Testowanie A*

animals.py

@@ -0,0 +1,39 @@
+from elephant import Elephant
+from giraffe import Giraffe
+from penguin import Penguin
+from parrot import Parrot
+from bear import Bear
+
+def create_animals():
+    giraffe1 = Giraffe(0, 0, adult=True)
+    giraffe2 = Giraffe(0, 0, adult=True)
+    giraffe3 = Giraffe(0, 0, adult=True)
+    giraffe4 = Giraffe(0, 0)
+    giraffe5 = Giraffe(0, 0)
+    bear1 = Bear(0, 0, adult=True)
+    bear2 = Bear(0, 0, adult=True)
+    bear3 = Bear(0, 0)
+    bear4 = Bear(0, 0)
+    bear5 = Bear(0, 0)
+    penguin1 = Penguin(0, 0)
+    penguin2 = Penguin(0, 0)
+    penguin3 = Penguin(0, 0)
+    penguin4 = Penguin(0, 0)
+    elephant1 = Elephant(0, 0, adult=True)
+    elephant2 = Elephant(0, 0, adult=True)
+    elephant3 = Elephant(0, 0)
+    elephant4 = Elephant(0, 0)
+    elephant5 = Elephant(0, 0)
+    parrot1 = Parrot(0, 0)
+    parrot2 = Parrot(0, 0)
+    parrot3 = Parrot(0, 0)
+    parrot4 = Parrot(0, 0)
+    parrot5 = Parrot(0, 0)
+
+    Animals =  [giraffe1, giraffe2, giraffe3, giraffe4, giraffe5,
+                bear1, bear2, bear3, bear4, bear5,
+                elephant1, elephant2, elephant3, elephant4, elephant5,
+                penguin1, penguin2, penguin3, penguin4,
+                parrot1, parrot2, parrot3, parrot4, parrot5]
+
+    return Animals

enclosure.py

@@ -17,17 +17,17 @@ class Enclosure:
     def gatebuild(self, screen, grid_size):
         self.imageGate = pygame.transform.scale(self.imageGate, (grid_size, grid_size))
         gate_x, gate_y = self.gate
-        gate_x-=1
+        gate_x -= 1
-        gate_y-=1
+        gate_y -= 1
         rect = pygame.Rect(gate_x * grid_size, gate_y * grid_size, grid_size, grid_size)
         screen.blit(self.imageGate, (gate_x * grid_size, gate_y * grid_size))
 
-    def draw(self,screen, grid_size):
+    def draw(self, screen, grid_size):
         self.imageH = pygame.transform.scale(self.imageH, (grid_size, grid_size))
         self.imageV = pygame.transform.scale(self.imageV, (grid_size, grid_size))
         gate_x, gate_y = self.gate
-        gate_x-=1
+        gate_x -= 1
-        gate_y-=1
+        gate_y -= 1
         if self.x1 < self.x2:
             for i in range(self.x1, self.x2+1):
                 if (i, self.y1) != (gate_x, gate_y):
@@ -38,4 +38,19 @@ class Enclosure:
                 if (self.x1, j) != (gate_x, gate_y):
                     screen.blit(self.imageV, (self.x1 * grid_size, j * grid_size))
                 if (self.x2, j) != (gate_x, gate_y):
-                    screen.blit(self.imageV, (self.x2 * grid_size, j * grid_size))
+                    screen.blit(self.imageV, (self.x2 * grid_size, j * grid_size))
+
+def create_enclosures():
+    fenceH = pygame.image.load('images/fenceHor.png')
+    fenceV = pygame.image.load('images/fenceVer.png')
+    gate = pygame.image.load('images/gate.png')
+    
+    en1 = Enclosure(0,5,  9,11, (9,6),"hot", fenceH, fenceV, gate) # Lewa klatka
+    en2 = Enclosure(13,0, 29,3, (16,3), 'medium', fenceH, fenceV, gate) # Górna klatka
+    en3 = Enclosure(11,5, 16,11, (12,5),'cold', fenceH, fenceV, gate) # Środkowa klatka
+    en4 = Enclosure(19,5, 31,11, (25,5),'hot', fenceH, fenceV, gate) # Prawa klatka
+    en5 = Enclosure(4,13, 28,16, (16,13),'cold', fenceH, fenceV, gate) # Dolna klatka
+
+    Enclosures = [en1, en2, en3, en4, en5]
+
+    return Enclosures

