def game_loop(start_point, fields_with_bombs):
# glowna petla
obj_fields = []
a = AStar()
current_field = start_point
field_to_move = fields_with_bombs[0]
fields_with_bombs.remove(field_to_move)
path = a.find_path(current_field, field_to_move, map_obj)
for y in game_map:
for x in y:
if not x.has_bomb:
r = random.randrange(200)
if r % 7 == 0:
print('Object position {}'.format(x.get_position()))
obj_fields.insert(len(obj_fields), x)
# gameDisplay.blit(rock_img, (x.map_x, x.map_y))
print('Ilosc obiektow: {}'.format(len(obj_fields)))
while True:
for event in pygame.event.get():
if event.type == pygame.QUIT:
quit()
for y in game_map:
for x in y:
gameDisplay.fill(x.color, (x.map_x, x.map_y, settings.FIELD_SIZE, settings.FIELD_SIZE))
if x.has_bomb:
gameDisplay.blit(bomba_img, (x.map_x, x.map_y))
if len(path) > 0:
current_field = path[0]
move_robot(current_field)
path.remove(current_field)
elif len(fields_with_bombs) > 0:
field_to_move = fields_with_bombs[0]
fields_with_bombs.remove(field_to_move)
path = a.find_path(current_field, field_to_move, map_obj)
move_robot(current_field)
if current_field == field_to_move:
make_action_with_bomb(current_field, settings.LABEL_FILE_1, settings.MODEL_FILE_1)
current_field.has_bomb = False
sleep(1)
if len(fields_with_bombs) == 0:
quit()
pygame.display.update()
clock.tick(3)
def game_loop(start_point, fields_with_bombs):
a = AStar()
current_field = start_point
field_to_move = fields_with_bombs[0]
fields_with_bombs.remove(field_to_move)
path = a.find_path(current_field, field_to_move, map_obj)
robot_x = (0)
robot_y = (0)
gameExit = False
while not gameExit:
for event in pygame.event.get():
if event.type == pygame.QUIT:
pygame.quit()
quit()
for y in map:
for x in y:
gameDisplay.fill(x.color,
(x.map_x, x.map_y, field_size, field_size))
if x.has_bomb == True:
gameDisplay.blit(bombaImg, (x.map_x, x.map_y))
if len(path) > 0:
current_field = path[0]
move_robot(current_field)
path.remove(current_field)
elif len(fields_with_bombs) > 0:
field_to_move = fields_with_bombs[0]
fields_with_bombs.remove(field_to_move)
path = a.find_path(current_field, field_to_move, map_obj)
move_robot(current_field)
pygame.display.update()
clock.tick(3)
def test1():
inf = np.inf
scan = [
inf, inf, inf, inf, inf, inf, inf, 3.056861639022827,
3.0252268314361572, 3.0203325748443604, 2.0132949352264404,
1.9735280275344849, 1.953012466430664, 1.9486260414123535,
1.9373271465301514, 1.9421530961990356, 1.9569212198257446,
2.002772331237793, inf, inf, inf, 0.9855800271034241,
0.9726546406745911, 0.9509224891662598, 0.9256065487861633,
0.9257093071937561, 0.922886073589325, 0.9183664917945862,
0.906120240688324, 0.8961981534957886, 0.9056581854820251,
0.9420517683029175, 0.9265859723091125, 0.9183934330940247,
0.9498110413551331, 0.9667358994483948, 1.0045623779296875,
2.442192792892456, 2.4326982498168945, 2.4553067684173584,
2.4645442962646484, 2.506408214569092, inf, inf, inf, inf, inf, inf,
inf, inf, inf, inf, inf, inf, inf, inf, 1.7533923387527466,
1.71872878074646, 1.70149827003479, 1.6858848333358765,
1.6909033060073853, 1.7164965867996216, 1.7079846858978271,
1.7376644611358643, 1.785688877105713, 3.3595521450042725,
3.3191449642181396, 3.29377818107605, 3.2705166339874268,
3.2538671493530273, 3.2152647972106934, 3.2159855365753174,
3.19524884223938, 3.0854270458221436, 2.8649425506591797,
2.6712183952331543, 2.554349184036255, 2.556751251220703,
2.5452141761779785, 2.5436341762542725, 2.5213427543640137,
2.5272300243377686, 2.5183942317962646, 2.509161949157715,
2.5124869346618652, 2.4297120571136475, 2.3386430740356445,
2.2512683868408203, 2.1818249225616455, 2.103046417236328,
2.0564870834350586, 1.9878475666046143, 1.9268088340759277,
1.885642170906067, 1.8311305046081543, 1.7829922437667847,
1.7410887479782104, 1.7179292440414429, 1.65846848487854,
1.6332777738571167, 1.5900510549545288, 1.5677014589309692,
1.5201916694641113, 1.4969840049743652, 1.4841266870498657,
1.4385578632354736, 1.4428545236587524, 1.4075186252593994,
1.3866387605667114, 1.3508318662643433, 1.3370169401168823,
1.3260891437530518, 1.3067781925201416, 1.2939659357070923,
1.2805120944976807, 1.2707873582839966, 1.2281290292739868,
1.2153609991073608, 1.2014520168304443, 1.2100038528442383,
1.1812770366668701, 1.1618354320526123, 1.1519147157669067,
1.1456130743026733, 1.1571439504623413, 1.1326026916503906,
1.1386666297912598, 1.0997953414916992, 1.091562271118164,
1.1005403995513916, 1.1073905229568481, 1.075814962387085,
1.0699113607406616, 1.078955054283142, 1.0810444355010986,
1.0660544633865356, 1.0604965686798096, 1.0380046367645264,
