README.md

@@ -1,2 +1,3 @@
 # sztuczna_inteligencja_2023_smieciarka
 
+Symulacja inteligentnej śmieciarki. Śmieciarka zbiera śmieci z kubłów wystawionych przez mieszkańców, samodzielnie je segreguje i zawozi na wysypisko.

agentActionType.py

@@ -0,0 +1,7 @@
+from enum import Enum
+
+class AgentActionType (Enum):
+    MOVE_FORWARD = 0
+    TURN_LEFT = 1
+    TURN_RIGHT = 2
+    UNKNOWN = None

agentOrientation.py

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

agentState.py

@@ -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

bfs.py

@@ -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

city.py

@@ -0,0 +1,33 @@
+from typing import List
+from garbageCan import GarbageCan
+from street import Street
+from gameContext import GameContext
+
+class Node:
+    garbageCan: GarbageCan
+    id: int
+
+    def __init__(self, id: int, can: GarbageCan) -> None:
+        self.id 
+        self.can = can
+
+class City:
+    nodes: List[Node]
+    streets: List[Street]
+
+    def __init__(self) -> None:
+        self.nodes = []
+        self.streets = []
+
+    def add_node(self, node: Node) -> None:
+        self.nodes.append(node)
+    
+    def add_street(self, street: Street) -> None:
+        self.streets.append(street)
+
+    def render_city(self, game_context: GameContext) -> None:
+        self._render_streets(game_context)
+
+    def _render_streets(self, game_context: GameContext) -> None:
+        for street in self.streets:
+            street.render(game_context)

gameContext.py

@@ -1,4 +1,7 @@
+from typing import Tuple, List, Dict
 import pygame
+from PIL import Image
+from gridCellType import GridCellType
 
 class GameContext:
     dust_car_speed = 20
@@ -7,6 +10,24 @@ class GameContext:
     dust_car_pygame = None
     dust_car_pil = None
     canvas = None
+    _cell_size: int = 30
+    city = None
+    grid: Dict[Tuple[int, int], GridCellType] = {}
+    dust_car = None
+
+    def __init__(self) -> None:
+        self._init_grid()
+
+    def _init_grid(self) -> None:
+        for i in range(1, 28):
+            for j in range(1, 28):
+                self.grid[(i, j)] = GridCellType.NOTHING
+
+    def render_in_cell(self, cell: Tuple[int, int], img_path: str):
+        img = Image.open(img_path)
+        pygame_img = pygame.image.frombuffer(img.tobytes(), (self._cell_size,self._cell_size), 'RGB')
+        start_x = (cell[0] - 1) * self._cell_size
+        start_y = (cell[1] - 1) * self._cell_size
+        self.canvas.blit(pygame_img, (start_x, start_y))
+
 
-def startup(game_context: GameContext):
-    game_context.canvas.blit(game_context.dust_car_pygame, (game_context.dust_car_position_x, game_context.dust_car_position_y))

gameEventHandler.py

@@ -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

garbage.py

@@ -0,0 +1,21 @@
+from enum import Enum
+
+class GarbageType (Enum):
+    PAPER = 0,
+    PLASTIC_AND_METAL = 1
+    GLASS = 3
+    BIO = 4
+    MIXED = 5
+
+class Garbage:
+    img: str
+
+    def __init__(self, img: str) -> None:
+        self.img = img
+
+class RecognizedGarbage (Garbage):
+    garbage_type: GarbageType
+
+    def __init__(self, src: Garbage, garbage_type: GarbageType) -> None:
+        super().__init__(src.img)
+        self.garbage_type = garbage_type

garbageCan.py

@@ -0,0 +1,22 @@
+from garbage import Garbage
+from typing import List, Tuple
+from gameContext import GameContext
+from gridCellType import GridCellType
+
+class GarbageCan:
+    position: Tuple[int, int]
+    garbage: List[Garbage]
+
+    def __init__(self, position: Tuple[int, int]) -> None:
+        self.position = position
+        self.garbage = []
+
+    def add_garbage(self, garbage: Garbage) -> None:
+        self.garbage.append(garbage)
+
+    def remove_garbage(self, garbage: Garbage) -> None:
+        self.garbage.remove(garbage)
+
+    def render(self, game_context: GameContext) -> None:
+        game_context.render_in_cell(self.position, "imgs/container.png")
+        game_context.grid[self.position] = GridCellType.GARBAGE_CAN

