Merge pull request 'A_star' (#25) from A_star into master
Reviewed-on: #25 Reviewed-by: Paweł Felcyn <pawfel1@st.amu.edu.pl>
This commit is contained in:
commit
9287f76ea3
152
bfs.py
152
bfs.py
@ -1,112 +1,155 @@
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from agentState import AgentState
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from typing import Dict, Tuple
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from typing import Dict, Tuple, List
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from city import City
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from gridCellType import GridCellType
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from agentActionType import AgentActionType
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from agentOrientation import AgentOrientation
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from queue import Queue
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from queue import Queue, PriorityQueue
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from turnCar import turn_left_orientation, turn_right_orientation
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class Succ:
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state: AgentState
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action: AgentActionType
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##cost: int
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def __init__(self, state: AgentState, action: AgentActionType) -> None:
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class Successor:
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def __init__(self, state: AgentState, action: AgentActionType, cost: int, predicted_cost: int) -> None:
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self.state = state
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self.action = action
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##self.cost = cost
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self.cost = cost
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self.predicted_cost = cost
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def find_path_to_nearest_can(startState: AgentState, grid: Dict[Tuple[int, int], GridCellType]) -> list[AgentActionType]:
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q: Queue[list[Succ]] = Queue()
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visited: list[AgentState] = []
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startStates: list[Succ] = [Succ(startState, AgentActionType.UNKNOWN)]
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q.put(startStates)
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while not q.empty():
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currently_checked = q.get()
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visited.append(currently_checked[-1].state)
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if is_state_success(currently_checked[-1].state, grid):
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return extract_actions(currently_checked)
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successors = succ(currently_checked[-1].state)
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class SuccessorList:
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succ_list: list[Successor]
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def __init__(self, succ_list: list[Successor]) -> None:
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self.succ_list = succ_list
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def __gt__(self, other):
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return self.succ_list[-1].predicted_cost > other.succ_list[-1].predicted_cost
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def __lt__(self, other):
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return self.succ_list[-1].predicted_cost < other.succ_list[-1].predicted_cost
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def find_path_to_nearest_can(startState: AgentState, grid: Dict[Tuple[int, int], GridCellType], city: City) -> List[
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AgentActionType]:
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visited: List[AgentState] = []
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queue: PriorityQueue[SuccessorList] = PriorityQueue()
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queue.put(SuccessorList([Successor(startState, AgentActionType.UNKNOWN, 0, _heuristics(startState.position, city))]))
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while not queue.empty():
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current = queue.get()
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previous = current.succ_list[-1]
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visited.append(previous.state)
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if is_state_success(previous.state, grid):
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return extract_actions(current)
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successors = get_successors(previous, grid, city)
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for s in successors:
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already_visited = False
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for v in visited:
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if v.position[0] == s.state.position[0] and v.position[1] == s.state.position[1] and s.state.orientation == v.orientation:
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if v.position == s.state.position and v.orientation == s.state.orientation:
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already_visited = True
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break
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if already_visited:
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continue
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if is_state_valid(s.state, grid):
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new_list = currently_checked.copy()
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new_list = current.succ_list.copy()
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new_list.append(s)
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q.put(new_list)
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queue.put(SuccessorList(new_list))
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return []
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def extract_actions(successors: list[Succ]) -> list[AgentActionType]:
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def extract_actions(successors: SuccessorList) -> list[AgentActionType]:
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output: list[AgentActionType] = []
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for s in successors:
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for s in successors.succ_list:
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if s.action != AgentActionType.UNKNOWN:
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output.append(s.action)
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return output
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def succ(state: AgentState) -> list[Succ]:
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result: list[Succ] = []
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result.append(Succ(AgentState(state.position, turn_left_orientation(state.orientation)), AgentActionType.TURN_LEFT))
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result.append(Succ(AgentState(state.position, turn_right_orientation(state.orientation)), AgentActionType.TURN_RIGHT))
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state_succ = move_forward_succ(state)
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if state_succ != None:
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result.append(move_forward_succ(state))
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def get_successors(succ: Successor, grid: Dict[Tuple[int, int], GridCellType], city: City) -> List[Successor]:
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result: List[Successor] = []
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turn_left_cost = 1 + succ.cost
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turn_left_state = AgentState(succ.state.position, turn_left_orientation(succ.state.orientation))
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turn_left_heuristics = _heuristics(succ.state.position, city)
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result.append(
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Successor(turn_left_state, AgentActionType.TURN_LEFT, turn_left_cost, turn_left_cost + turn_left_heuristics))
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turn_right_cost = 1 + succ.cost
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turn_right_state = AgentState(succ.state.position, turn_right_orientation(succ.state.orientation))
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turn_right_heuristics = _heuristics(succ.state.position, city)
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result.append(
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Successor(turn_right_state, AgentActionType.TURN_RIGHT, turn_right_cost,
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turn_right_cost + turn_right_heuristics))
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state_succ = move_forward_succ(succ, city, grid)
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if state_succ is not None:
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result.append(state_succ)
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return result
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def move_forward_succ(state: AgentState) -> Succ:
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position = get_next_cell(state)
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if position == None:
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def move_forward_succ(succ: Successor, city: City, grid: Dict[Tuple[int, int], GridCellType]) -> Successor:
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position = get_next_cell(succ.state)
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if position is None:
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return None