1.0327768325805664, 1.078073501586914, 1.0491496324539185,
1.0314854383468628, 1.0256805419921875, 1.0399309396743774,
1.039351224899292, 1.0458898544311523, 1.0328317880630493,
1.0365073680877686, 1.0345937013626099, 1.0336904525756836,
1.045121431350708, 1.019679069519043, 0.9782207012176514,
0.9893175959587097, 0.9512673616409302, 0.9016335606575012,
0.8861187696456909, 0.8714970350265503, 0.8524404168128967,
0.8410521745681763, 0.8306225538253784, 0.806861162185669,
0.7750387787818909, 0.772260308265686, 0.7613915205001831,
0.7231266498565674, 0.7228431701660156, 0.7109572291374207,
0.7123162746429443, 0.6959463357925415, 0.6842755079269409,
0.6778551936149597, 0.672926127910614, 0.6455686688423157,
0.6492228507995605, 0.650477945804596, 0.6205228567123413,
0.63560950756073, 0.6331012845039368, 0.6159425973892212,
0.6135613918304443, 0.5959789752960205, 0.610405445098877,
0.5870363712310791, 0.5804761052131653, 0.6007770299911499,
0.5676383972167969, 0.5660935640335083, 0.5781680345535278,
0.5915207862854004, 0.5583205819129944, 0.5651285648345947,
0.5652458071708679, 0.5596476197242737, 0.545867919921875,
0.5507373809814453, 0.5318761467933655, 0.542111337184906,
0.540361225605011, 0.5328619480133057, 0.5332945585250854,
0.5352373123168945, 0.5453101992607117, 0.5408035516738892,
0.5488573908805847, 0.5210607647895813, 0.5293474793434143,
0.5348880290985107, 0.5456039905548096, 0.5199136734008789,
0.5178253650665283, 0.5266040563583374, 0.5523934364318848,
0.5342961549758911, 0.5384075045585632, 0.5334569215774536,
0.5281636714935303, 0.5111650228500366, 0.5428661704063416,
0.5401403903961182, 0.5570170879364014, 0.5265321731567383,
0.5520188212394714, 0.5388387441635132, 0.5361006855964661,
0.5432685613632202, 0.5588036775588989, 0.5637043118476868,
0.5593273043632507, 0.5618724226951599, 0.5681909918785095,
0.580647349357605, 0.5878729224205017, 0.567261815071106,
0.5693681240081787, 0.5898579955101013, 0.6078497171401978,
0.6051531434059143, 0.6091262102127075, 0.5822492837905884,
0.6195617318153381, 0.6141515374183655, 0.617192804813385,
0.6386907696723938, 0.6485453248023987, 0.6483967900276184,
0.6659299731254578, 0.6548660397529602, 0.6864899396896362,
0.6838104128837585, 0.6932967901229858, 0.7090590596199036,
0.7026281356811523, 0.7346917986869812, 0.7633113861083984,
0.7599661350250244, 0.7832435369491577, 0.779472291469574,
0.8087064623832703, 0.8164687752723694, 0.8538014888763428,
0.8430877923965454, 0.8757237195968628, 0.8956906199455261,
0.9206846356391907, 0.9354161024093628, 0.9733413457870483,
0.9885174036026001, 1.0486935377120972, 1.049687385559082,
1.1021144390106201, 1.1006282567977905, 1.1586135625839233,
1.2052730321884155, 1.2459439039230347, 1.302675485610962,
1.3653827905654907, 1.4164248704910278, 1.4472814798355103,
1.535380244255066, 1.532191514968872, 1.5412589311599731,
1.5219082832336426, 1.5472310781478882, 1.5644363164901733,
1.55789053440094, 1.5711780786514282, 1.5786079168319702,
1.5898356437683105, 1.600523829460144, 1.6128002405166626,
1.6159331798553467, 1.626638412475586, 1.8782384395599365,
2.235314130783081, 2.2563958168029785, 2.2954134941101074,
2.307398557662964, 2.3106799125671387, 2.351066827774048,
2.391575813293457, 2.3959853649139404, 2.430370569229126,
2.449401378631592, 2.478189468383789, 2.516754150390625,
2.5472171306610107, 2.59478759765625, 2.6314077377319336,
2.6275601387023926, 2.682375907897949, 2.7329845428466797,
2.7940165996551514, 2.8262627124786377, 2.891613245010376,
2.943937301635742, 2.9711005687713623, 3.0209319591522217,
3.1053292751312256, 1.0324296951293945, 1.0091277360916138,
1.0003530979156494, 0.9934810996055603, 0.9784740209579468,
0.9725538492202759, 0.9597940444946289, 0.9535285830497742,
0.9423716068267822, 0.9491086602210999, 0.966484010219574,
0.9733442068099976, 0.9970974326133728, 1.0060924291610718,
1.0158592462539673, 1.0913983583450317, inf, inf, inf, inf,
2.0314512252807617, 2.0178802013397217, 1.9728460311889648,
1.961500883102417, 1.9714338779449463, 1.9641704559326172,
2.0064427852630615, 2.0385403633117676, 3.066349506378174,
3.039686918258667, 3.0638043880462646, 3.07513165473938, inf, inf, inf,
inf, inf, inf, inf, inf, inf
]
o = Mapper()
prob_map = Mapper.main(o, scan)
d = AStar()
d(prob_map, [36, 36], [50, 30])
print('\n ' + '-' * 30 + "\n> Starting operation ...\n " + '-' * 30 + '\n')
start_time = time.time()
final_path = d.find_path()
print('\n ' + '-' * 30 +
"\n> Time taken: {:.4} seconds.\n ".format(time.time() -
start_time) + '-' * 30 +
'\n')
d.draw_final_graph(final_path)