bfs #19

Merged
s473616 merged 5 commits from bfs into master 2023-04-22 18:08:27 +02:00
12 changed files with 214 additions and 27 deletions

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@ -3,4 +3,5 @@ from enum import Enum
class AgentActionType (Enum):
MOVE_FORWARD = 0
TURN_LEFT = 1
TURN_RIGHT = 2
TURN_RIGHT = 2
UNKNOWN = None

7
agentOrientation.py Normal file
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@ -0,0 +1,7 @@
from enum import Enum
class AgentOrientation (Enum):
UP = 0
RIGHT = 1
DOWN = 2
LEFT = 3

10
agentState.py Normal file
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@ -0,0 +1,10 @@
from agentOrientation import AgentOrientation
from typing import Tuple
class AgentState:
orientation: AgentOrientation
position: Tuple[int, int]
def __init__(self, position: Tuple[int, int], orientation: AgentOrientation) -> None:
self.orientation = orientation
self.position = position

89
bfs.py Normal file
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@ -0,0 +1,89 @@
from agentState import AgentState
from typing import Dict, Tuple
from gridCellType import GridCellType
from agentActionType import AgentActionType
from agentOrientation import AgentOrientation
from queue import Queue
from turnCar import turn_left_orientation, turn_right_orientation
class Succ:
state: AgentState
action: AgentActionType
def __init__(self, state: AgentState, action: AgentActionType) -> None:
self.state = state
self.action = action
def find_path_to_nearest_can(startState: AgentState, grid: Dict[Tuple[int, int], GridCellType]) -> list[AgentActionType]:
q: Queue[list[Succ]] = Queue()
visited: list[AgentState] = []
startStates: list[Succ] = [Succ(startState, AgentActionType.UNKNOWN)]
q.put(startStates)
while not q.empty():
currently_checked = q.get()
visited.append(currently_checked[-1].state)
if is_state_success(currently_checked[-1].state, grid):
return extract_actions(currently_checked)
successors = succ(currently_checked[-1].state)
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:
already_visited = True
break
if already_visited:
continue
if is_state_valid(s.state, grid):
new_list = currently_checked.copy()
new_list.append(s)
q.put(new_list)
return []
def extract_actions(successors: list[Succ]) -> list[AgentActionType]:
output: list[AgentActionType] = []
for s in successors:
if s.action != AgentActionType.UNKNOWN:
output.append(s.action)
return output
def succ(state: AgentState) -> list[Succ]:
result: list[Succ] = []
result.append(Succ(AgentState(state.position, turn_left_orientation(state.orientation)), AgentActionType.TURN_LEFT))
result.append(Succ(AgentState(state.position, turn_right_orientation(state.orientation)), AgentActionType.TURN_RIGHT))
state_succ = move_forward_succ(state)
if state_succ != None:
result.append(move_forward_succ(state))
return result
def move_forward_succ(state: AgentState) -> Succ:
position = get_next_cell(state)
if position == None:
return None
return Succ(AgentState(position, state.orientation), AgentActionType.MOVE_FORWARD)
def get_next_cell(state: AgentState) -> Tuple[int, int]:
if state.orientation == AgentOrientation.UP:
if state.position[1] - 1 < 1:
return None
return (state.position[0], state.position[1] - 1)
if state.orientation == AgentOrientation.DOWN:
if state.position[1] + 1 > 27:
return None
return (state.position[0], state.position[1] + 1)
if state.orientation == AgentOrientation.LEFT:
if state.position[0] - 1 < 1:
return None
return (state.position[0] - 1, state.position[1])
if state.position[0] + 1 > 27:
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)
return grid[next_cell] == GridCellType.GARBAGE_CAN
def is_state_valid(state: AgentState, grid: Dict[Tuple[int, int], GridCellType]) -> bool:
return grid[state.position] == GridCellType.STREET_HORIZONTAL or grid[state.position] == GridCellType.STREET_VERTICAL

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@ -13,6 +13,7 @@ class GameContext:
_cell_size: int = 30
city = None
grid: Dict[Tuple[int, int], GridCellType] = {}
dust_car = None
def __init__(self) -> None:
self._init_grid()

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@ -2,23 +2,4 @@ import pygame
from gameContext import GameContext
def handle_game_event(event, game_context: GameContext):
dust_car_movement(event, game_context)
return
def dust_car_movement(event, game_context:GameContext):
if event.type != pygame.KEYDOWN:
return
(width, height) = game_context.dust_car_pil.size
if event.key == pygame.K_LEFT:
pygame.draw.rect(game_context.canvas, (0, 0, 0), (game_context.dust_car_position_x, game_context.dust_car_position_y, width, height))
game_context.dust_car_position_x -= game_context.dust_car_speed
elif event.key == pygame.K_RIGHT:
pygame.draw.rect(game_context.canvas, (0, 0, 0), (game_context.dust_car_position_x, game_context.dust_car_position_y, width, height))
game_context.dust_car_position_x += game_context.dust_car_speed
elif event.key == pygame.K_UP:
pygame.draw.rect(game_context.canvas, (0, 0, 0), (game_context.dust_car_position_x, game_context.dust_car_position_y, width, height))
game_context.dust_car_position_y -= game_context.dust_car_speed
elif event.key == pygame.K_DOWN:
pygame.draw.rect(game_context.canvas, (0, 0, 0), (game_context.dust_car_position_x, game_context.dust_car_position_y, width, height))
game_context.dust_car_position_y += game_context.dust_car_speed
game_context.canvas.blit(game_context.dust_car_pygame, (game_context.dust_car_position_x, game_context.dust_car_position_y))
pass

