sztuczna_inteligencja_2023_smieciarka/movement.py

from agentActionType import AgentActionType
import time
from turnCar import turn_left_orientation, turn_right_orientation
from garbageTruck import GarbageTruck
from typing import Tuple, Dict
from gridCellType import GridCellType
from gameContext import GameContext
from agentOrientation import AgentOrientation
import pygame
from bfs import find_path_to_nearest_can
from agentState import AgentState


def collect_garbage(game_context: GameContext) -> None:
    while True:
        start_agent_state = AgentState(game_context.dust_car.position, game_context.dust_car.orientation)
        path = find_path_to_nearest_can(start_agent_state, game_context.grid, game_context.city)
        if path == None or len(path) == 0:
            break
        move_dust_car(path, game_context)
        next_position = calculate_next_position(game_context.dust_car)
        game_context.grid[next_position] = GridCellType.VISITED_GARBAGE_CAN
        game_context.city.cans_dict[next_position].is_visited = True
    pass


def move_dust_car(actions: list[AgentActionType], game_context: GameContext) -> None:
    for action in actions:
        street_position = game_context.dust_car.position
        has_to_render_street = False
        if action == AgentActionType.TURN_LEFT:
            game_context.dust_car.orientation = turn_left_orientation(game_context.dust_car.orientation)
        elif action == AgentActionType.TURN_RIGHT:
            game_context.dust_car.orientation = turn_right_orientation(game_context.dust_car.orientation)
        elif action == AgentActionType.MOVE_FORWARD:
            game_context.dust_car.position = calculate_next_position(game_context.dust_car)
            has_to_render_street = True
        game_context.dust_car.render(game_context)
        if has_to_render_street:
            if game_context.grid[street_position] == GridCellType.STREET_HORIZONTAL:
                game_context.render_in_cell(street_position, "imgs/street_horizontal.png")
            elif game_context.grid[street_position] == GridCellType.STREET_VERTICAL:
                game_context.render_in_cell(street_position, "imgs/street_vertical.png")
            elif game_context.grid[street_position] == GridCellType.SPEED_BUMP:
                game_context.render_in_cell(street_position, "imgs/speed_bump.png")
        pygame.display.update()
        time.sleep(0.15)


def calculate_next_position(car: GarbageTruck) -> Tuple[int, int]:
    if car.orientation == AgentOrientation.UP:
        if car.position[1] - 1 < 1:
            return None
        return (car.position[0], car.position[1] - 1)
    if car.orientation == AgentOrientation.DOWN:
        if car.position[1] + 1 > 27:
            return None
        return (car.position[0], car.position[1] + 1)
    if car.orientation == AgentOrientation.LEFT:
        if car.position[0] - 1 < 1:
            return None
        return (car.position[0] - 1, car.position[1])
    if car.position[0] + 1 > 27:
        return None
    return (car.position[0] + 1, car.position[1])