64 lines
3.0 KiB
Python
64 lines
3.0 KiB
Python
from agentActionType import AgentActionType
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import time
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from turnCar import turn_left_orientation, turn_right_orientation
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from garbageTruck import GarbageTruck
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from typing import Tuple, Dict
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from gridCellType import GridCellType
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from gameContext import GameContext
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from agentOrientation import AgentOrientation
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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, 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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next_position = calculate_next_position(game_context.dust_car)
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game_context.grid[next_position] = GridCellType.VISITED_GARBAGE_CAN
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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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has_to_render_street = False
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if action == AgentActionType.TURN_LEFT:
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game_context.dust_car.orientation = turn_left_orientation(game_context.dust_car.orientation)
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elif action == AgentActionType.TURN_RIGHT:
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game_context.dust_car.orientation = turn_right_orientation(game_context.dust_car.orientation)
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elif action == AgentActionType.MOVE_FORWARD:
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game_context.dust_car.position = calculate_next_position(game_context.dust_car)
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has_to_render_street = True
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game_context.dust_car.render(game_context)
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if has_to_render_street:
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if game_context.grid[street_position] == GridCellType.STREET_HORIZONTAL:
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game_context.render_in_cell(street_position, "imgs/street_horizontal.png")
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elif game_context.grid[street_position] == GridCellType.STREET_VERTICAL:
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game_context.render_in_cell(street_position, "imgs/street_vertical.png")
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elif game_context.grid[street_position] == GridCellType.SPEED_BUMP:
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game_context.render_in_cell(street_position, "imgs/speed_bump.png")
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pygame.display.update()
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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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return None
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return (car.position[0], car.position[1] - 1)
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if car.orientation == AgentOrientation.DOWN:
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if car.position[1] + 1 > 27:
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return None
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return (car.position[0], car.position[1] + 1)
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if car.orientation == AgentOrientation.LEFT:
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if car.position[0] - 1 < 1:
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return None
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return (car.position[0] - 1, car.position[1])
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if car.position[0] + 1 > 27:
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return None
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return (car.position[0] + 1, car.position[1]) |