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@ -1,6 +1,7 @@
from typing import List, Tuple
from agentOrientation import AgentOrientation
from garbage import RecognizedGarbage
from gameContext import GameContext
class GarbageTruck:
position: Tuple[int, int]
@ -9,8 +10,9 @@ class GarbageTruck:
glass: List[RecognizedGarbage]
bio: List[RecognizedGarbage]
mixed: List[RecognizedGarbage]
truckSpritePath = 'imgs/dust_car.png'
def __init__(self, position: List[int, int]) -> None:
orientation: AgentOrientation = AgentOrientation.RIGHT
def __init__(self, position: Tuple[int, int]) -> None:
self.position = position
self.paper = []
self.plastic_and_metal = []
@ -33,4 +35,16 @@ class GarbageTruck:
self.bio.append(RecognizedGarbage)
elif RecognizedGarbage.garbage_type == 5:
self.mixed.append(RecognizedGarbage)
self.mixed.append(RecognizedGarbage)
def render(self, game_context: GameContext) -> None:
path = None
if self.orientation == AgentOrientation.LEFT:
path = 'imgs/dust_car_left.png'
elif self.orientation == AgentOrientation.RIGHT:
path = 'imgs/dust_car_right.png'
elif self.orientation == AgentOrientation.UP:
path = 'imgs/dust_car_up.png'
elif self.orientation == AgentOrientation.DOWN:
path = 'imgs/dust_car_down.png'
game_context.render_in_cell(self.position, path)

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@ -4,4 +4,5 @@ class GridCellType(Enum):
NOTHING = 0
STREET_VERTICAL = 1
STREET_HORIZONTAL = 2
GARBAGE_CAN = 3
GARBAGE_CAN = 3
VISITED_GARBAGE_CAN = 4

10
main.py
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@ -3,6 +3,8 @@ from gameEventHandler import handle_game_event
from gameContext import GameContext
from startup import startup
from PIL import Image
from agentActionType import AgentActionType
from movement import move_dust_car
pygame.init()
@ -17,6 +19,14 @@ game_context.dust_car_pygame = pygame.image.frombuffer(dust_car_pil.tobytes(), d
game_context.canvas = canvas
startup(game_context)
# test = [AgentActionType.MOVE_FORWARD, AgentActionType.MOVE_FORWARD, AgentActionType.MOVE_FORWARD,
# AgentActionType.MOVE_FORWARD, AgentActionType.MOVE_FORWARD, AgentActionType.MOVE_FORWARD,
# AgentActionType.MOVE_FORWARD, AgentActionType.TURN_RIGHT, AgentActionType.MOVE_FORWARD,
# AgentActionType.MOVE_FORWARD, AgentActionType.MOVE_FORWARD, AgentActionType.MOVE_FORWARD,
# AgentActionType.MOVE_FORWARD, AgentActionType.MOVE_FORWARD, AgentActionType.MOVE_FORWARD,
# AgentActionType.TURN_LEFT, AgentActionType.MOVE_FORWARD]
# move_dust_car(test, game_context)
exit = False

48
movement.py Normal file
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@ -0,0 +1,48 @@
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
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")
pygame.display.update()
time.sleep(0.5)
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])

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@ -4,12 +4,18 @@ from PIL import Image
import pygame
from typing import Tuple, List
from street import Street, StreetType
from garbageTruck import GarbageTruck
def startup(game_context: GameContext):
render_background(game_context)
game_context.city = create_city()
game_context.city.render_city(game_context)
game_context.canvas.blit(game_context.dust_car_pygame, (game_context.dust_car_position_x, game_context.dust_car_position_y))
car = create_dust_car(game_context)
car.render(game_context)
game_context.dust_car = car
def create_dust_car(game_context: GameContext) -> GarbageTruck:
return GarbageTruck((3, 3))
def render_background(game_context: GameContext):
bg_img = Image.open("imgs/background.jpg")

19
turnCar.py Normal file
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@ -0,0 +1,19 @@
from agentOrientation import AgentOrientation
def turn_left_orientation(orientation: AgentOrientation) -> AgentOrientation:
if orientation == AgentOrientation.DOWN:
return AgentOrientation.RIGHT
if orientation == AgentOrientation.LEFT:
return AgentOrientation.DOWN
if orientation == AgentOrientation.UP:
return AgentOrientation.LEFT
return AgentOrientation.UP
def turn_right_orientation(orientation: AgentOrientation) -> AgentOrientation:
if orientation == AgentOrientation.DOWN:
return AgentOrientation.LEFT
if orientation == AgentOrientation.LEFT:
return AgentOrientation.UP
if orientation == AgentOrientation.UP:
return AgentOrientation.RIGHT
return AgentOrientation.DOWN