A* working ok
This commit is contained in:
majkellll
parent
af32df4474
commit
15638862d3
@ -7,4 +7,4 @@ class AgentState:
|
||||
|
||||
def __init__(self, position: Tuple[int, int], orientation: AgentOrientation) -> None:
|
||||
self.orientation = orientation
|
||||
self.position = position
|
||||
self.position = position
|
||||
|
||||
45
bfs.py
45
bfs.py
@ -7,6 +7,7 @@ from agentOrientation import AgentOrientation
|
||||
from queue import Queue, PriorityQueue
|
||||
from turnCar import turn_left_orientation, turn_right_orientation
|
||||
|
||||
|
||||
class Succ:
|
||||
state: AgentState
|
||||
action: AgentActionType
|
||||
@ -19,6 +20,7 @@ class Succ:
|
||||
self.cost = cost
|
||||
self.predicted_cost = cost
|
||||
|
||||
|
||||
class SuccList:
|
||||
succ_list: list[Succ]
|
||||
|
||||
@ -27,14 +29,17 @@ class SuccList:
|
||||
|
||||
def __lt__(self, other):
|
||||
return self.succ_list[-1].predicted_cost < other.succ_list[-1].predicted_cost
|
||||
|
||||
|
||||
def __gt__(self, other):
|
||||
return self.succ_list[-1].predicted_cost > other.succ_list[-1].predicted_cost
|
||||
|
||||
def find_path_to_nearest_can(startState: AgentState, grid: Dict[Tuple[int, int], GridCellType], city: City) -> list[AgentActionType]:
|
||||
|
||||
def find_path_to_nearest_can(startState: AgentState, grid: Dict[Tuple[int, int], GridCellType], city: City) -> list[
|
||||
AgentActionType]:
|
||||
q: PriorityQueue[SuccList] = PriorityQueue()
|
||||
visited: list[AgentState] = []
|
||||
startStates: SuccList = SuccList([Succ(startState, AgentActionType.UNKNOWN, 0, _heuristics(startState.position, city))])
|
||||
startStates: SuccList = SuccList(
|
||||
[Succ(startState, AgentActionType.UNKNOWN, 0, _heuristics(startState.position, city))])
|
||||
q.put(startStates)
|
||||
while not q.empty():
|
||||
currently_checked = q.get()
|
||||
@ -45,7 +50,8 @@ def find_path_to_nearest_can(startState: AgentState, grid: Dict[Tuple[int, int],
|
||||
for s in successors:
|
||||
already_visited = False
|
||||
for v in visited:
|
||||
if v.position[0] == s.state.position[0] and v.position[1] == s.state.position[1] and s.state.orientation == v.orientation:
|
||||
if v.position[0] == s.state.position[0] and v.position[1] == s.state.position[
|
||||
1] and s.state.orientation == v.orientation:
|
||||
already_visited = True
|
||||
break
|
||||
if already_visited:
|
||||
@ -56,8 +62,7 @@ def find_path_to_nearest_can(startState: AgentState, grid: Dict[Tuple[int, int],
|
||||
q.put(SuccList(new_list))
|
||||
return []
|
||||
|
||||
|
||||
|
||||
|
||||
def extract_actions(successors: SuccList) -> list[AgentActionType]:
|
||||
output: list[AgentActionType] = []
|
||||
for s in successors.succ_list:
|
||||
@ -65,24 +70,31 @@ def extract_actions(successors: SuccList) -> list[AgentActionType]:
|
||||
output.append(s.action)
|
||||
return output
|
||||
|
||||
|
||||
def succ(succ: Succ, grid: Dict[Tuple[int, int], GridCellType], city: City) -> list[Succ]:
|
||||
result: list[Succ] = []
|
||||
turn_left_cost = 1 + succ.cost
|
||||
result.append(Succ(AgentState(succ.state.position, turn_left_orientation(succ.state.orientation)), AgentActionType.TURN_LEFT, turn_left_cost, turn_left_cost + _heuristics(succ.state.position, city)))
|
||||
result.append(
|
||||
Succ(AgentState(succ.state.position, turn_left_orientation(succ.state.orientation)), AgentActionType.TURN_LEFT,
|
||||
turn_left_cost, turn_left_cost + _heuristics(succ.state.position, city)))
|
||||
turn_right_cost = 1 + succ.cost
|
||||
result.append(Succ(AgentState(succ.state.position, turn_right_orientation(succ.state.orientation)), AgentActionType.TURN_RIGHT, turn_right_cost, turn_right_cost + _heuristics(succ.state.position, city)))
|
||||
result.append(Succ(AgentState(succ.state.position, turn_right_orientation(succ.state.orientation)),
|
||||
