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board.py
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board.py
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import random
from robot import Robot
from child import Child
# (r, k, c, t, o)
class Board():
def __init__(self, rows, cols, n_childs, dirt_per, obst_per):
self.rows = rows
self.cols = cols
self.n_childs = n_childs
self.dirt_per = dirt_per
self.obst_per = obst_per
self.dirs = [(-1,0), (0,-1), (0,1), (1,0)]
cells = []
for i in range(self.rows):
cells.append([])
for j in range(self.cols):
cells[i].append([0,0,0,0,0])
self.cells = cells
##################################
# PROPERTIES #
##################################
def update_trash_per(self):
self.dirt_per = self.n_dirt * 100 / self.total_empty_spaces
def is_corral(self, pos):
return self.cells[pos[0]][pos[1]][2]
def isObst(self, i, j):
return self.cells[i][j][4] == 1
def isCorf(self, i, j):
return self.cells[i][j][2] == 2
def isChild(self, i, j):
return self.cells[i][j][1] == 1
def isEmpty(self, i, j):
return not any(self.cells[i][j])
def childCond(self, i, j, carry_child):
if self.isChild(i, j):
return carry_child == False
return True
def get_corrals_full(self):
n = 0
for row in self.cells:
for col in row:
if col[2] == 2:
n += 1
return n
def get_rand_tuple(self):
#c_srt = random.randint(0, self.rows * self.cols - 1)
#i, j = int(c_srt / self.rows), c_srt % self.cols
i = random.randint(0, self.rows-1)
j = random.randint(0, self.cols-1)
return (i,j)
def get_robot_pos(self):
for i, row in enumerate(self.cells):
for j, elem in enumerate(row):
if elem[0]:
return (i, j)
def get_empty_spaces(self):
empty_cells = 0
for i in self.cells:
for j in i:
if not j[4]:
empty_cells += 1
return empty_cells
def remain_childs(self):
elem = [col for row in self.cells for col in row if col[1] == 1]
return len(elem) > 0
def isIn(self, i, j):
return i >= 0 and j >= 0 and i < self.rows and j < self.cols
def is_factible(self, start):
q = []
v = []
q.append(start)
v.append(start)
empty_cells = self.get_empty_spaces()
while len(q):
(r, c) = q.pop(0)
for dir in self.dirs:
nr, nc = r + dir[0], c + dir[1]
if self.isIn(nr, nc) and (nr, nc) not in v and not self.cells[nr][nc][4]:
v.append((nr, nc))
q.append((nr, nc))
if len(v) == empty_cells:
return True
return False
def drop_child_in_corral(self, pos):
self.cells[pos[0]][pos[1]][2] = 2
def get_cuadricule(self, center_pos):
cuadricule = []
for dir in self.dirs:
nr, nc = center_pos[0] + dir[0], center_pos[1] + dir[1]
if self.isIn(nr, nc):
cuadricule.append((nr, nc))
return cuadricule
def get_obstacules(self, cuadricule):
return [cell for cell in cuadricule if self.cells[cell[0]][cell[1]][4] == 1]
def can_move_obstacule(self, obst_pos, dir):
nr, nc = obst_pos[0] + dir[0], obst_pos[1] + dir[1]
if self.isIn(nr, nc):
if not any(self.cells[nr][nc]):
return True
elif self.cells[nr][nc][4] == 1:
return self.can_move_obstacule((nr, nc), dir)
else:
return False
else:
return False
def get_movable_obstacules(self, obstacules, pos):
m_obst = []
for obst in obstacules:
dir = (obst[0] - pos[0], obst[1] - pos[1])
# print('DIR ' + str(dir))
if self.can_move_obstacule(obst, dir):
m_obst.append(obst)
return m_obst
def get_emptys(self, cuadricule):
return [cell for cell in cuadricule if not any(self.cells[cell[0]][cell[1]])]
def get_childs(self, cuadricule):
return [cell for cell in cuadricule if self.cells[cell[0]][cell[1]][1] == 1 and not self.cells[cell[0]][cell[1]][2] == 2]
###################################
# GENERATION #
###################################
def add_child_trash(self, pos):
if not any(self.cells[pos[0]][pos[1]]):
self.cells[pos[0]][pos[1]][3] = 1
self.n_dirt += 1
self.update_trash_per()
def add_obstacules(self, start, n):
while n:
i, j = self.get_rand_tuple()
if not any(self.cells[i][j]):
self.cells[i][j][4] = 1
if self.is_factible(start):
n -= 1
else:
self.cells[i][j][4] = 0
def add_dirt(self, n):
while n:
i, j = self.get_rand_tuple()
if not any(self.cells[i][j]):
self.cells[i][j][3] = 1
n -= 1
def add_robot(self):
while True:
i, j = self.get_rand_tuple()
if not any(self.cells[i][j]):
self.cells[i][j][0] = 1
break
return Robot((i, j))
def add_childs(self):
childs = {}
n = self.n_childs
while n:
i, j = self.get_rand_tuple()
if not any(self.cells[i][j]):
self.cells[i][j][1] = 1
childs[n] = Child(n, (i, j))
n -= 1
return childs
def add_corrals(self, start, n):
v = []
q = []
q.append(start)
v.append(start)
while len(q):
(r, c) = q.pop(0)
