Machine_learning_2023/main.py

from random import randint

import pygame
import configparser

from domain.commands.random_cat_move_command import RandomCatMoveCommand
from domain.commands.vacuum_move_command import VacuumMoveCommand
from domain.entities.cat import Cat
from domain.entities.entity import Entity
from domain.entities.vacuum import Vacuum
from domain.entities.garbage import Garbage
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.movement import GoAnyDirectionBFS, State
# from AI_brain.rotate_and_go_bfs import RotateAndGoBFS, State
from AI_brain.rotate_and_go_astar import RotateAndGoAStar, State


config = configparser.ConfigParser()
config.read("config.ini")


class Main:
    def __init__(self):
        tiles_x = 10
        tiles_y = 10

        self.renderer = Renderer(800, 800, tiles_x, tiles_y)

        self.world = generate_world(tiles_x, tiles_y)

        self.commands = []

        self.clock = pygame.time.Clock()
        self.running = True
        self.fps = 60

    def run(self):
        while self.running:
            self.process_input()
            self.update()
            self.renderer.render(self.world)
            self.clock.tick(self.fps)

        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)

        # 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)

        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()
                # self.handle_action1(action_direction)
                self.handle_action2(action_direction)

            self.update()
            self.renderer.render(self.world)
            self.clock.tick(5)

        pygame.quit()

    def handle_action1(self, action):
        if action == "UP":
            self.commands.append(
                VacuumMoveCommand(self.world, self.world.vacuum, (0, -1))
            )
        elif action == "DOWN":
            self.commands.append(
                VacuumMoveCommand(self.world, self.world.vacuum, (0, 1))
            )
        elif action == "LEFT":
            self.commands.append(
                VacuumMoveCommand(self.world, self.world.vacuum, (-1, 0))
            )
        elif action == "RIGHT":
            self.commands.append(
                VacuumMoveCommand(self.world, self.world.vacuum, (1, 0))
            )

    def handle_action2(self, action):
        if action == "GO":
            self.commands.append(
                VacuumMoveCommand(self.world, self.world.vacuum, self.world.vacuum.direction)
            )
        elif action == "RR":
            self.world.vacuum.direction = (-self.world.vacuum.direction[1], self.world.vacuum.direction[0])
        elif action == "RL":
            self.world.vacuum.direction = (self.world.vacuum.direction[1], -self.world.vacuum.direction[0])

    def process_input(self):
        for event in pygame.event.get():
            if event.type == pygame.QUIT:
                self.running = False
            if event.type == pygame.KEYDOWN:
                if event.key == pygame.K_LEFT:
                    self.commands.append(
                        VacuumMoveCommand(self.world, self.world.vacuum, (-1, 0))
                    )
                if event.key == pygame.K_RIGHT:
                    self.commands.append(
                        VacuumMoveCommand(self.world, self.world.vacuum, (1, 0))
                    )
                if event.key == pygame.K_UP:
                    self.commands.append(
                        VacuumMoveCommand(self.world, self.world.vacuum, (0, -1))
                    )
                if event.key == pygame.K_DOWN:
                    self.commands.append(
                        VacuumMoveCommand(self.world, self.world.vacuum, (0, 1))
                    )

    def update(self):
        if config.getboolean("APP", "cat"):
            self.commands.append(RandomCatMoveCommand(self.world, self.world.cat))
        for command in self.commands:
            command.run()
        self.commands.clear()


def generate_world(tiles_x: int, tiles_y: int) -> World:
    world = World(tiles_x, tiles_y)
    for _ in range(35):
        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(Entity(2, 8, "PLANT1"))
    world.add_entity(Entity(4, 1, "PLANT1"))
    world.add_entity(Entity(3, 4, "PLANT2"))
    world.add_entity(Entity(8, 8, "PLANT2"))
    world.add_entity(Entity(9, 3, "PLANT3"))
    world.add_entity(Earring(5, 5))
    

    for x in range(world.width):
        for y in range(world.height):
            if world.is_garbage_at(x, y):
                world.costs[x][y] = 1
            else:
                world.costs[x][y] = 10
    return world

if __name__ == "__main__":
    app = Main()
    if config["APP"]["movement"] == "human":
        app.run()
    elif config["APP"]["movement"] == "robot":
        app.run_robot()