diff --git a/main.py b/main.py
index c695e6a3489d9642feb72b4123ef143362237983..9c010dc34b7ca4291309cabdfbfc69d12fe40c2c 100644
--- a/main.py
+++ b/main.py
@@ -225,7 +225,7 @@ def initialize_data():
data_manager.gui = GuiCore(data_manager)
# Calculate path distances for initial setup.
- data_manager.ideal_trash_paths = calc_trash_distances(data_manager)
+ calc_trash_distances(data_manager)
calc_traveling_salesman(data_manager)
# Return generated window object.
diff --git a/src/entities/object_entities.py b/src/entities/object_entities.py
index d68b832cee1f8c8578b09b5d9114569655ec04d2..a01ee60108758a57109d97f321fb986d2c0cf639 100644
--- a/src/entities/object_entities.py
+++ b/src/entities/object_entities.py
@@ -278,7 +278,7 @@ class TileSet:
self.tiles[0][0].walls.bipartite_color_validation()
# Recalculate path distances for new wall setup.
- self.data_manager.ideal_trash_paths = calc_trash_distances(self.data_manager)
+ calc_trash_distances(self.data_manager)
calc_traveling_salesman(self.data_manager)
def randomize_trash(self):
@@ -303,7 +303,7 @@ class TileSet:
self.tiles[row_index][col_index].trashpile.clean()
# Recalculate path distances for new trash pile setup.
- self.data_manager.ideal_trash_paths = calc_trash_distances(self.data_manager)
+ calc_trash_distances(self.data_manager)
calc_traveling_salesman(self.data_manager)
diff --git a/src/entities/system_entities.py b/src/entities/system_entities.py
index ad40813b457477e38860423eb33d82768c7145d8..576e13dba58d00f6f8d7595afd4752742fe00ebd 100644
--- a/src/entities/system_entities.py
+++ b/src/entities/system_entities.py
@@ -1216,9 +1216,11 @@ class TrashPile:
# Update internal trackers.
self.exists = False
- # Update graph data.
+ # Update trash entity data.
tile_id = '{0}, {1}'.format(self.tile_x, self.tile_y)
self.data_manager.graph.data['trash_tiles'].remove(tile_id)
+ if self.data_manager.ideal_overall_path['ordering'][1] == tile_id:
+ self.data_manager.ideal_overall_path['ordering'].pop(1)
else:
logger.info('No trash to clean at tile ({0}, {1}).'.format(self.tile_x, self.tile_y))
diff --git a/src/misc.py b/src/misc.py
index 0c09333eabebb76726e9c78178f4f0d8b3f8cc62..7369e60a4bfd4f731990107a91ea6d7a543eeba7 100644
--- a/src/misc.py
+++ b/src/misc.py
@@ -169,7 +169,7 @@ def handle_mouse_click(data_manager, button_state, pos_x, pos_y):
tile.walls.decrement_wall_state()
# Recalculate path distances for new tile wall setup.
- data_manager.ideal_trash_paths = calc_trash_distances(data_manager)
+ calc_trash_distances(data_manager)
calc_traveling_salesman(data_manager)
@@ -283,13 +283,14 @@ def calc_distance_cost(start_tile_x, start_tile_y, end_tile_x, end_tile_y):
return distance
-def calc_trash_distances(data_manager):
+def calc_trash_distances(data_manager, roomba_only=False):
"""
Calculates the "ideal" distance from every trash pile to every other trash pile.
Accounts for walls and barriers.
This function should be called every time any wall or trash entity is added/removed/otherwise changed.
:param data_manager: Data manager data structure. Consolidates useful program data to one location.
+ :param roomba_only: Bool indicating if only roomba paths should be calculated.
:return: Set of all calculated "ideal paths" from each trash tile to every other trash tile.
"""
priority_queue = []
@@ -413,7 +414,11 @@ def calc_trash_distances(data_manager):
)
data_manager.debug_entities.append(debug_entity)
- calculated_set = _calc_roomba_distance(calculated_set, debug=debug)
+ # Save calculated data to data manager.
+ data_manager.ideal_trash_paths = calculated_set
+
+ # Also update distance from roomba to all trash tiles.
+ _calc_roomba_distance(debug=debug)
# Optionally print out calculated path set to console.
if debug:
@@ -430,10 +435,10 @@ def calc_trash_distances(data_manager):
for end_tile_id, calculated_path in start_set.items():
logger.debug(' to ({0}): {1}'.format(end_tile_id, calculated_path))
- return calculated_set
-
- def _calc_roomba_distance(calculated_set, debug=False):
- """"""
+ def _calc_roomba_distance(debug=False):
+ """
+ Calculates distances from roomba to each trash tile.
