bfs works, bfs_main.py
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@ -0,0 +1,56 @@
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import sys
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import time
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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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from wyszukiwanie import Stan, SearchSpace, Search
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pygame.init()
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screen = pygame.display.set_mode((980, 980))
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miejsce = pygame.image.load('images/miejsce_paczek.png')
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pygame.display.set_caption("Inteligentny wozek")
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icon = pygame.image.load('images/icon.png')
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pygame.display.set_icon(icon)
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def main():
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wozek = Wozek(0,0)
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grid_points = SearchSpace()
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goal_state = Stan(5, 2, 0)
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path = Search(grid_points).wyszukiwanie_bfs(wozek.state, goal_state)
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if path:
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for p in path:
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wozek._move(p)
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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(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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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_bfs()
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pygame.display.flip()
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time.sleep(1)
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if __name__ == "__main__":
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main()
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214
main.py
214
main.py
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@ -1,12 +1,8 @@
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import sys
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import time
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import pygame
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import regal
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import paczka
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from paczka import Paczka
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from wozek import Wozek
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from wyszukiwanie import Stan, SearchSpace, Search, GridCellType
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from typing import Tuple, Dict
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pygame.init()
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screen = pygame.display.set_mode((980, 980))
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@ -16,156 +12,84 @@ pygame.display.set_caption("Inteligentny wozek")
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icon = pygame.image.load('images/icon.png')
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pygame.display.set_icon(icon)
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# def draw(self):
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# screen.blit(self.image, (self.state.x, self.y))
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def draw(self):
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screen.blit(self.image, (self.x, self.y))
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def main():
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wozek = Wozek()
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wozek = Wozek(0,0)
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while True:
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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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# 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.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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grid_points = SearchSpace()
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goal_state = Stan(5, 2, 0) # for example
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# perform BFS search
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path = Search(grid_points).wyszukiwanie_bfs(wozek.state, goal_state)
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if path:
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for p in path:
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wozek._move(p)
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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(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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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()
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time.sleep(1)
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# wozek._drive(path)
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# print(path)
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# for action in path:
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# x = wozek.state.x
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# y = wozek.state.y
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# direction = wozek.state.kierunek
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# print(x)
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# if action == "Left":
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# wozek.state.kierunek = 3 if direction == 0 else direction - 1
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# # always legal
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# elif action == "Right":
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# # self._truck_direction(direction, action)
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# wozek.state.kierunek = (direction + 1) % 4
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# # check if its legal
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# elif action == "Forward":
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# t_x = x + 1 if direction == 1 else (x - 1 if direction == 3 else x)
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# t_y = y - 1 if direction == 0 else (y + 1 if direction == 2 else y)
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# # if self.points_grid[t_y][t_x].is_available:
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# wozek.state.x = t_x
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# wozek.state.y = t_y
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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(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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# 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()
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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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# 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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# # 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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# # 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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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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# 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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# 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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wozek.x += wozek.x_change
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wozek.y += wozek.y_change
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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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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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# wozek.draw()
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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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# pygame.display.flip() # updating frames
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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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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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draw(wozek)
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if wozek.ln == 0:
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for x in packageList.list:
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draw(x)
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#demo_paczka.narysuj(430,400,screen)
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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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main()
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43
wozek.py
43
wozek.py
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@ -12,8 +12,8 @@ class Wozek():
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def __init__(self, y, x):
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# self.x = 55
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# self.y = 55
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# self.x_change = 0
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# self.y_change = 0
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self.x_change = 0
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self.y_change = 0
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self.height = 64
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self.width = 64
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self.image = pygame.image.load("images/pusty_wozek.png")
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@ -26,6 +26,11 @@ class Wozek():
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def draw(self):
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from main import screen
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# screen.blit(self.image, (self.x, self.y))
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#screen.blit(self.image, (self.obecnyStan.x, self.obecnyStan.y))
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screen.blit(self.image, (self.state.x, self.state.y))
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def draw_bfs(self):
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from main import screen
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# screen.blit(self.image, (self.x, self.y))
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#screen.blit(self.image, (self.obecnyStan.x, self.obecnyStan.y))
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screen.blit(self.image, (self.state.x*98, self.state.y*98))
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@ -61,8 +66,8 @@ class Wozek():
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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(1, 1, 3)
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# def _drive(self, actions):
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# def _drive(self, actions):
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# # for action in actions.reverse():
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# for action in actions:
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# self._move(action)
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@ -71,37 +76,25 @@ class Wozek():
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# # self.screen.fill((51,51,51)) # removes object trail
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# # self.screen.blit(self.miejsce, (430, 400))
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# self.draw()
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# pygame.display.flip()
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def _move(self, action):
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x = self.state.x
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y = self.state.y
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direction = self.state.kierunek
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kierunek = self.state.kierunek
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# always legal
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if action == "Left":
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if action == "Lewo":
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self.state.kierunek = 3 if kierunek == 0 else kierunek - 1
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# self._truck_direction(direction, action)
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self.state.kierunek = 3 if direction == 0 else direction - 1
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# always legal
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elif action == "Right":
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# self._truck_direction(direction, action)
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self.state.kierunek = (direction + 1) % 4
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# check if its legal
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elif action == "Forward":
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t_x = x + 1 if direction == 1 else (x - 1 if direction == 3 else x)
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t_y = y - 1 if direction == 0 else (y + 1 if direction == 2 else y)
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# if self.points_grid[t_y][t_x].is_available:
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self.state.x = t_x
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self.state.y = t_y
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# else:
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# print("[ MOVE LOG ] - You can't move in that direction!")
