modified the bfs search - prints path
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109
main.py
109
main.py
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@ -3,7 +3,8 @@ import pygame
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import regal
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import paczka
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from wozek import Wozek
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import wyszukiwanie
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from wyszukiwanie import wyszukiwanie_bfs, Stan, SearchSpace
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pygame.init()
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screen = pygame.display.set_mode((980, 980))
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@ -22,75 +23,65 @@ def main():
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sys.exit(0)
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if event.type == pygame.KEYDOWN and event.key == pygame.K_ESCAPE:
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sys.exit(0)
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grid = SearchSpace()
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# create start and goal states
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start_state = Stan(x=0, y=0, kierunek=0) # for example
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goal_state = Stan(x=0, y=1, kierunek=0) # for example
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if event.type == pygame.MOUSEBUTTONDOWN:
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# lewy przycisk myszy
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if event.button == 1:
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x = pygame.mouse.get_pos()[0]
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y = pygame.mouse.get_pos()[1]
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# perform BFS search
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path = wyszukiwanie_bfs(start_state, goal_state, grid)
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docelowy_stan = wyszukiwanie.Stan(x, y, 0)
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# print(f'{docelowy_stan.x} + {docelowy_stan.y}')
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wyszukiwanie.wyszukiwanie_bfs(wozek.obecnyStan, docelowy_stan)
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# print the path, if found
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if path:
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for p in path:
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print(p.x, p.y)
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print("Path found:", path)
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else:
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print("No path found.")
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if event.type == pygame.KEYDOWN:
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if event.key == pygame.K_DOWN:
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wozek.y_change = 1
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if event.key == pygame.K_UP:
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wozek.y_change = -1
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if event.key == pygame.K_RIGHT:
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wozek.x_change = 1
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if event.key == pygame.K_LEFT:
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wozek.x_change = -1
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for state in path:
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pygame.time.delay(200)
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wozek.x = state.x
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wozek.y = state.y
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for event in pygame.event.get():
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if event.type == pygame.QUIT:
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sys.exit(0)
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if event.type == pygame.KEYDOWN and event.key == pygame.K_ESCAPE:
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sys.exit(0)
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if event.type == pygame.KEYUP:
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if event.key == pygame.K_DOWN or event.key == pygame.K_UP:
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wozek.y_change = 0
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if event.key == pygame.K_RIGHT or event.key == pygame.K_LEFT:
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wozek.x_change = 0
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wozek.x += wozek.x_change
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wozek.y += wozek.y_change
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# Drawing
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screen.fill((51,51,51)) # removes object trail
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screen.blit(miejsce, (430, 400))
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if wozek.x <= 0:
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wozek.x = 0
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elif wozek.x >= 916:
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wozek.x = 916
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if wozek.y <= 0:
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wozek.y = 0
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elif wozek.x >= 916:
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wozek.x = 916
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# idRegału, Długość regału podana w kratkach, Współrzędne od których ma być tworzony regał (wiersz,kolumna) - poziomo
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# Współrzędne od (1,1) do (10,10)
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regal.Regal(1, 1, 2, 2)
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regal.Regal(2, 1, 2, 3)
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regal.Regal(3, 1, 3, 2)
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regal.Regal(4, 1, 3, 3)
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regal.Regal(5, 1, 8, 2)
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regal.Regal(6, 1, 8, 3)
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regal.Regal(7, 1, 9, 2)
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regal.Regal(8, 1, 9, 3)
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# Drawing
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screen.fill((51, 51, 51)) # removes object trail
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screen.blit(miejsce, (430, 400))
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regal.Regal(9, 1, 2, 8)
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regal.Regal(10, 1, 2, 9)
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regal.Regal(11, 1, 3, 8)
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regal.Regal(12, 1, 3, 9)
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# idRegału, Długość regału podana w kratkach, Współrzędne od których ma być tworzony regał (wiersz,kolumna) - poziomo
