From 817e8586c693a97611a987d140eee321496154a9 Mon Sep 17 00:00:00 2001
From: Brandon Rodriguez <brodriguez8774@gmail.com>
Date: Sat, 6 Nov 2021 14:31:18 -0400
Subject: [PATCH] Implement "limited vision" ai setting
---
src/systems.py | 142 ++++++++++++++++++++++++++++++++++++++++++++++---
1 file changed, 134 insertions(+), 8 deletions(-)
diff --git a/src/systems.py b/src/systems.py
index ca3088c..99dd9c9 100644
--- a/src/systems.py
+++ b/src/systems.py
@@ -11,7 +11,7 @@ from abc import ABC
# User Imports.
from src.entities.system_entities import AI, Movement
from src.logging import init_logging
-from src.misc import calc_trash_distances, calc_traveling_salesman, get_tile_coord_from_id
+from src.misc import calc_trash_distances, calc_traveling_salesman, get_tile_coord_from_id, get_tile_from_id
# Initialize logger.
@@ -446,7 +446,7 @@ class AISystem(sdl2.ext.Applicator, AbstractMovementSystem):
logger.debug('Setting "prev_direction" to {0}'.format(prev_direction))
self.prev_direction = prev_direction
- def move_full_sight(self, sprite):
+ def move_full_sight(self, sprite, path_set=None):
"""
Move roomba with "full sight" setting.
@@ -454,9 +454,10 @@ class AISystem(sdl2.ext.Applicator, AbstractMovementSystem):
information. Roomba intelligently attempts to take the "most efficient path" to get to all trash piles.
:param sprite: Roomba sprite entity.
"""
- # 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]
+ if path_set is None:
+ # 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]
# Get first tile in path set.
curr_tile_id = path_set[0]
@@ -489,6 +490,131 @@ class AISystem(sdl2.ext.Applicator, AbstractMovementSystem):
raise RuntimeError('Unable to determine where to move.')
def move_limited_vision(self, sprite):
- """"""
- # Move roomba.
- self.move_east(sprite)
+ """
+ Move roomba with "limited vision" setting.
+
+ Roomba does not have "full sight", but can see some squares within a certain tile radius.
+ For sake of easier implementation, roomba has x-ray vision and can see through walls.
+
+ On failure to find any trash within vision radius, roomba defaults to "bump sensor" movement.
+ :param sprite: Roomba sprite entity.
+ """
+ # Get current radius setting.
+ vision_radius = self.data_manager.roomba_vision
+ if vision_radius < 1:
+ err_msg = 'Roomba "limited vision" setting must have a positive integer for range. Found :{0}'.format(
+ vision_radius,
+ )
+ raise RuntimeError(err_msg)
+
+ # Compile list of all tiles within current vision range.
+ tiles_in_vision = []
+ roomba_x, roomba_y = sprite.tile
+ x_index = 0
+ while x_index <= vision_radius:
+ y_index = 0
+
+ while x_index + y_index <= vision_radius:
+
+ # Handle for (+x/+y) tiles.
+ tile_x = roomba_x + x_index
+ tile_y = roomba_y + y_index
+
+ # Skip bad tile coord locations.
+ if (
+ # Skip tile roomba is on.
+ (roomba_x == tile_x and roomba_y == tile_y) or
+ # Skip already-checked tiles.
+ ('{0}, {1}'.format(tile_x, tile_y) in tiles_in_vision) or
+ # Skip tiles with invalid x-axises.
+ (tile_x < 0 or tile_x > (self.data_manager.tile_data['tile_w_count'] - 1)) or
+ # Skip tiles with invalid y-axises.
+ (tile_y < 0 or tile_y > (self.data_manager.tile_data['tile_h_count'] - 1))
+ ):
+ pass
+ else:
+ # Append tile to list.
+ tiles_in_vision.append('{0}, {1}'.format(tile_x, tile_y))
+
+ # Handle for (+x/-y) tiles.
+ tile_x = roomba_x + x_index
+ tile_y = roomba_y - y_index
+
+ # Skip bad tile coord locations.
+ if (
+ # Skip tile roomba is on.
+ (roomba_x == tile_x and roomba_y == tile_y) or
+ # Skip already-checked tiles.
+ ('{0}, {1}'.format(tile_x, tile_y) in tiles_in_vision) or
+ # Skip tiles with invalid x-axises.
+ (tile_x < 0 or tile_x > (self.data_manager.tile_data['tile_w_count'] - 1)) or
+ # Skip tiles with invalid y-axises.
+ (tile_y < 0 or tile_y > (self.data_manager.tile_data['tile_h_count'] - 1))
+ ):
+ pass
+ else:
+ # Append tile to list.
+ tiles_in_vision.append('{0}, {1}'.format(tile_x, tile_y))
+
+ # Handle for (-x/+y) tiles.
+ tile_x = roomba_x - x_index
+ tile_y = roomba_y + y_index
+
+ # Skip bad tile coord locations.
+ if (
+ # Skip tile roomba is on.
+ (roomba_x == tile_x and roomba_y == tile_y) or
+ # Skip already-checked tiles.
+ ('{0}, {1}'.format(tile_x, tile_y) in tiles_in_vision) or
+ # Skip tiles with invalid x-axises.
+ (tile_x < 0 or tile_x > (self.data_manager.tile_data['tile_w_count'] - 1)) or
+ # Skip tiles with invalid y-axises.
+ (tile_y < 0 or tile_y > (self.data_manager.tile_data['tile_h_count'] - 1))
+ ):
+ pass
+ else:
+ # Append tile to list.
+ tiles_in_vision.append('{0}, {1}'.format(tile_x, tile_y))
+
+ # Handle for (-x/-y) tiles.
+ tile_x = roomba_x - x_index
+ tile_y = roomba_y - y_index
+
+ # Skip bad tile coord locations.
+ if (
+ # Skip tile roomba is on.
+ (roomba_x == tile_x and roomba_y == tile_y) or
+ # Skip already-checked tiles.
+ ('{0}, {1}'.format(tile_x, tile_y) in tiles_in_vision) or
+ # Skip tiles with invalid x-axises.
+ (tile_x < 0 or tile_x > (self.data_manager.tile_data['tile_w_count'] - 1)) or
+ # Skip tiles with invalid y-axises.
+ (tile_y < 0 or tile_y > (self.data_manager.tile_data['tile_h_count'] - 1))
+ ):
+ pass
+ else:
+ # Append tile to list.
+ tiles_in_vision.append('{0}, {1}'.format(tile_x, tile_y))
+
+ y_index += 1
+
+ x_index += 1
+
+ # Ensure no duplicates are in set.
+ tiles_in_vision = list(set(tiles_in_vision))
+
+ # Loop through set of tiles and go to first found trash tile (if any).
+ has_moved = False
+ for tile_id in tiles_in_vision:
+ next_tile = get_tile_from_id(self.data_manager, tile_id)
+
+ # Check if trash exists at location.
+ if next_tile.trashpile.exists:
+ # Trash exists. Attempt to move to location.
+ self.move_full_sight(sprite, path_set=['{0}, {1}'.format(roomba_x, roomba_y), tile_id])
+ has_moved = True
+ break
+
+ if has_moved is False:
+ # Failed to find any tiles within range. Revert to "bump sensor" mode.
+ self.move_bump_sensor(sprite)
--
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