+ """
# Tell function to use variables in larger function scope.
nonlocal priority_queue
nonlocal handled_tiles
@@ -443,6 +448,7 @@ def calc_trash_distances(data_manager):
roomba_tile_id = get_id_from_coord(roomba_x, roomba_y)
roomba_tile = get_tile_from_id(data_manager, roomba_tile_id)
+ calculated_set = data_manager.ideal_trash_paths
calculated_set['roomba'] = {}
# Find distance from current trash pile to each other trash pile.
@@ -516,7 +522,8 @@ def calc_trash_distances(data_manager):
)
data_manager.debug_entities.append(debug_entity)
- return calculated_set
+ # Save calculated data to data manager.
+ data_manager.ideal_trash_paths = calculated_set
def _calc_neighbor_costs(curr_tile, end_tile_x, end_tile_y, curr_backward_cost, curr_path, debug=False):
"""
@@ -710,13 +717,20 @@ def calc_trash_distances(data_manager):
)
# Call actual function logic, now that inner functions are defined.
- return _calc_trash_distances()
+ if roomba_only and data_manager.ideal_trash_paths is not None:
+ # Save computations by only calculating roomba distance to trash tiles.
+ _calc_roomba_distance()
+ else:
+ # Calculate distance from all trash tiles to all other trash tiles. Also distance of roomba to all trash tiles.
+ # Much more computationally expensive, but required for initialization, such as when walls change.
+ _calc_trash_distances()
-def calc_traveling_salesman(data_manager, debug=False):
+def calc_traveling_salesman(data_manager, calc_new=True, debug=False):
"""
Calculates the approximately-ideal overall path to visit all trash tiles.
:param data_manager: Data manager data structure. Consolidates useful program data to one location.
+ :param calc_new: Bool indicating if previously calculated path data should be discarded. Such as wall entity update.
"""
# Clear all debug entities.
clear_debug_entities(data_manager)
@@ -726,17 +740,23 @@ def calc_traveling_salesman(data_manager, debug=False):
trash_tile_set = data_manager.graph.data['trash_tiles']
trash_paths = data_manager.ideal_trash_paths
+ # Reset path values if calculating from scratch.
+ curr_total_dist = 999999
+ calculated_path = {
+ 'ordering': [roomba_tile_id],
+ 'total_cost': curr_total_dist,
+ }
+ if calc_new:
+ data_manager.ideal_overall_path = calculated_path
+ data_manager.gui_data['optimal_counter'] = curr_total_dist
+ data_manager.gui_data['total_move_counter'] = 0
+
logger.info('\n\n\n\n')
logger.info(' ==== TRAVELING SALESMAN ===== ')
logger.info('\n')
logger.info('trash_paths: {0}'.format(trash_paths))
# Initialize path by just going to trash tiles in original ordering.
- curr_total_dist = 999999
- calculated_path = {
- 'ordering': [roomba_tile_id],
- 'total_cost': curr_total_dist,
- }
start_tile_id = None
end_tile_id = None
for tile_id in trash_tile_set:
@@ -827,10 +847,17 @@ def calc_traveling_salesman(data_manager, debug=False):
calculated_path['ordering'][conn_2_index_1] = conn_1_id_1
calculated_path['total_cost'] = swapped_total_dist
- # Save found path.
- data_manager.ideal_overall_path = calculated_path
- data_manager.gui_data['optimal_counter'] = calculated_path['total_cost']
- data_manager.gui_data['total_move_counter'] += 1
+ # Take optimal calculated distance. Compare against previously found optimal.
+ # Only override if new path is superior.
+ if (
+ data_manager.ideal_overall_path is None or
+ data_manager.ideal_overall_path['ordering'] == ['{0}, {1}'.format(roomba_x, roomba_y)] or
+ calculated_path['total_cost'] < data_manager.ideal_overall_path['total_cost']
+ ):
+ # New calculated path is more efficient. Save values.
+ data_manager.ideal_overall_path = calculated_path
+ data_manager.gui_data['optimal_counter'] = calculated_path['total_cost']
+ data_manager.gui_data['total_move_counter'] += 1
# Optionally display debug tile sprites.
if debug:
diff --git a/src/systems.py b/src/systems.py
index a182fcb91b4cf3211234b11a7c34de4b35b810ec..b3189d765eb067fdee05ff4ec245f71b387e4127 100644
--- a/src/systems.py
+++ b/src/systems.py
@@ -208,8 +208,8 @@ class AbstractMovementSystem(ABC):
curr_tile.trashpile.clean()
# Recalculate path distances for new roomba location.
- self.data_manager.ideal_trash_paths = calc_trash_distances(self.data_manager)
- calc_traveling_salesman(self.data_manager)
+ calc_trash_distances(self.data_manager, roomba_only=True)
+ calc_traveling_salesman(self.data_manager, calc_new=False)
class MovementSystem(sdl2.ext.Applicator, AbstractMovementSystem):
@@ -421,7 +421,6 @@ class AISystem(sdl2.ext.Applicator, AbstractMovementSystem):
# Get first set in "calculated ideal path".
end_tile_group_id = self.data_manager.ideal_overall_path['ordering'][1]
path_set = self.data_manager.ideal_trash_paths['roomba'][end_tile_group_id]
- print('path_set: {0}'.format(path_set))
# Get first tile in path set.
curr_tile_id = path_set[0]