AgentActionType.TURN_RIGHT, turn_right_cost,
|
||||
turn_right_cost + _heuristics(succ.state.position, city)))
|
||||
state_succ = move_forward_succ(succ, city, grid)
|
||||
if state_succ != None:
|
||||
result.append(state_succ)
|
||||
return result
|
||||
|
||||
|
||||
def move_forward_succ(succ: Succ, city: City, grid: Dict[Tuple[int, int], GridCellType]) -> Succ:
|
||||
position = get_next_cell(succ.state)
|
||||
if position == None:
|
||||
return None
|
||||
|
||||
|
||||
cost = get_cost_for_action(AgentActionType.MOVE_FORWARD, grid[position]) + succ.cost
|
||||
return Succ(AgentState(position, succ.state.orientation), AgentActionType.MOVE_FORWARD, cost, cost + _heuristics(position, city))
|
||||
return Succ(AgentState(position, succ.state.orientation), AgentActionType.MOVE_FORWARD, cost,
|
||||
cost + _heuristics(position, city))
|
||||
|
||||
|
||||
def get_next_cell(state: AgentState) -> Tuple[int, int]:
|
||||
@ -102,6 +114,7 @@ def get_next_cell(state: AgentState) -> Tuple[int, int]:
|
||||
return None
|
||||
return (state.position[0] + 1, state.position[1])
|
||||
|
||||
|
||||
def is_state_success(state: AgentState, grid: Dict[Tuple[int, int], GridCellType]) -> bool:
|
||||
next_cell = get_next_cell(state)
|
||||
try:
|
||||
@ -109,6 +122,7 @@ def is_state_success(state: AgentState, grid: Dict[Tuple[int, int], GridCellType
|
||||
except:
|
||||
return False
|
||||
|
||||
|
||||
def get_cost_for_action(action: AgentActionType, cell_type: GridCellType) -> int:
|
||||
if action == AgentActionType.TURN_LEFT or action == AgentActionType.TURN_RIGHT:
|
||||
return 1
|
||||
@ -120,11 +134,13 @@ def get_cost_for_action(action: AgentActionType, cell_type: GridCellType) -> int
|
||||
|
||||
|
||||
def is_state_valid(state: AgentState, grid: Dict[Tuple[int, int], GridCellType]) -> bool:
|
||||
try:
|
||||
return grid[state.position] == GridCellType.STREET_HORIZONTAL or grid[state.position] == GridCellType.STREET_VERTICAL or grid[state.position] == GridCellType.SPEED_BUMP
|
||||
try:
|
||||
return grid[state.position] == GridCellType.STREET_HORIZONTAL or grid[
|
||||
state.position] == GridCellType.STREET_VERTICAL or grid[state.position] == GridCellType.SPEED_BUMP
|
||||
except:
|
||||
return False
|
||||
|
||||
|
||||
|
||||
def _heuristics(position: Tuple[int, int], city: City):
|
||||
min_distance: int = 300
|
||||
found_nonvisited: bool = False
|
||||
@ -137,5 +153,4 @@ def _heuristics(position: Tuple[int, int], city: City):
|
||||
min_distance = distance
|
||||
if found_nonvisited:
|
||||
return min_distance
|
||||
return -1
|
||||
|
||||
return -1
|
||||
2
city.py
2
city.py
@ -41,4 +41,4 @@ class City:
|
||||
|
||||
def _render_bumps(self, game_context: GameContext) -> None:
|
||||
for bump in self.bumps:
|
||||
bump.render(game_context)
|
||||
bump.render(game_context)
|
||||
4
main.py
4
main.py
@ -20,10 +20,8 @@ game_context.dust_car_pil = dust_car_pil
|
||||
game_context.dust_car_pygame = pygame.image.frombuffer(dust_car_pil.tobytes(), dust_car_pil.size, 'RGB')
|
||||
game_context.canvas = canvas
|
||||
|
||||
city = City()
|
||||
|
||||
startup(game_context)
|
||||
collect_garbage(game_context, city)
|
||||
collect_garbage(game_context)
|
||||
|
||||
exit = False
|
||||
|
||||
|
||||
@ -10,6 +10,7 @@ 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)
|
||||
@ -22,6 +23,7 @@ def collect_garbage(game_context: GameContext) -> None:
|
||||
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
|
||||
@ -44,7 +46,6 @@ def move_dust_car(actions: list[AgentActionType], game_context: GameContext) ->
|
||||
pygame.display.update()
|
||||
time.sleep(0.15)
|
||||
|
||||
|
||||
|
||||
def calculate_next_position(car: GarbageTruck) -> Tuple[int, int]:
|
||||
if car.orientation == AgentOrientation.UP:
|
||||
|
||||
Loading…
Reference in New Issue
Block a user