main.py

@@ -1,18 +1,16 @@
+from enum import Enum
 import random
 import pygame
 import sys
-from elephant import Elephant
+from animals import create_animals
-from giraffe import Giraffe
-from penguin import Penguin
-from parrot import Parrot
-from bear import Bear
 from agent import Agent
-from enclosure import Enclosure
+from enclosure import Enclosure, create_enclosures
 from spawner import Spawner
 from state_space_search import graphsearch
 from terrain_obstacle import Terrain_Obstacle
 
 BLACK = (0, 0, 0)
+RED = (255, 0, 0)
 
 GRID_SIZE = 50
 GRID_WIDTH = 30
@@ -37,45 +35,9 @@ obstacles = set()
 animals_position = set()
 terrain_obstacles_position = set()
 
-# region Define the animals
+Animals = create_animals()
-giraffe1 = Giraffe(0, 0, adult=True)
+Enclosures = create_enclosures()
-giraffe2 = Giraffe(0, 0, adult=True)
-giraffe3 = Giraffe(0, 0, adult=True)
-giraffe4 = Giraffe(0, 0)
-giraffe5 = Giraffe(0, 0)
-bear1 = Bear(0, 0, adult=True)
-bear2 = Bear(0, 0, adult=True)
-bear3 = Bear(0, 0)
-bear4 = Bear(0, 0)
-bear5 = Bear(0, 0)
-penguin1 = Penguin(0, 0)
-penguin2 = Penguin(0, 0)
-penguin3 = Penguin(0, 0)
-penguin4 = Penguin(0, 0)
-elephant1 = Elephant(0, 0, adult=True)
-elephant2 = Elephant(0, 0, adult=True)
-elephant3 = Elephant(0, 0)
-elephant4 = Elephant(0, 0)
-elephant5 = Elephant(0, 0)
-parrot1 = Parrot(0, 0)
-parrot2 = Parrot(0, 0)
-parrot3 = Parrot(0, 0)
-parrot4 = Parrot(0, 0)
-parrot5 = Parrot(0, 0)
 
-Animals = [giraffe1, giraffe2, giraffe3, giraffe4, giraffe5, bear1, bear2, bear3, bear4, bear5, elephant1, elephant2, elephant3, elephant4, elephant5, penguin1, penguin2, penguin3, penguin4, parrot1, parrot2, parrot3, parrot4, parrot5]
-# endregion
-
-# region Define Enclosures
-# Enclosure (lewy_górny_x, lewy_górny_y, prawy_dolny_x, prawy_dolny_y, brama, klimat, fenceH, fenceV, gate_obrazek)
-en1 = Enclosure(0,5,  9,11, (9,6),"hot", fenceH, fenceV, gate) # Lewa klatka
-en2 = Enclosure(13,0, 29,3, (16,3), 'medium', fenceH, fenceV, gate) # Górna klatka
-en3 = Enclosure(11,5, 16,11, (12,5),'cold', fenceH, fenceV, gate) # Środkowa klatka
-en4 = Enclosure(19,5, 31,11, (25,5),'hot', fenceH, fenceV, gate) # Prawa klatka
-en5 = Enclosure(4,13, 28,16, (16,13),'cold', fenceH, fenceV, gate) # Dolna klatka
-
-Enclosures = [en1, en2, en3, en4, en5]
-# endregion
 puddle1 = Terrain_Obstacle(0,0,'puddle', puddle_image)
 puddle2 = Terrain_Obstacle(0,0,'puddle', puddle_image)
 puddle3 = Terrain_Obstacle(0,0,'puddle', puddle_image)
@@ -158,8 +120,42 @@ def generate_obstacles():
 