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return Succ(AgentState(position, state.orientation), AgentActionType.MOVE_FORWARD)
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cost = get_cost_for_action(AgentActionType.MOVE_FORWARD, grid[position]) + succ.cost
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predicted_cost = cost + _heuristics(position, city)
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new_state = AgentState(position, succ.state.orientation)
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return Successor(new_state, AgentActionType.MOVE_FORWARD, cost, predicted_cost)
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def get_next_cell(state: AgentState) -> Tuple[int, int]:
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if state.orientation == AgentOrientation.UP:
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if state.position[1] - 1 < 1:
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x, y = state.position
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orientation = state.orientation
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if orientation == AgentOrientation.UP:
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if y - 1 < 1:
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return None
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return (state.position[0], state.position[1] - 1)
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if state.orientation == AgentOrientation.DOWN:
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if state.position[1] + 1 > 27:
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return x, y - 1
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elif orientation == AgentOrientation.DOWN:
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if y + 1 > 27:
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return None
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return (state.position[0], state.position[1] + 1)
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if state.orientation == AgentOrientation.LEFT:
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if state.position[0] - 1 < 1:
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return x, y + 1
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elif orientation == AgentOrientation.LEFT:
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if x - 1 < 1:
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return None
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return (state.position[0] - 1, state.position[1])
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if state.position[0] + 1 > 27:
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return x - 1, y
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elif x + 1 > 27:
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return None
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return (state.position[0] + 1, state.position[1])
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else:
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return x + 1, y
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def is_state_success(state: AgentState, grid: Dict[Tuple[int, int], GridCellType]) -> bool:
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next_cell = get_next_cell(state)
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try:
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return grid[next_cell] == GridCellType.GARBAGE_CAN
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except:
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except KeyError:
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return False
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def get_cost_for_action(action: AgentActionType, cell_type: GridCellType) -> int:
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if action == AgentActionType.TURN_LEFT or action == AgentActionType.TURN_RIGHT:
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if action in [AgentActionType.TURN_LEFT, AgentActionType.TURN_RIGHT]:
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return 1
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if cell_type == GridCellType.SPEED_BUMP:
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if action == AgentActionType.MOVE_FORWARD:
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return 10
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if cell_type == GridCellType.SPEED_BUMP and action == AgentActionType.MOVE_FORWARD:
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return 10
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if action == AgentActionType.MOVE_FORWARD:
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return 3
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def is_state_valid(state: AgentState, grid: Dict[Tuple[int, int], GridCellType]) -> bool:
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try:
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return grid[state.position] == GridCellType.STREET_HORIZONTAL or grid[state.position] == GridCellType.STREET_VERTICAL or grid[state.position] == GridCellType.SPEED_BUMP
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except:
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return grid[state.position] == GridCellType.STREET_HORIZONTAL or grid[
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state.position] == GridCellType.STREET_VERTICAL or grid[state.position] == GridCellType.SPEED_BUMP
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except KeyError:
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return False
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def _heuristics(position: Tuple[int, int], city: City):
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min_distance: int = 300
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found_nonvisited: bool = False
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@ -120,4 +163,3 @@ def _heuristics(position: Tuple[int, int], city: City):
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if found_nonvisited:
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return min_distance
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return -1
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7
city.py
7
city.py
@ -4,6 +4,7 @@ from speedBump import SpeedBump
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from street import Street
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from gameContext import GameContext
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class City:
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cans: List[GarbageCan]
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bumps: List[SpeedBump]
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@ -11,12 +12,12 @@ class City:
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cans_dict: Dict[Tuple[int, int], GarbageCan] = {}
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def __init__(self) -> None:
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self.nodes = []
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self.cans = []
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self.streets = []
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self.bumps = []
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def add_can(self, can: GarbageCan) -> None:
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self.nodes.append(can)
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self.cans.append(can)
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self.cans_dict[can.position] = can
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def add_street(self, street: Street) -> None:
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@ -35,7 +36,7 @@ class City:
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street.render(game_context)
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def _render_nodes(self, game_context: GameContext) -> None:
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for node in self.nodes:
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for node in self.cans:
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node.render(game_context)
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def _render_bumps(self, game_context: GameContext) -> None:
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@ -10,10 +10,11 @@ import pygame
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from bfs import find_path_to_nearest_can
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from agentState import AgentState
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def collect_garbage(game_context: GameContext) -> None:
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while True:
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start_agent_state = AgentState(game_context.dust_car.position, game_context.dust_car.orientation)
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path = find_path_to_nearest_can(start_agent_state, game_context.grid)
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path = find_path_to_nearest_can(start_agent_state, game_context.grid, game_context.city)
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if path == None or len(path) == 0:
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break
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move_dust_car(path, game_context)
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@ -22,6 +23,7 @@ def collect_garbage(game_context: GameContext) -> None:
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game_context.city.cans_dict[next_position].is_visited = True
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pass
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def move_dust_car(actions: list[AgentActionType], game_context: GameContext) -> None:
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for action in actions:
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street_position = game_context.dust_car.position
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@ -45,7 +47,6 @@ def move_dust_car(actions: list[AgentActionType], game_context: GameContext) ->
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time.sleep(0.15)
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def calculate_next_position(car: GarbageTruck) -> Tuple[int, int]:
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if car.orientation == AgentOrientation.UP:
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if car.position[1] - 1 < 1:
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