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elif action == "Prawo":
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self.state.kierunek = (kierunek + 1) % 4
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elif action == "Do przodu":
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new_x = x + 1 if kierunek == 1 else (x - 1 if kierunek == 3 else x)
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new_y = y - 1 if kierunek == 0 else (y + 1 if kierunek == 2 else y)
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self.state.x = new_x
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self.state.y = new_y
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# def ustaw_wozek_w_kierunku(self, kierunek):
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# TODO
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209
wyszukiwanie.py
209
wyszukiwanie.py
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@ -3,7 +3,7 @@ from enum import Enum
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from typing import Tuple, Dict
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class GridCellType(Enum):
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NOTHING = 0
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FREE = 0
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REGAL = 1
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# dodać oznaczenie na miejsce dla paczek
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@ -16,7 +16,7 @@ class SearchSpace:
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def _init_grid(self) -> None:
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for i in range (0,10):
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for j in range(0,10):
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self.grid[(i, j)] = GridCellType.NOTHING
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self.grid[(i, j)] = GridCellType.FREE
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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)] = GridCellType.REGAL
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@ -29,14 +29,14 @@ class Stan:
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class Wezel:
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def __init__(self, stan: Stan, action = None, parent = None):
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def __init__(self, stan: Stan, akcja = None, parent = None):
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self.stan = stan
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self.action = action
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self.akcja = akcja
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self.parent = parent
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class Search:
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def __init__(self, points_grid: SearchSpace):
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self.points_grid = points_grid
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def __init__(self, search_grid: SearchSpace):
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self.search_grid = search_grid
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def wyszukiwanie_bfs(self, stan_poczatkowy: Stan, stan_docelowy: Stan):
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pierwszy_wezel = Wezel(stan_poczatkowy)
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@ -52,9 +52,9 @@ class Search:
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odwiedzone.append(wezel.stan)
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for action, stan in self.nastepnik(wezel):
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for akcja, stan in self.nastepnik(wezel):
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if wezel not in fringe and stan not in odwiedzone:
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x_node = Wezel(stan, action, wezel)