     return obstacles
 
+cost_map = {}
+def generate_cost_map():
+    adult_animal_cost = 10
+    baby_animal_cost = 5
+    puddle_cost = 50
+    bush_cost = 20
+    wall_cost = 1000
+    for animal in Animals:
+        if animal.adult:
+            cost_map[(animal.x + 1, animal.y + 1)] = baby_animal_cost
+            cost_map[(animal.x + 1, animal.y)] = baby_animal_cost
+            cost_map[(animal.x, animal.y + 1)] = baby_animal_cost
+            cost_map[(animal.x, animal.y)] = adult_animal_cost
+        else:
+            cost_map[(animal.x, animal.y)] = baby_animal_cost
+
+    for terrain_obstacle in Terrain_Obstacles:
+        if terrain_obstacle.type == 'puddle':
+            cost_map[(terrain_obstacle.x , terrain_obstacle.y )] = puddle_cost
+        else:
+            cost_map[(terrain_obstacle.x , terrain_obstacle.y )] = bush_cost
+
+    for wall in Walls:
+        cost_map[wall[0], wall[1]] = wall_cost
+    # Inne pola z różnym kosztem
+    # cost_map[(x, y)] = cost_value
+
+# region Fields Tests
 available_fields_small = set()
 available_fields_large = set()
+
+WHITE = (255,255,255)
+GREEN = (0, 255, 0)
+YELLOW = (255, 255, 0)
+BLACK = (0, 0, 0)
+
 def generate_available_fields():
     for enclosure in Enclosures:
         for x in range(enclosure.x1 + 1, enclosure.x2):
@@ -170,21 +166,14 @@ def generate_available_fields():
                     if x < enclosure.x2 - 1 and y < enclosure.y2 - 1:
                         available_fields_large.add(field)
 
-# region Fields Tests
-WHITE = (255,255,255)
-GREEN = (0, 255, 0)
-YELLOW = (255, 255, 0)
-BLACK = (0, 0, 0)
-
 def draw_fields(fields, color):
     for field in fields:
         x, y = field
         pygame.draw.rect(screen, color, (x * GRID_SIZE, y * GRID_SIZE, GRID_SIZE, GRID_SIZE))
 
-def main_fields_tests():
+def available_fields_tests():
     obstacles = generate_obstacles()
 
-
     while True:
         screen.fill(WHITE)
 
@@ -200,29 +189,6 @@ def main_fields_tests():
         pygame.display.flip()
 # endregion
 
-cost_map = {}
-def generate_cost_map():
-    adult_animal_cost = 10
-    baby_animal_cost = 5
-    puddle_cost = 1000
-    bush_cost = 20
-    for animal in Animals:
-        if animal.adult:
-            cost_map[(animal.x + 1, animal.y + 1)] = baby_animal_cost
-            cost_map[(animal.x + 1, animal.y)] = baby_animal_cost
-            cost_map[(animal.x, animal.y + 1)] = baby_animal_cost
-            cost_map[(animal.x, animal.y)] = adult_animal_cost
-        else:
-            cost_map[(animal.x, animal.y)] = baby_animal_cost
-    for terrain_obstacle in Terrain_Obstacles:
-        if terrain_obstacle.type == 'puddle':
-            cost_map[(terrain_obstacle.x , terrain_obstacle.y )] = puddle_cost
-        else:
-            cost_map[(terrain_obstacle.x , terrain_obstacle.y )] = bush_cost
-    # Inne pola z różnym kosztem
-    # cost_map[(x, y)] = cost_value
-            
-
 # region Main Code
 def main():
     initial_state = (0,0,'S')
@@ -267,7 +233,7 @@ def main():
             goal = (animal.x, animal.y)
  
