sztuczna_inteligencja_2023_.../movement.py
2023-05-25 18:18:11 +02:00

65 lines
3.0 KiB
Python

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])