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x_node = Wezel(stan, akcja, wezel)
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fringe.append(x_node)
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return False
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@ -69,23 +69,17 @@ class Search:
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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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state = wezel.stan
|
||||
right_state = Stan( state.x, state.y,(state.kierunek + 1) % 4)
|
||||
|
||||
right_node = ["Right", right_state]
|
||||
stan_prawego = Stan(state.x, state.y,(state.kierunek + 1) % 4)
|
||||
ruch_w_prawo = ["Prawo", stan_prawego]
|
||||
|
||||
# 90 degree left state - cost of turn is 1
|
||||
left_state = Stan (state.x, state.y,3 if state.kierunek == 0 else state.kierunek - 1)
|
||||
stan_lewego = Stan(state.x, state.y, 3 if state.kierunek == 0 else state.kierunek - 1)
|
||||
ruch_w_lewo = ["Lewo", stan_lewego]
|
||||
|
||||
# storing temporarily node as list
|
||||
left_node = ["Left", left_state]
|
||||
|
||||
# always two nodes are possible because we can turn in both sides
|
||||
nodes = [right_node, left_node]
|
||||
nodes = [ruch_w_prawo, ruch_w_lewo]
|
||||
|
||||
y = state.x
|
||||
x = state.y
|
||||
# obrot_w_prawo = Stan(x, y, (wezel.stan.kierunek + 1) % 4)
|
||||
# obrot_w_lewo = Stan(x, y, (wezel.stan.kierunek - 1) % 4)
|
||||
|
||||
if wezel.stan.kierunek == 0:
|
||||
y -= 1
|
||||
|
|
@ -96,187 +90,36 @@ class Search:
|
|||
elif wezel.stan.kierunek == 3:
|
||||
x -= 1
|
||||
|
||||
|
||||
place = None
|
||||
|
||||
if 0 <= y < 98 and 0 <= x < 98:
|
||||
place = self.points_grid.grid[(y,x)]
|
||||
place = self.search_grid.grid[(x,y)]
|
||||
|
||||
if place is not None and place is GridCellType.NOTHING:
|
||||
ruch_w_przod = Stan(y, x, wezel.stan.kierunek)
|
||||
forward_node = ["Forward", ruch_w_przod]
|
||||
nodes.append(forward_node)
|
||||
|
||||
# sprawdzenie czy nie wyjdzie poza plansze
|
||||
# if 0 <= x <= 916 and 0 <= y <= 916:
|
||||
# wezly.append(ruch_w_przod)
|
||||
if place is not None and place is GridCellType.FREE:
|
||||
stan_w_przod = Stan(y, x, wezel.stan.kierunek)
|
||||
ruch_w_przod = ["Do przodu", stan_w_przod]
|
||||
nodes.append(ruch_w_przod)
|
||||
|
||||
return nodes
|
||||
|
||||
def get_actions(self, wezel: Wezel):
|
||||
actions = []
|
||||
akcje = []
|
||||
moves_forward = 0
|
||||
turns = 0
|
||||
parent = wezel
|
||||
while True:
|
||||
action = parent.action
|
||||
akcja = parent.akcja
|
||||
parent = parent.parent
|
||||
if action is None:
|
||||
|
||||
if akcja is None:
|
||||
break
|
||||
|
||||
if action == "Forward":
|
||||
if akcja == "Forward":
|
||||
moves_forward = moves_forward + 1
|
||||
else:
|
||||
turns = turns + 1
|
||||
|
||||
actions.append(action)
|
||||
akcje.append(akcja)
|
||||
akcje.reverse()
|
||||
|
||||
actions.reverse()
|
||||
|
||||
return actions
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
# class Kierunek(Enum):
|
||||
# POLNOC = 0
|
||||
# POLUDNIE = 1
|
||||
# ZACHOD = 2
|
||||
# WSCHOD = 3
|
||||
# def kierunekNaLewo(self):
|
||||
# if self == Kierunek.POLNOC:
|
||||
# return Kierunek.ZACHOD
|
||||
# elif self == Kierunek.POLUDNIE:
|
||||
# return Kierunek.WSCHOD
|
||||
# elif self == Kierunek.ZACHOD:
|
||||
# return Kierunek.POLUDNIE
|
||||
# elif self == Kierunek.WSCHOD:
|
||||
# return Kierunek.POLNOC
|
||||
|
||||
# def kierunekNaPrawo(self):
|
||||
# if self == Kierunek.POLNOC:
|
||||
# return Kierunek.WSCHOD
|
||||
# elif self == Kierunek.POLUDNIE:
|
||||
# return Kierunek.ZACHOD
|
||||
# elif self == Kierunek.ZACHOD:
|
||||
# return Kierunek.POLNOC
|
||||
# elif self == Kierunek.WSCHOD:
|
||||
# return Kierunek.POLUDNIE
|
||||
|
||||
# class Akcja(Enum):
|
||||
# OBROT_W_LEWO = 0
|
||||
# OBROT_W_PRAWO = 1
|
||||