garbageTruck.py

@@ -0,0 +1,50 @@
+from typing import List, Tuple
+from agentOrientation import AgentOrientation
+from garbage import RecognizedGarbage
+from gameContext import GameContext
+
+class GarbageTruck:
+    position: Tuple[int, int]
+    paper: List[RecognizedGarbage]
+    plastic_and_metal: List[RecognizedGarbage]
+    glass: List[RecognizedGarbage]
+    bio: List[RecognizedGarbage]
+    mixed: List[RecognizedGarbage]
+    orientation: AgentOrientation = AgentOrientation.RIGHT
+
+    def __init__(self, position: Tuple[int, int]) -> None:
+        self.position = position
+        self.paper = []
+        self.plastic_and_metal = []
+        self.glass = []
+        self.bio = []
+        self.mixed = []
+        
+
+    def sort_garbage(self, RecognizedGarbage) -> None:
+        if RecognizedGarbage.garbage_type == 0:
+            self.paper.append(RecognizedGarbage)
+
+        elif RecognizedGarbage.garbage_type == 1:
+            self.plastic_and_metal.append(RecognizedGarbage)
+
+        elif RecognizedGarbage.garbage_type == 3:
+            self.glass.append(RecognizedGarbage)
+
+        elif RecognizedGarbage.garbage_type == 4:
+            self.bio.append(RecognizedGarbage)
+
+        elif RecognizedGarbage.garbage_type == 5:
+            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)

gridCellType.py

@@ -0,0 +1,8 @@
+from enum import Enum
+
+class GridCellType(Enum):
+    NOTHING = 0
+    STREET_VERTICAL = 1
+    STREET_HORIZONTAL = 2
+    GARBAGE_CAN = 3
+    VISITED_GARBAGE_CAN = 4

main.py

@@ -1,15 +1,17 @@
 import pygame
 from gameEventHandler import handle_game_event 
 from gameContext import GameContext
-from gameContext import startup
+from startup import startup
 from PIL import Image
+from agentActionType import AgentActionType
+from movement import move_dust_car
 
 pygame.init()
 
 canvas = pygame.display.set_mode((800, 800))
 
 pygame.display.set_caption("Inteligentna śmieciarka")
-dust_car_pil = Image.open('imgs/dust_car.png')
+dust_car_pil = Image.open('imgs/dust_car_right.png')
 
 game_context = GameContext()
 game_context.dust_car_pil = dust_car_pil
@@ -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
 
@@ -26,5 +36,4 @@ while not exit:
             exit = True
         else:
             handle_game_event(event, game_context)
-
     pygame.display.update()

movement.py

@@ -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])

startup.py

@@ -0,0 +1,44 @@
+from gameContext import GameContext
+from city import City
+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)
+    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")
+    pygame_bg_image = pygame.image.frombuffer(bg_img.tobytes(), bg_img.size, 'RGB')
+    game_context.canvas.blit(pygame_bg_image, (0, 0))
+
+def create_city() -> City:
+    city: City = City()
+    streets = create_streets()
+    for s in streets:
+        city.add_street(s)
+    return city
+
+def create_streets() -> List[Street]:
+    streets = []
+    streets.append(Street(3, 30, 3, StreetType.HORIZONTAL))
+    streets.append(Street(4, 15, 10, StreetType.VERTICAL))
+    streets.append(Street(4, 10, 25, StreetType.VERTICAL))
+    streets.append(Street(11, 24, 10, StreetType.HORIZONTAL))
+    streets.append(Street(4, 9, 18, StreetType.VERTICAL))
+    streets.append(Street(1, 30, 16, StreetType.HORIZONTAL))
+    streets.append(Street(17, 30, 2, StreetType.VERTICAL))
+    streets.append(Street(3, 25, 23, StreetType.HORIZONTAL))
+    streets.append(Street(17, 30, 13, StreetType.VERTICAL))
+    streets.append(Street(17, 23, 25, StreetType.VERTICAL))
+    return streets

street.py

@@ -0,0 +1,27 @@
+from enum import Enum
+from typing import Tuple
+from gameContext import GameContext
+from gridCellType import GridCellType
+
+class StreetType (Enum):
+    VERTICAL = 0
+    HORIZONTAL = 1
+
+class Street:
+    street_type: StreetType
+    start_cell: int
+    end_cell: int
+    row_or_column: int
+
+    def __init__(self, start_cell: int, end_cell: int, row_or_column: int, street_type: StreetType) -> None:
+        self.start_cell = start_cell
+        self.end_cell = end_cell
+        self.street_type = street_type
+        self.row_or_column = row_or_column
+
+    def render(self, game_context: GameContext) -> None:
+        for i in range(self.start_cell, self.end_cell + 1):
+            img_str: str = 'imgs/street_vertical.png' if self.street_type == StreetType.VERTICAL else 'imgs/street_horizontal.png'
+            cell: Tuple[int, int] = (self.row_or_column, i) if self.street_type == StreetType.VERTICAL else (i, self.row_or_column)
+            game_context.render_in_cell(cell, img_str)
+            game_context.grid[cell] = GridCellType.STREET_HORIZONTAL if self.street_type == StreetType.HORIZONTAL else GridCellType.STREET_VERTICAL

turnCar.py

@@ -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