AI move from position A to B
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AI_brain/movement.py
Normal file
80
AI_brain/movement.py
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@ -0,0 +1,80 @@
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from domain.commands.vacuum_move_command import VacuumMoveCommand
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from domain.world import World
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class State:
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def __init__(self, x, y):
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self.x = x
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self.y = y
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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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class StateGraphSearchBFS:
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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.goal_state = goal_state
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self.visited = set()
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self.parent = {}
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self.actions = []
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self.path = []
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self.world = world
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self.queue = []
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def search(self):
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self.queue.append(self.start_state)
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self.visited.add(self.start_state)
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while self.queue:
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state = self.queue.pop(0)
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if state == self.goal_state:
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self.actions = self.get_actions()
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self.path = self.get_path()
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return True
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for successor in self.successors(state):
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if successor not in self.visited:
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self.visited.add(successor)
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self.parent[successor] = state
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self.queue.append(successor)
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return False
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def successors(self, state):
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new_successors = [
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State(state.x + dx, state.y + dy)
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for dx, dy in [(1, 0), (0, 1), (-1, 0), (0, -1)]
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if self.world.accepted_move(state.x + dx, state.y + dy)
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]
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return new_successors
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def get_actions(self):
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actions = []
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state = self.goal_state
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while state != self.start_state:
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parent_state = self.parent[state]
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dx = state.x - parent_state.x
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dy = state.y - parent_state.y
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if dx == 1:
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actions.append("RIGHT")
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elif dx == -1:
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actions.append("LEFT")
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elif dy == 1:
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actions.append("DOWN")
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elif dy == -1:
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actions.append("UP")
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state = parent_state
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actions.reverse()
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return actions
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def get_path(self):
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path = []
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state = self.goal_state
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while state != self.start_state:
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path.append((state.x, state.y))
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state = self.parent[state]
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path.append((self.start_state.x, self.start_state.y))
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path.reverse()
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return path
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@ -1,3 +1,4 @@
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[APP]
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[APP]
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cat = False
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cat = False
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movment = human #(human, movment)
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movement = robot
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#accept: human, robot
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@ -18,16 +18,7 @@ class VacuumMoveCommand(Command):
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def run(self):
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def run(self):
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end_x = self.vacuum.x + self.dx
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end_x = self.vacuum.x + self.dx
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end_y = self.vacuum.y + self.dy
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end_y = self.vacuum.y + self.dy
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if not self.world.accepted_move(end_x, end_y):
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if (
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end_x > self.world.width - 1
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or end_y > self.world.height - 1
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or end_x < 0
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or end_y < 0
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):
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return
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if self.world.is_obstacle_at(end_x, end_y):
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return
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return
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if self.world.is_garbage_at(end_x, end_y):
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if self.world.is_garbage_at(end_x, end_y):
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@ -33,3 +33,17 @@ class World:
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def is_docking_station_at(self, x: int, y: int) -> bool:
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def is_docking_station_at(self, x: int, y: int) -> bool:
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return bool(self.doc_station.x == x and self.doc_station.y == y)
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return bool(self.doc_station.x == x and self.doc_station.y == y)
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def accepted_move(self, checking_x, checking_y):
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if (
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checking_x > self.width - 1
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or checking_y > self.height - 1
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or checking_x < 0
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or checking_y < 0
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):
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return False
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if self.is_obstacle_at(checking_x, checking_y):
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return False
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return True
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42
main.py
42
main.py
@ -11,6 +11,7 @@ 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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config = configparser.ConfigParser()
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config = configparser.ConfigParser()
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@ -41,6 +42,43 @@ class Main:
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pygame.quit()
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pygame.quit()
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def run_robot(self):
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self.renderer.render(self.world)
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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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SGS_BFS = StateGraphSearchBFS(self.world, start_state, end_state)
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if not SGS_BFS.search():
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print("No solution")
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exit(0)
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SGS_BFS.actions.reverse()
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while self.running:
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self.renderer.render(self.world)
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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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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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@ -79,7 +117,6 @@ def generate_world(tiles_x: int, tiles_y: int) -> World:
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world.add_entity(Entity(temp_x, temp_y, "PEEL"))
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world.add_entity(Entity(temp_x, temp_y, "PEEL"))
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world.vacuum = Vacuum(1, 1)
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world.vacuum = Vacuum(1, 1)
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world.doc_station = Doc_Station(9, 8)
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world.doc_station = Doc_Station(9, 8)
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print(config.getboolean("APP", "cat"))
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if config.getboolean("APP", "cat"):
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if config.getboolean("APP", "cat"):
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world.cat = Cat(7, 8)
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world.cat = Cat(7, 8)
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world.add_entity(world.cat)
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world.add_entity(world.cat)
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@ -93,4 +130,7 @@ def generate_world(tiles_x: int, tiles_y: int) -> World:
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if __name__ == "__main__":
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if __name__ == "__main__":
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app = Main()
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app = Main()
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if config["APP"]["movement"] == "human":
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app.run()
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app.run()
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elif config["APP"]["movement"] == "robot":
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app.run_robot()
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