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class GoAnyDirectionBFS:
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def __init__(self, world: World, start_state: State, goal_state: State):
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def __init__(self, world: World, start_state: State, goal_state: State):
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self.start_state = start_state
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self.start_state = start_state
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self.goal_state = goal_state
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self.goal_state = goal_state
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83
AI_brain/rotate_and_go_bfs.py
Normal file
83
AI_brain/rotate_and_go_bfs.py
Normal file
@ -0,0 +1,83 @@
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import queue
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from domain.world import World
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class State:
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def __init__(self, x, y, direction=(1, 0)):
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self.x = x
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self.y = y
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self.direction = direction
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def __hash__(self):
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return hash((self.x, self.y))
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def __eq__(self, other):
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return (self.x == other.x and self.y == other.y
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and self.direction == other.direction)
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class Node:
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def __init__(self, state: State):
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self.state = state
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self.parent = None
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self.action = None
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def action_sequence(node: Node):
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actions = []
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while node.parent:
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actions.append(node.action)
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node = node.parent
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actions.reverse()
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return actions
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class RotateAndGoBFS:
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def __init__(self, world: World, start_state: State, goal_state: State):
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self.world = world
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self.start_state = start_state
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self.goal_state = goal_state
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self.fringe = queue.Queue()
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self.enqueued_states = set()
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self.explored = set()
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self.actions = []
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def search(self):
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self.fringe.put(Node(self.start_state))
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while self.fringe:
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elem = self.fringe.get()
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if self.is_goal(elem.state):
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self.actions = action_sequence(elem)
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return True
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self.explored.add(elem.state)
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for (action, state) in self.successors(elem.state):
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if state in self.explored or state in self.enqueued_states:
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continue
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next_node = Node(state)
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next_node.action = action
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next_node.parent = elem
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self.fringe.put(next_node)
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self.enqueued_states.add(state)
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return False
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def successors(self, state: State):
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new_successors = [
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# rotate right
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("RR", State(state.x, state.y, (-state.direction[1], state.direction[0]))),
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# rotate left
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("RL", State(state.x, state.y, (state.direction[1], -state.direction[0]))),
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]
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if self.world.accepted_move(state.x + state.direction[0], state.y + state.direction[1]):
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new_successors.append(
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("GO", State(state.x + state.direction[0], state.y + state.direction[1], state.direction)))
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return new_successors
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def is_goal(self, state: State) -> bool:
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return (
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state.x == self.goal_state.x
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and state.y == self.goal_state.y
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)
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@ -5,6 +5,7 @@ from domain.world import World
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class Vacuum(Entity):
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class Vacuum(Entity):
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def __init__(self, x: int, y: int):
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def __init__(self, x: int, y: int):
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super().__init__(x, y, "VACUUM")
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super().__init__(x, y, "VACUUM")
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self.direction = (1, 0)
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self.battery = 100
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self.battery = 100
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self.cleaning_detergent = 100
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self.cleaning_detergent = 100
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self.container_filling = 0
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self.container_filling = 0
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67
main.py
67
main.py
@ -11,7 +11,8 @@ from domain.entities.vacuum import Vacuum
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from domain.entities.docking_station import Doc_Station
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from domain.entities.docking_station import Doc_Station
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from domain.world import World
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from domain.world import World
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from view.renderer import Renderer
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from view.renderer import Renderer
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from AI_brain.movement import StateGraphSearchBFS, State
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# from AI_brain.movement import GoAnyDirectionBFS, State
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from AI_brain.rotate_and_go_bfs import RotateAndGoBFS, State
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config = configparser.ConfigParser()
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config = configparser.ConfigParser()
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@ -48,37 +49,57 @@ class Main:
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start_state = State(self.world.vacuum.x, self.world.vacuum.y)
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start_state = State(self.world.vacuum.x, self.world.vacuum.y)
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end_state = State(self.world.doc_station.x, self.world.doc_station.y)
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end_state = State(self.world.doc_station.x, self.world.doc_station.y)
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SGS_BFS = StateGraphSearchBFS(self.world, start_state, end_state)