self.cells[r][c][2] = 1
n -= 1
if n <= 0:
break
for dir in self.dirs:
nr, nc = dir[0] + r, dir[1] + c
if self.isIn(nr, nc) and (nr, nc) not in v:
q.append((nr, nc))
v.append((nr, nc))
def adjust_child_corrals(self, n_cor_full):
childs = []
corrals = []
for i, row in enumerate(self.cells):
for j, col in enumerate(row):
if col[1]:
childs.append((i, j))
elif col[2]:
corrals.append((i, j))
idx_taken = []
while True:
if n_cor_full == 0:
break
r_idx = random.randint(0, len(childs)-1)
if r_idx not in idx_taken:
idx_taken.append(r_idx)
child_pos = childs[r_idx]
corral_pos = corrals[r_idx]
self.cells[child_pos[0]][child_pos[1]][1] = 0
self.cells[corral_pos[0]][corral_pos[1]][2] = 2
n_cor_full -= 1
n = 0
n_childs = {}
for i, row in enumerate(self.cells):
for j, col in enumerate(row):
if col[1]:
n_childs[n] = Child(n, (i, j))
n += 1
self.childs = n_childs
def adjust_child_robot(self):
childs = []
for i, row in enumerate(self.cells):
for j, col in enumerate(row):
if col[1]:
childs.append((i,j))
r = random.randint(0, len(childs)-1)
child_pos = childs[r]
self.cells[child_pos[0]][child_pos[1]][1] = 0
self.robot.carry_child = True
for i in self.childs.keys():
if self.childs[i].pos == child_pos:
self.childs[i].is_carry = True
@classmethod
def gen_brd(cls, rows, cols, childs, dirt_per=30, obst_per=20):
brd = cls(rows, cols, childs, dirt_per, obst_per)
i, j = brd.get_rand_tuple()
brd.add_corrals((i,j), brd.n_childs)
brd.childs = brd.add_childs()
n_obst = int(brd.obst_per * (brd.rows * brd.cols - brd.n_childs) / 100)
# print(n_obst)
brd.add_obstacules((i, j), n_obst)
brd.total_empty_spaces = brd.rows * brd.cols - brd.n_childs - n_obst - 1
brd.n_dirt = int(brd.dirt_per * (brd.total_empty_spaces) / 100)
# print(n_dirt)
brd.add_dirt(brd.n_dirt)
brd.robot = brd.add_robot()
return brd
###################################
# CONTROL FUNCTIONS #
###################################
def move_obst(self, pos, dir):
nr, nc = pos[0] + dir[0], pos[1] + dir[1]
if self.isIn(nr, nc):
if not any(self.cells[nr][nc]):
self.cells[pos[0]][pos[1]][4] = 0
self.cells[nr][nc][4] = 1
return True
elif self.cells[nr][nc][4]:
if self.move_obst((nr, nc), dir):
self.cells[pos[0]][pos[1]][4] = 0
self.cells[nr][nc][4] = 1
return True
return False
return False
def move_robot(self, old_pos, new_pos, carry_child):
output = {
'pickup_child' : False,
'drop_child' : False
}
opos = self.cells[old_pos[0]][old_pos[1]]
npos = self.cells[new_pos[0]][new_pos[1]]
opos[0] = 0
npos[0] = 1
# si hay basura la recojo
if npos[3]:
npos[3] = 0
self.n_dirt -= 1
self.update_trash_per()
# si hay niño lo cargo
elif not carry_child and npos[1]:
npos[1] = 0
output['pickup_child'] = True
# el niño marcado no puede moverse
for child in self.childs.keys():
if self.childs[child].pos == new_pos:
self.childs[child].is_carry = True
# si tenia un niño cargado y estoy en un corral vacio suelto al niño
elif carry_child and npos[2] == 1:
# poner el corral lleno
npos[2] = 2
# quitar el niño del env
npos[1] = 0
output['drop_child'] = True
return output
def move_child(self, old_pos, new_pos):
opos = self.cells[old_pos[0]][old_pos[1]]
npos = self.cells[new_pos[0]][new_pos[1]]
dir = (new_pos[0] - old_pos[0], new_pos[1] - old_pos[1])
# si se mueve hacia un objeto moverlo
if npos[4]:
self.move_obst(new_pos, dir)
opos[1] = 0
npos[1] = 1
def get_path_to(self, start, targ_id, carry_child):
cell = self.cells[start[0]][start[1]]
if cell[0] and cell[1]:
return [start]
q = []
v = []
pi = []
q.append(start)
v.append(start)
pi.append((-1, -1))
while len(q):
i, j = q.pop(0)
for dir in self.dirs:
nr, nc = i + dir[0], j + dir[1]
if self.isIn(nr, nc) and not (nr, nc) in v:
if not self.isObst(nr, nc) and not self.isCorf(nr, nc) and self.childCond(nr, nc, carry_child):
q.append((nr, nc))
v.append((nr, nc))
pi.append((i,j))
if self.cells[nr][nc][targ_id] == 1:
path = []
path.append((nr, nc))
while True:
row, col = path[-1]
idx = v.index((row, col))
p = pi[idx]
if p == (-1, -1):
path.reverse()
path.pop(0)
return path
else:
path.append(p)
return []
def __iter__(self):
return iter(self.cells)
def __str__(self):
# return str(self.cells)
for r in self.cells:
print()
for c in r:
if not any(c):
print(' - ', end='')
elif c[0]:
print(' W ', end='')
elif c[1]:
print(' K ', end='')
elif c[2] == 2:
print(' F ', end='')
elif c[2] == 1:
print(' C ', end='')
elif c[4]:
print(' # ', end='')
elif c[3]:
print(' * ', end='')
print()
return ''
if __name__ == '__main__':
brd = Board(5, 5, 3)
print(brd)