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# Współrzędne od (1,1) do (10,10)
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regal.Regal(1, 1, 2, 2)
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regal.Regal(2, 1, 2, 3)
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regal.Regal(3, 1, 3, 2)
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regal.Regal(4, 1, 3, 3)
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regal.Regal(13, 1, 8, 8)
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regal.Regal(14, 1, 8, 9)
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regal.Regal(15, 1, 9, 8)
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regal.Regal(16, 1, 9, 9)
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regal.Regal(5, 1, 8, 2)
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regal.Regal(6, 1, 8, 3)
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regal.Regal(7, 1, 9, 2)
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regal.Regal(8, 1, 9, 3)
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wozek.draw()
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regal.Regal(9, 1, 2, 8)
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regal.Regal(10, 1, 2, 9)
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regal.Regal(11, 1, 3, 8)
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regal.Regal(12, 1, 3, 9)
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regal.Regal(13, 1, 8, 8)
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regal.Regal(14, 1, 8, 9)
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regal.Regal(15, 1, 9, 8)
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regal.Regal(16, 1, 9, 9)
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wozek.draw()
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pygame.display.flip() # updating frames
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pygame.display.flip() # updating frames
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if __name__ == "__main__":
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main()
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5
wozek.py
5
wozek.py
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@ -1,7 +1,5 @@
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import pygame
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# screen nie działa
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class Wozek():
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@ -51,7 +49,8 @@ class Wozek():
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def __zainicjuj_stan_poczatkowy(self):
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from wyszukiwanie import Stan
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self.obecnyStan = Stan(55, 55, 3)
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# self.obecnyStan = Stan(55, 55, 3)
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self.obecnyStan = Stan(0, 0, 3)
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# def ustaw_wozek_w_kierunku(self, kierunek):
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# TODO
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@ -1,17 +1,25 @@
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class SearchSpace:
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def __init__(self):
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self.grid = [['1']*10 for _ in range(10)] # create a 10x10 grid of cells
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for r, c in [(2,2), (2,3), (3,2), (3,3), (8,2), (8,3), (9,2), (9,3),
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(2,8), (2,9), (3,8), (3,9), (8,8), (8,9), (9,8), (9,9)]:
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self.grid[r][c] = 'X' # set the cells with a shelf to not passable
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def is_passable(self, x, y):
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return 0 <= x < 10 and 0 <= y < 10 and self.grid[y][x] != 'X'
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class Stan:
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def __init__(self, x, y, kierunek):
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self.x = x
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self.y = y
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self.kierunek = kierunek
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class Wezel:
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def __init__(self, stan):
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self.stan = stan
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def poprzednik(wezel):
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# gora -> prawo -> dol -> lewo | obrot w prawo
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def poprzednik(wezel, search_space):
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# gora -> prawo -> dol -> lewo | obrot w prawo
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# gora -> lewo -> dol -> prawo | obrot w lewo
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# 0 gora 1 prawo 2 dol 3 lewo
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y = wezel.stan.x
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@ -37,23 +45,23 @@ def poprzednik(wezel):
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return wezly
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def wyszukiwanie_bfs(stan_poczatkowy, stan_docelowy):
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def wyszukiwanie_bfs(stan_poczatkowy, stan_docelowy, search_space):
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pierwszy_wezel = Wezel(stan_poczatkowy)
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fringe = [pierwszy_wezel]
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odwiedzone = list()
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odwiedzone = set()
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while fringe:
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# kolejka
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wezel = fringe.pop(0)
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if stan_docelowy.x == wezel.stan.x and stan_docelowy.y == wezel.stan.y:
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return odwiedzone
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odwiedzone.append(wezel)
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odwiedzone.add(wezel.stan)
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for stan in poprzednik(wezel):
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if wezel not in fringe and stan not in odwiedzone:
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for stan in poprzednik(wezel, search_space):
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if stan not in odwiedzone:
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nowy_wezel = Wezel(stan)
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fringe.append(nowy_wezel)
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odwiedzone.add(stan)
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return odwiedzone
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