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# path_searcher = GoAnyDirectionBFS(self.world, start_state, end_state)
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if not SGS_BFS.search():
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path_searcher = RotateAndGoBFS(self.world, start_state, end_state)
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if not path_searcher.search():
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print("No solution")
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print("No solution")
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exit(0)
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exit(0)
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SGS_BFS.actions.reverse()
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path_searcher.actions.reverse()
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while self.running:
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while self.running:
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for event in pygame.event.get():
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if event.type == pygame.QUIT:
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self.running = False
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if len(path_searcher.actions) > 0:
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action_direction = path_searcher.actions.pop()
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# self.handle_action1(action_direction)
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self.handle_action2(action_direction)
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self.update()
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self.renderer.render(self.world)
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self.renderer.render(self.world)
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self.clock.tick(5)
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self.clock.tick(5)
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if len(SGS_BFS.actions) > 0:
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action_direction = SGS_BFS.actions.pop()
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if action_direction == "UP":
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self.commands.append(
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VacuumMoveCommand(self.world, self.world.vacuum, (0, -1))
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)
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elif action_direction == "DOWN":
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self.commands.append(
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VacuumMoveCommand(self.world, self.world.vacuum, (0, 1))
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)
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elif action_direction == "LEFT":
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self.commands.append(
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VacuumMoveCommand(self.world, self.world.vacuum, (-1, 0))
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)
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elif action_direction == "RIGHT":
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self.commands.append(
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VacuumMoveCommand(self.world, self.world.vacuum, (1, 0))
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)
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self.update()
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pygame.quit()
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pygame.quit()
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def handle_action1(self, action):
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if action == "UP":
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self.commands.append(
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VacuumMoveCommand(self.world, self.world.vacuum, (0, -1))
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)
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elif action == "DOWN":
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self.commands.append(
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VacuumMoveCommand(self.world, self.world.vacuum, (0, 1))
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)
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elif action == "LEFT":
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self.commands.append(
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VacuumMoveCommand(self.world, self.world.vacuum, (-1, 0))
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)
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elif action == "RIGHT":
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self.commands.append(
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VacuumMoveCommand(self.world, self.world.vacuum, (1, 0))
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)
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def handle_action2(self, action):
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if action == "GO":
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self.commands.append(
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VacuumMoveCommand(self.world, self.world.vacuum, self.world.vacuum.direction)
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)
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elif action == "RR":
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self.world.vacuum.direction = (-self.world.vacuum.direction[1], self.world.vacuum.direction[0])
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elif action == "RL":
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self.world.vacuum.direction = (self.world.vacuum.direction[1], -self.world.vacuum.direction[0])
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def process_input(self):
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def process_input(self):
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for event in pygame.event.get():
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for event in pygame.event.get():
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if event.type == pygame.QUIT:
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if event.type == pygame.QUIT:
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@ -159,6 +159,7 @@ class Renderer:
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draw_pos[1] + self.tile_height,
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draw_pos[1] + self.tile_height,
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)
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)
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self.screen.blit(text_surface, text_pos)
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self.screen.blit(text_surface, text_pos)
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sprite = self.create_vacuum_sprite(entity)
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if "DOC_STATION" in entity.type:
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if "DOC_STATION" in entity.type:
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draw_pos = (
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draw_pos = (
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(entity.x - 0.1) * self.tile_width,
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(entity.x - 0.1) * self.tile_width,
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@ -166,6 +167,16 @@ class Renderer:
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)
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)
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self.screen.blit(sprite, draw_pos)
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self.screen.blit(sprite, draw_pos)
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def create_vacuum_sprite(self, vacuum):
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angles = {
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(1, 0): 0,
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(-1, 0): 180,
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(0, 1): 270,
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(0, -1): 90,
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}
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init_sprite = self.sprites.get(vacuum.type, None)
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return pygame.transform.rotate(init_sprite, angles[vacuum.direction])
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def draw_sprite(self, x: int, y: int, sprite_name: str):
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def draw_sprite(self, x: int, y: int, sprite_name: str):
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self.screen.blit(
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self.screen.blit(
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self.sprites[sprite_name], (x * self.tile_width, y * self.tile_height)
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self.sprites[sprite_name], (x * self.tile_width, y * self.tile_height)
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Block a user