feat: automate tractor to find path using A* while avoiding vegetable tiles
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@ -5,8 +5,9 @@ from tractor import Tractor
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class Field:
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def __init__(self):
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self.tiles = pygame.sprite.Group()
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# TODO: enable resizing field grid from 16x16 to any size
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for x in range(256):
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self.tiles.add(Tile(x, 'grass', self))
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self.tiles.add(Tile(x, self))
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self.tractor = Tractor(self)
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src/images/question.jpg
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src/images/question.jpg
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17
src/tile.py
17
src/tile.py
@ -7,7 +7,7 @@ from config import TILE_SIZE
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class Tile(pygame.sprite.Sprite):
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def __init__(self, id, field, type):
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def __init__(self, id, field):
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super().__init__()
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self.id = id
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x = id%16
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@ -15,9 +15,13 @@ class Tile(pygame.sprite.Sprite):
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self.field = field
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# temporary solution to have vegetables act as obstacles
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if random.randint(1, 10) % 3 == 0:
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vegetables = tractor_kb.query(pl.Expr("warzywo(Nazwa_warzywa)"))
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random_vegetable = vegetables[random.randint(0, len(vegetables)-1)]['Nazwa_warzywa']
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self.set_type(random_vegetable)
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else:
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self.set_type('grass')
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self.faza = 'posadzono'
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@ -30,9 +34,12 @@ class Tile(pygame.sprite.Sprite):
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def set_type(self, type):
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self.type = type
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image_path = f"images/vegetables/{self.type}.png"
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if os.path.exists(image_path):
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self.image = pygame.image.load(image_path).convert()
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if self.type == 'grass':
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image_path = "images/grass.png"
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else:
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self.image = pygame.image.load("images/grass.png").convert()
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image_path = f"images/vegetables/{self.type}.png"
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if not os.path.exists(image_path):
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image_path = "images/question.jpg"
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self.image = pygame.image.load(image_path).convert()
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self.image = pygame.transform.scale(self.image, (TILE_SIZE, TILE_SIZE))
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227
src/tractor.py
227
src/tractor.py
@ -4,6 +4,8 @@ from kb import ile_podlac, multi_sasiedzi
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from tile import Tile
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from config import TILE_SIZE
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from collections import deque
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import heapq
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import random
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class Tractor(pygame.sprite.Sprite):
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def __init__(self, field):
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@ -15,43 +17,60 @@ class Tractor(pygame.sprite.Sprite):
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self.rect = self.image.get_rect()
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self.direction = 'east'
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x, y = 0, 0
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self.rect.topleft = (x, y)
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# TODO: enable tractor to start on other tile than (0,0)
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self.start = (0, 0)
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self.final = (8, 14)
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print('final target @', self.final[0], self.final[1])
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self.rect.topleft = (0, 0)
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self.water = 50
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came_from, total_cost = self.a_star()
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path = self.reconstruct_path(came_from)
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self.actions = self.recreate_actions(path)
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self.action_index = 0
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def draw(self, surface):
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surface.blit(self.image, self.rect)
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def get_coordinates(self):
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x = self.rect.x // TILE_SIZE
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y = self.rect.y // TILE_SIZE
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return (x,y)
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def move(self):
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if self.direction == "north" and self.rect.y > 0:
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self.rect.y -= TILE_SIZE
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self.log_info()
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# self.log_info()
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elif self.direction == "south" and self.rect.y < 15 * TILE_SIZE:
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self.rect.y += TILE_SIZE
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self.log_info()
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# self.log_info()
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elif self.direction == "west" and self.rect.x > 0:
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self.rect.x -= TILE_SIZE
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self.log_info()
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# self.log_info()
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elif self.direction == "east" and self.rect.x < 15 * TILE_SIZE:
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self.rect.x += TILE_SIZE
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self.log_info()
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# self.log_info()
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def update(self):
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keys = pygame.key.get_pressed()
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if keys[pygame.K_LEFT]:
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self.rotate('left')
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if keys[pygame.K_RIGHT]:
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self.rotate('right')
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if keys[pygame.K_UP]:
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if self.action_index == len(self.actions):
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return
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action = self.actions[self.action_index]
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match (action):
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case ('move'):
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self.move()
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if keys[pygame.K_r]:
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self.water = 50
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print(f"💧 replenished water level: {self.water} litres\n")
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case ('left'):
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self.rotate('left')
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case ('right'):
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self.rotate('right')
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self.action_index += 1
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return
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def log_info(self):
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@ -71,12 +90,9 @@ class Tractor(pygame.sprite.Sprite):
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print(f"❗ {water_needed - self.water} more litres of water needed to water {current_tile.type}")
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# print out what are the neighbors of the current tile and their effect on growth
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neighbors = self.get_neighbors_list()
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neighbors = self.get_neighbors_types()
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modifier = multi_sasiedzi(current_tile.type, neighbors)[0]['Mul']
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print(f"🌱 the growth modifier for {current_tile.type} on this tile is ~{modifier:.2f} based on its neighbors: {', '.join(neighbors)}")
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self.BFS((14,14))
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print() # empty line at end of log statement
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@ -87,7 +103,18 @@ class Tractor(pygame.sprite.Sprite):
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return current_tile
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def get_neighbors_list(self):
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def cost_of_entering_node(self, coordinates: tuple[int, int]) -> int:
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x, y = coordinates
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cost: int
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match (self.field.tiles.sprites()[y * 16 + x].type):
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case ('grass'):
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cost = 1
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case _:
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cost = 100
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return cost
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def get_neighbors_types(self) -> list:
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x = self.rect.x // TILE_SIZE
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y = self.rect.y // TILE_SIZE
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neighbors = []
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@ -140,70 +167,114 @@ class Tractor(pygame.sprite.Sprite):
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self.image = pygame.transform.scale(self.image, (TILE_SIZE, TILE_SIZE))
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self.direction = 'north'
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def turn_right(self, direction):
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directions = ["east", "south", "west", "north"]