             # --- Zaznaczenie celu ---
-            pygame.draw.rect(screen, (255, 0, 0), (animal.x * GRID_SIZE, animal.y * GRID_SIZE, GRID_SIZE, GRID_SIZE))
+            pygame.draw.rect(screen, RED, (animal.x * GRID_SIZE, animal.y * GRID_SIZE, GRID_SIZE, GRID_SIZE))
             pygame.display.flip()
             pygame.time.delay(2000) 
             # ------------------------
@@ -275,10 +241,75 @@ def main():
             actions = graphsearch(agent.istate, goal, GRID_WIDTH, GRID_HEIGHT, obstacles, cost_map)
 # endregion
 
-if __name__ == "__main__":
+Walls = []
-    DEBUG_MODE = False  # Jeśli True to pokazuje dostępne pola
+# region A* Test
+from elephant import Elephant
+puddle1 = Terrain_Obstacle(15,8,'puddle', puddle_image)
+bush1 = Terrain_Obstacle(15,6,'bush', bush_image)
+animal = Elephant(15, 10)
+animal1 = Elephant(14, 10)
+animal2 = Elephant(13, 10)
+animal3 = Elephant(12, 10)
+animal4 = Elephant(11, 10)
+Animals = [animal, animal1, animal2, animal3, animal4]
+Terrain_Obstacles = [puddle1, bush1]
 
-    if DEBUG_MODE:
+empty_rows = [5, 7, 9]
-        main_fields_tests()
+
-    else:
+def generate_test_walls():
+    for x in range(4,26):
+        for y in range(0, 15):
+            if y not in empty_rows:
+                Walls.append((x, y))
+    return Walls
+
+def draw_test_walls():
+    for wall in generate_test_walls():
+        pygame.draw.rect(screen, BLACK, (wall[0] * GRID_SIZE, wall[1] * GRID_SIZE, GRID_SIZE, GRID_SIZE))
+
+def a_star_testing():
+    initial_state = (0, 7, 'E')
+    agent = Agent(initial_state, 'images/agent1.png', GRID_SIZE)
+    goal = (29, 7)
+
+    actions = []
+    clock = pygame.time.Clock()
+
+    generated = False
+    while True:
+        screen.fill(WHITE)
+        draw_grid()
+        draw_test_walls() 
+        draw_Terrain_Obstacles()
+        draw_Animals()
+        if not generated:
+            generate_cost_map()
+
+        agent.draw(screen, GRID_SIZE)
+        pygame.draw.rect(screen, RED, (goal[0] * GRID_SIZE, goal[1] * GRID_SIZE, GRID_SIZE, GRID_SIZE))
+        
+        pygame.display.flip()
+        clock.tick(10)
+
+        if actions:
+            action = actions.pop(0)
+            agent.move(action, GRID_WIDTH, GRID_HEIGHT, obstacles, Animals, goal)
+            pygame.time.wait(100)
+        else:
+            actions = graphsearch(agent.istate, goal, GRID_WIDTH, GRID_HEIGHT, obstacles, cost_map)
+# endregion
+
+class DebugMode(Enum):
+    MAIN = 1
+    AVAILABLE_FIELDS = 2
+    A_STAR_TESTING = 3
+
+if __name__ == "__main__":
+    debug_mode = DebugMode.A_STAR_TESTING
+
+    if debug_mode == DebugMode.MAIN:
         main()
+    elif debug_mode == DebugMode.AVAILABLE_FIELDS:
+        available_fields_tests()
+    elif debug_mode == DebugMode.A_STAR_TESTING:
+        a_star_testing()

state_space_search.py

@@ -88,7 +88,8 @@ def current_cost(node, cost_map):
     while node[1] is not None:  # Dopóki nie dojdziemy do korzenia
         _, parent, action = node
         # Dodaj koszt pola z mapy kosztów tylko jeśli akcja to "Forward"
-        if action == 'Go Forward':
+        # if action == 'Go Forward':
+        if True:
             state, _, _ = node
             cost += cost_map.get(state[:2], DEFAULT_COST_VALUE)  # Pobiera koszt przejścia przez dane pole, a jeśli koszt nie jest zdefiniowany to bierze wartość domyślną
         node = parent  # Przejdź do rodzica