103 lines
3.8 KiB
Python
103 lines
3.8 KiB
Python
from agentState import AgentState
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from typing import Dict, Tuple
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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 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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self.state = state
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self.action = action
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self.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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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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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.append(s)
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q.put(new_list)
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return []
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def extract_actions(successors: list[Succ]) -> list[AgentActionType]:
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output: list[AgentActionType] = []
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for s in successors:
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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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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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return None
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return Succ(AgentState(position, state.orientation), AgentActionType.MOVE_FORWARD)
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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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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 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 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 None
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return (state.position[0] + 1, state.position[1])
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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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return False
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def get_cost_for_cell_type(cell_type: GridCellType) -> int:
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if cell_type == GridCellType.SPEED_BUMP:
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return 10
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else:
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return 1
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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 False |