Merge pull request 'Next increment - AI movement' (#18) from Automatic-robot-movement into main

Reviewed-on: s473601/Machine_learning_2023#18
Reviewed-by: Tim Barvenov <timbar@st.amu.edu.pl>

AI_brain/movement.py

@@ -0,0 +1,80 @@
+from domain.commands.vacuum_move_command import VacuumMoveCommand
+from domain.world import World
+
+
+class State:
+    def __init__(self, x, y):
+        self.x = x
+        self.y = y
+
+    def __hash__(self):
+        return hash((self.x, self.y))
+
+    def __eq__(self, other):
+        return self.x == other.x and self.y == other.y
+
+
+class StateGraphSearchBFS:
+    def __init__(self, world: World, start_state: State, goal_state: State):
+        self.start_state = start_state
+        self.goal_state = goal_state
+        self.visited = set()
+        self.parent = {}
+        self.actions = []
+        self.path = []
+        self.world = world
+        self.queue = []
+
+    def search(self):
+        self.queue.append(self.start_state)
+        self.visited.add(self.start_state)
+        while self.queue:
+            state = self.queue.pop(0)
+            if state == self.goal_state:
+                self.actions = self.get_actions()
+                self.path = self.get_path()
+                return True
+            for successor in self.successors(state):
+                if successor not in self.visited:
+                    self.visited.add(successor)
+                    self.parent[successor] = state
+                    self.queue.append(successor)
+        return False
+
+    def successors(self, state):
+        new_successors = [
+            State(state.x + dx, state.y + dy)
+            for dx, dy in [(1, 0), (0, 1), (-1, 0), (0, -1)]
+            if self.world.accepted_move(state.x + dx, state.y + dy)
+        ]
+
+        return new_successors
+
+    def get_actions(self):
+        actions = []
+        state = self.goal_state
+        while state != self.start_state:
+            parent_state = self.parent[state]
+            dx = state.x - parent_state.x
+            dy = state.y - parent_state.y
+            if dx == 1:
+                actions.append("RIGHT")
+            elif dx == -1:
+                actions.append("LEFT")
+            elif dy == 1:
+                actions.append("DOWN")
+            elif dy == -1:
+                actions.append("UP")
+            state = parent_state
+        actions.reverse()
+        return actions
+
+    def get_path(self):
+        path = []
+        state = self.goal_state
+        while state != self.start_state:
+            path.append((state.x, state.y))
+            state = self.parent[state]
+        path.append((self.start_state.x, self.start_state.y))
+        path.reverse()
+        return path

config.ini

@@ -1,3 +1,4 @@
 [APP]
 cat = False
-movment = human #(human, movment)
+movement = robot
+#accept: human, robot

domain/commands/vacuum_move_command.py

@@ -18,16 +18,7 @@ class VacuumMoveCommand(Command):
     def run(self):
         end_x = self.vacuum.x + self.dx
         end_y = self.vacuum.y + self.dy
-
-        if (
-            end_x > self.world.width - 1
-            or end_y > self.world.height - 1
-            or end_x < 0
-            or end_y < 0
-        ):
-            return
-
-        if self.world.is_obstacle_at(end_x, end_y):
+        if not self.world.accepted_move(end_x, end_y):
             return
 
         if self.world.is_garbage_at(end_x, end_y):

domain/world.py

@@ -33,3 +33,17 @@ class World:
 
     def is_docking_station_at(self, x: int, y: int) -> bool:
         return bool(self.doc_station.x == x and self.doc_station.y == y)
+
+    def accepted_move(self, checking_x, checking_y):
+        if (
+            checking_x > self.width - 1
+            or checking_y > self.height - 1
+            or checking_x < 0
+            or checking_y < 0
+        ):
+            return False
+
+        if self.is_obstacle_at(checking_x, checking_y):
+            return False
+
+        return True

main.py

@@ -11,6 +11,7 @@ from domain.entities.vacuum import Vacuum
 from domain.entities.docking_station import Doc_Station
 from domain.world import World
 from view.renderer import Renderer
+from AI_brain.movement import StateGraphSearchBFS, State
 
 
 config = configparser.ConfigParser()
@@ -41,6 +42,43 @@ class Main:
 
         pygame.quit()
 
+    def run_robot(self):
+        self.renderer.render(self.world)
+
+        start_state = State(self.world.vacuum.x, self.world.vacuum.y)
+        end_state = State(self.world.doc_station.x, self.world.doc_station.y)
+
+        SGS_BFS = StateGraphSearchBFS(self.world, start_state, end_state)
+        if not SGS_BFS.search():
+            print("No solution")
+            exit(0)
+
+        SGS_BFS.actions.reverse()
+        while self.running:
+            self.renderer.render(self.world)
+            self.clock.tick(5)
+            if len(SGS_BFS.actions) > 0:
+                action_direction = SGS_BFS.actions.pop()
+                if action_direction == "UP":
+                    self.commands.append(
+                        VacuumMoveCommand(self.world, self.world.vacuum, (0, -1))
+                    )
+                elif action_direction == "DOWN":
+                    self.commands.append(
+                        VacuumMoveCommand(self.world, self.world.vacuum, (0, 1))
+                    )
+                elif action_direction == "LEFT":
+                    self.commands.append(
+                        VacuumMoveCommand(self.world, self.world.vacuum, (-1, 0))
+                    )
+                elif action_direction == "RIGHT":
+                    self.commands.append(
+                        VacuumMoveCommand(self.world, self.world.vacuum, (1, 0))
+                    )
+                self.update()
+
+        pygame.quit()
+
     def process_input(self):
         for event in pygame.event.get():
             if event.type == pygame.QUIT:
@@ -79,7 +117,6 @@ def generate_world(tiles_x: int, tiles_y: int) -> World:
         world.add_entity(Entity(temp_x, temp_y, "PEEL"))
     world.vacuum = Vacuum(1, 1)
     world.doc_station = Doc_Station(9, 8)
-    print(config.getboolean("APP", "cat"))
     if config.getboolean("APP", "cat"):
         world.cat = Cat(7, 8)
         world.add_entity(world.cat)
@@ -93,4 +130,7 @@ def generate_world(tiles_x: int, tiles_y: int) -> World:
 
 if __name__ == "__main__":
     app = Main()
+    if config["APP"]["movement"] == "human":
         app.run()
+    elif config["APP"]["movement"] == "robot":
+        app.run_robot()