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current_index = directions.index(direction)
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new_index = (current_index + 1) % 4
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return directions[new_index]
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def turn_left(self, direction):
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directions = ["east", "south", "west", "north"]
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current_index = directions.index(direction)
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new_index = (current_index - 1) % 4
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return directions[new_index]
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# https://www.redblobgames.com/pathfinding/a-star/implementation.html
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def a_star(self):
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fringe: list[tuple[int, tuple[int, int]]] = []
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heapq.heappush(fringe, (0, self.start))
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came_from: dict[tuple[int, int], Optional[tuple[int, int]]] = {}
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cost_so_far: dict[tuple[int, int], int] = {}
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came_from[self.start] = None
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cost_so_far[self.start] = 0
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def generate_succesors(self, state):
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x, y, direction = state
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successors = []
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if direction == "east" and x < 15:
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successors.append(((x + 1, y, direction), "forward"))
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elif direction == "west" and x > 0:
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successors.append(((x - 1, y, direction), "forward"))
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elif direction == "north" and y > 0:
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successors.append(((x, y - 1, direction), "forward"))
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elif direction == "south" and y < 15:
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successors.append(((x, y + 1, direction), "forward"))
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if direction == "east" and y > 0:
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successors.append(((x, y, self.turn_left(direction)), "left"))
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elif direction == "west" and y < 15:
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successors.append(((x, y, self.turn_left(direction)), "left"))
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elif direction == "north" and x > 0:
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successors.append(((x, y, self.turn_left(direction)), "left"))
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elif direction == "south" and x < 15:
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successors.append(((x, y, self.turn_left(direction)), "left"))
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if direction == "east" and y < 15:
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successors.append(((x, y, self.turn_right(direction)), "right"))
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elif direction == "west" and y > 0:
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successors.append(((x, y, self.turn_right(direction)), "right"))
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elif direction == "north" and x < 15:
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successors.append(((x, y, self.turn_right(direction)), "right"))
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elif direction == "south" and x > 0:
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successors.append(((x, y, self.turn_right(direction)), "right"))
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return successors
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def BFS(self, end):
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x = self.rect.x // TILE_SIZE
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y = self.rect.y // TILE_SIZE
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start = (x, y, self.direction)
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fringe = deque()
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path = []
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fringe.append(start)
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while fringe:
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if (fringe[0])[0] == end[0] and (fringe[0])[1] == end[1]:
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return path
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successors = self.generate_succesors(fringe[0])
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print(fringe[0])
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print(successors, '<-----tutaj następniki')
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current: tuple[int, int] = heapq.heappop(fringe)[1]
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if current == self.final:
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break
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# next_node: tuple[int, int]
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for next_node in self.neighboring_nodes(coordinates=current):
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enter_cost = self.cost_of_entering_node(coordinates=next_node)
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new_cost: int = cost_so_far[current] + enter_cost
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if next_node not in cost_so_far or new_cost < cost_so_far[next_node]:
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cost_so_far[next_node] = new_cost
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priority = new_cost + self.manhattan_cost(current)
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heapq.heappush(fringe, (priority, next_node))
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came_from[next_node] = current
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return came_from, cost_so_far
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def manhattan_cost(self, coordinates: tuple[int, int]) -> int:
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current_x, current_y = coordinates
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final_x, final_y = self.final
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return abs(current_x - final_x) + abs(current_y - final_y)
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def neighboring_nodes(self, coordinates: tuple[int, int]):
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x, y = coordinates
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neighbors = []
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# nodes appended clockwise: up, right, bottom, left
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if y < 15:
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neighbors.append((x, y+1))
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if x < 15:
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neighbors.append((x+1, y))
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if y > 0:
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neighbors.append((x, y-1))
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if x > 0:
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neighbors.append((x-1, y))
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return neighbors
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def reconstruct_path(self, came_from: dict[tuple[int, int], tuple[int, int]]) -> list[tuple[int, int]]:
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current: tuple[int, int] = self.final
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path: list[tuple[int, int]] = []
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if self.final not in came_from: # no path was found
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return []
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while current != self.start:
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path.append(current)
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current = came_from[current]
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path.append(self.start)
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path.reverse()
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return path
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def recreate_actions(self, path: list[tuple[int, int]]) -> list[str]:
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actions: list[str] = []
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agent_direction = self.direction
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for i in range(len(path) - 1):
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x, y = path[i]
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next_x, next_y = path[i+1]
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# find out which way the tractor should be facing to move onto next_node tile
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proper_direction: str
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if x > next_x:
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proper_direction = 'west'
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elif x < next_x:
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proper_direction = 'east'
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elif y > next_y:
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proper_direction = 'north'
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else: # y < next_y
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proper_direction = 'south'
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# find the fastest way to rotate to correct direction
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if agent_direction != proper_direction:
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match (agent_direction, proper_direction):
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case ('north', 'east'):
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actions.append('right')
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case ('north', 'west'):
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actions.append('left')
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case ('east', 'south'):
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actions.append('right')
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case ('east', 'north'):
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actions.append('left')
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case ('south', 'west'):
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actions.append('right')
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case ('south', 'east'):
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actions.append('left')
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case ('west', 'north'):
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actions.append('right')
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case ('west', 'south'):
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actions.append('left')
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case _:
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actions.append('right')
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actions.append('right')
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agent_direction = proper_direction
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actions.append('move')
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return actions
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