# KROK_W_PRZOD = 2
|
||||
|
||||
# class Stan:
|
||||
# def __init__(self, kierunek: Kierunek, x, y):
|
||||
# self.x = x
|
||||
# self.y = y
|
||||
# self.kierunek = kierunek
|
||||
|
||||
# def skopiuj(self):
|
||||
# return Stan(self.x, self.y, self.kierunek)
|
||||
|
||||
# class Nastepnik:
|
||||
# def __init__(self, akcja: Akcja or None, stan: Stan, poprzednik):
|
||||
# self.akcja = akcja
|
||||
# self.stan = stan
|
||||
# self._poprzednik = poprzednik
|
||||
|
||||
# def getPoprzednik(self):
|
||||
# return self._poprzednik
|
||||
|
||||
# def setPoprzednik(self, x):
|
||||
# raise Exception
|
||||
|
||||
# poprzednik = property(getPoprzednik, setPoprzednik)
|
||||
|
||||
# def skopiuj(self):
|
||||
# return Nastepnik(self.akcja, self.stan.skopiuj(), self.poprzednik)
|
||||
|
||||
# def goaltest(stan: Stan, cel: Stan):
|
||||
# if stan.x != cel.x:
|
||||
# return False
|
||||
# elif stan.y != cel.y:
|
||||
# return False
|
||||
# else:
|
||||
# return True
|
||||
|
||||
# def stos_akcji(stan_koncowy: Nastepnik):
|
||||
# stos = deque()
|
||||
# while stan_koncowy.poprzednik is not None:
|
||||
# stos.append(stan_koncowy.akcja)
|
||||
# stan_koncowy = stan_koncowy.poprzednik
|
||||
# return stos
|
||||
|
||||
# def stan_w_liscie_nastepnikow(stan: Stan, lista_nastepnikow):
|
||||
# for i in lista_nastepnikow:
|
||||
# if i.stan.kierunek != stan.kierunek:
|
||||
# continue
|
||||
# elif i.stan.x != stan.x:
|
||||
# continue
|
||||
# elif i.stan.y != stan.y:
|
||||
# continue
|
||||
# else:
|
||||
# return True
|
||||
# return False
|
||||
|
||||
# def nastepnik_kroku_w_przod(nastepnik: Nastepnik):
|
||||
# akcja = Akcja.KROK_W_PRZOD
|
||||
# stan = Stan(nastepnik.stan.kierunek, nastepnik.stan.x, nastepnik.stan.y)
|
||||
# if stan.kierunek == Kierunek.POLNOC:
|
||||
# stan.x -= 1
|
||||
# elif stan.kierunek == Kierunek.POLUDNIE:
|
||||
# stan.x += 1
|
||||
# elif stan.kierunek == Kierunek.ZACHOD:
|
||||
# stan.y -= 1
|
||||
# elif stan.kierunek == Kierunek.WSCHOD:
|
||||
# stan.y += 1
|
||||
# return Nastepnik(akcja, stan, nastepnik)
|
||||
|
||||
# def nastepnik_obrotu_w_lewo(nastepnik: Nastepnik):
|
||||
# akcja = Akcja.OBROT_W_LEWO
|
||||
# stan = Stan(nastepnik.stan.kierunek.kierunekNaLewo(), nastepnik.stan.x, nastepnik.stan.y)
|
||||
# return Nastepnik(akcja, stan, nastepnik)
|
||||
# #Nastepnik(Akcja.OBROT_W_LEWO, Stan(nastepnik.stan.kierunek.kierunekNaLewo(), nastepnik.stan.poleStartoweGorne), nastepnik)
|
||||
# #
|
||||
|
||||
# def nastepnik_obrotu_w_prawo(nastepnik: Nastepnik):
|
||||
# akcja = Akcja.OBROT_W_PRAWO
|
||||
# stan = Stan(nastepnik.stan.kierunek.kierunekNaPrawo(),nastepnik.stan.x, nastepnik.stan.y)
|
||||
# return Nastepnik(akcja, stan, nastepnik)
|
||||
|
||||
# def succ(nastepnik: Nastepnik):
|
||||
# wynik = []
|
||||
# pom = nastepnik.skopiuj()
|
||||
# #wynik.append(nastepnik_obrotu_w_lewo(pom))
|
||||
# wynik.append(nastepnik_obrotu_w_lewo(pom))
|
||||
# pom = nastepnik.skopiuj()
|
||||
# wynik.append(nastepnik_obrotu_w_prawo(pom))
|
||||
# pom = nastepnik.skopiuj()
|
||||
|
||||
# wynik.append(nastepnik_kroku_w_przod(pom))
|
||||
# return wynik
|
||||
|
||||
# def graphsearch(istate: Stan, cel: Stan):
|
||||
# fringe = deque()
|
||||
# explored = []
|
||||
# fringe.append(Nastepnik(None, istate, None))
|
||||
# while fringe:
|
||||
# # for i in fringe:
|
||||
# # print("F",i.stan.kierunek,i.stan.poleStartoweGorne.wiersz,i.stan.poleStartoweGorne.kolumna,end=" ")
|
||||
# # print()
|
||||
# element: Nastepnik = fringe.popleft()
|
||||
# if goaltest(element.stan, cel):
|
||||
# return stos_akcji(element)
|
||||
# explored.append(element)
|
||||
# for nastepnik in succ(element):
|
||||
# if not stan_w_liscie_nastepnikow(nastepnik, fringe) and not stan_w_liscie_nastepnikow(nastepnik, explored):
|
||||
# fringe.append(nastepnik)
|
||||
# return False
|
||||
return akcje
|
||||
Loading…
Reference in New Issue