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dd4f656ea2
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@ -148,29 +148,53 @@ class Tractor:
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def draw_tractor(self, win):
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imageTractor = pygame.transform.scale(self.image, (TILE_SIZE, TILE_SIZE))
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win.blit(imageTractor, (self.rect.x, self.rect.y))
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pygame.display.flip()
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def store_tile_image(self, tile):
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return pygame.image.load(tile.image).convert_alpha()
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def restore_tile_image(self, screen, tile):
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image = pygame.image.load(tile.image).convert_alpha()
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image = pygame.transform.scale(image, (TILE_SIZE, TILE_SIZE))
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screen.blit(image, (tile.x, tile.y))
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pygame.display.update()
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#translates move_list generated by bfs into the actual movement:
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def do_actions(tractor, WIN, move_list):
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trail = pygame.image.load("resources/images/background.jpg").convert_alpha()
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trail = pygame.transform.scale(trail, (TILE_SIZE, TILE_SIZE))
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# trail = pygame.image.load("resources/images/background.jpg").convert_alpha()
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# trail = pygame.transform.scale(trail, (TILE_SIZE, TILE_SIZE))
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tile_images = {}
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for tile in tiles:
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tile_images[(tile.x, tile.y)] = tractor.store_tile_image(tile)
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pygame.display.update()
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for move in move_list:
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WIN.blit(trail, (tractor.rect.x, tractor.rect.y, TILE_SIZE, TILE_SIZE))
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# WIN.blit(trail, (tractor.rect.x, tractor.rect.y, TILE_SIZE, TILE_SIZE))
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current_tile = None
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for tile in tiles:
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if tile.x == tractor.rect.x and tile.y == tractor.rect.y:
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current_tile = tile
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break
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if current_tile:
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tractor.restore_tile_image(WIN, current_tile)
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if move == "move":
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tractor.move()
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elif move == "rotate_right":
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tractor.rotate_to_right()
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elif move == "rotate_left":
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tractor.rotate_to_left()
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tractor.draw_tractor(WIN)
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pygame.display.update()
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time.sleep(0.5)
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#displays results of the "work_on_field" function next to the field:
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def display_work_results(screen, text, position):
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font = pygame.font.Font(None, 30)
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@ -91,7 +91,7 @@ def heuristic(current_x, current_y, end_x, end_y):
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# actions(string): move, rotate_to_left, rotate_to_right
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# main search function:
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def a_star(istate, succ, goaltest, tractor):
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def a_star(istate, succ_astar, goaltest):
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fringe = []
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explored = set()
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node = Node(0, istate.get_x(), istate.get_y(), istate.get_direction(), None, None, 0)
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@ -109,7 +109,7 @@ def a_star(istate, succ, goaltest, tractor):
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explored.add(elem)
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for (action, state) in succ(temp, tractor):
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for (action, state) in succ_astar(temp):
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fringe_tuple = []
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explored_tuple = []
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@ -158,7 +158,43 @@ def succ(elem, tractor):
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return actions_states
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#its the copy of successor function for A* only - tractor can ride through stones if there is no other way:
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def succ_astar(elem):
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actions_states = []
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temp = copy.copy(elem.get_direction())
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if temp == 1:
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temp = 4
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else:
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temp -= 1
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actions_states.append(("rotate_left", (elem.get_x(), elem.get_y(), temp)))
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temp = copy.copy(elem.get_direction())
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if temp == 4:
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temp = 1
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else:
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temp += 1
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actions_states.append(("rotate_right", (elem.get_x(), elem.get_y(), temp)))
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temp_move_east = elem.get_x() + TILE_SIZE
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temp_move_west = elem.get_x() - TILE_SIZE
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temp_move_north = elem.get_y() - TILE_SIZE
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temp_move_south = elem.get_y() + TILE_SIZE
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if Tractor.can_it_move_node(elem) == "move east":
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actions_states.append(("move", (temp_move_east, elem.get_y(), elem.get_direction())))
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elif Tractor.can_it_move_node(elem) == "move west":
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actions_states.append(("move", (temp_move_west, elem.get_y(), elem.get_direction())))
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elif Tractor.can_it_move_node(elem) == "move north":
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actions_states.append(("move", (elem.get_x(), temp_move_north, elem.get_direction())))
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elif Tractor.can_it_move_node(elem) == "move south":
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actions_states.append(("move", (elem.get_x(), temp_move_south, elem.get_direction())))
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return actions_states
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#returns list of actions
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def get_moves(elem):
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@ -10,7 +10,7 @@ from area.field import tiles, fieldX, fieldY
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from area.field import get_tile_coordinates, get_tile_index
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from ground import Dirt
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from plant import Plant
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from bfs import graphsearch, Istate, succ
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from bfs import graphsearch, Istate, succ_astar, succ
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from astar import a_star
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from NN.neural_network import load_model, load_image, guess_image, display_image, display_result, clear_text_area
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from PIL import Image
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@ -26,13 +26,10 @@ pygame.display.set_caption('Intelligent tractor')
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def main():
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run = True
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window = drawWindow(WIN)
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pygame.display.update()
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#Tractor initialization:
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tractor = Tractor(0*TILE_SIZE, 0*TILE_SIZE, 2, None, None)
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tractor.rect.x += fieldX
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@ -71,13 +68,11 @@ def main():
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goaltest[1]=tile_y
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#moves = (graphsearch(istate, succ, goaltest, tractor)) #<-------BFS
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moves = (a_star(istate, succ, goaltest, tractor))
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moves = (a_star(istate, succ_astar, goaltest))
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print(moves)
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# movement based on route-planning:
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tractor.draw_tractor(WIN)
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time.sleep(1)
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if moves != False:
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@ -213,9 +208,18 @@ def main():
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#work on field:
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if predykcje == 'work':
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tractor.work_on_field(WIN, goalTile, d1, p1)
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#update the initial state for the next target:
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istate = Istate(tile_x, tile_y, tractor.direction)
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#old goalTile is displayed with a black border - to show that it was an old target:
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tiles[tile_index].image = "resources/images/sampling_old_goal.png"
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image = pygame.image.load(tiles[tile_index].image).convert()
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image = pygame.transform.scale(image, (TILE_SIZE, TILE_SIZE))
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WIN.blit(image, (tiles[tile_index].x, tiles[tile_index].y))
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pygame.display.flip()
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tractor.draw_tractor(WIN)
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time.sleep(2)
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print("\n")
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source/resources/images/sampling_old_goal.png
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source/resources/images/sampling_old_goal.png
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