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plane_test.py
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#coding:utf-8
from game import BasicGame
from map_ import BasicMap
from usv import OneStepUSV
from implementation import *
# class MyUSV(BasicPlaneUSV):
# '''一个策略简单的USV,派生自OneStepUSV'''
# def __init__(self, uid, x, y, env):
# super(MyUSV, self).__init__(uid, x, y, env)
#
# def decision_algorithm(self):
# Action = self.action_class
# return Action(False, False, 2.0, 1)
#
# if __name__ == '__main__':
# '''开始游戏'''
# test_map = BasicMap(100, 100)
# test_map.set_target(50, 50)
# # print test_map
#
# test_friendly_ship = MyUSV(uid=0,x=50, y=80, env=test_map)
# test_friendly_ship.set_as_friendly()
# test_map.add_ship(test_friendly_ship)
#
#
# game = BasicGUIGame()
# game.set_map(test_map)
# game.start()
class MyUSV(OneStepUSV):
'''一个策略简单的USV,派生自OneStepUSV'''
def __init__(self, uid, x, y, env):
super(MyUSV, self).__init__(uid, x, y, env)
def finda(self):
findamap = self.env.str2() #A*方法的输入地图
#A*方法的过程求解及结果
#print('self.env.str2()',self.env.str2())
#print(self.env.width)；print(self.env.height)
#findamap 与 diagram的图是镜像对称的，x与y是相反的
diagram = GridWithWeights(len(findamap[0]),len(findamap))
obstacles = []
for kk in range(len(findamap)):
for hh in range(len(findamap[kk])):
if findamap[kk][hh] == 'S':
startpoint = (hh,kk)
if findamap[kk][hh] == 'E':
endpoint = (hh,kk)
if findamap[kk][hh] == '#':
obstacles.append((hh,kk))
diagram.walls = obstacles
#print('draw_grid')
#draw_grid(diagram, weights=2,start=startpoint, goal=endpoint)
came_from, cost_so_far = a_star_search(diagram, start = startpoint, goal = endpoint)
#draw_grid(diagram, width=1, path=reconstruct_path(came_from, start=startpoint, goal=endpoint))
pathtm = reconstruct_path(came_from, start=startpoint, goal=endpoint)
'''print(pathtm)'''
#print(pathtm[0]);print(pathtm[1]);print(pathtm[1][1])
firstnode = (pathtm[0][1],pathtm[0][0])
secondnode = (pathtm[1][1],pathtm[1][0])
#print(firstnode,secondnode)
# 这里的地图形式是：左上角是（0，0），右下角是（n,n）,,所以下面上下左右如下描述：：
if secondnode[1] - firstnode[1] == 0 and secondnode[0] - firstnode[0] == -1:
string = 'up'
elif secondnode[1] - firstnode[1] == -1 and secondnode[0] - firstnode[0] == 0:
string = 'left'
elif secondnode[1] - firstnode[1] == 0 and secondnode[0] - firstnode[0] == 1:
string = 'down'
else:
string = 'right'
'''print('action是上下左右中的',string)'''
#print('USV当前位置：',self.x,self.y)
if (string =='left'):
direct = 270.0
elif(string =='down'):
direct = 180.0
elif(string =='right'):
direct = 90.0
else:
direct = 0.0
Action = self.action_class
# 这里要根据A*算法进行修改，只获取走一步，
next_action = Action(False, True, direct)
# print('使用A*算法的下一步：',next_action)
return next_action
def decision_algorithm(self):
act = self.finda()
return act
def update_direction(self, action):
#self.angular_speed = action.angular_speed
#self.turn(action.clockwise)
self.direction = action.angular_speed
def recordenv(self):
curenv = self.env.env_matrix()
return curenv
def recordaction(self):
curaction = self.decision_algorithm()
return curaction
class MyGame(BasicGame):
def __init__(self):
super(MyGame, self).__init__()
self.recordlist = []
self.arriveTarget = 0
self.arriveObstacle = 0
# def update(self):
# print('update_之前：输出ma.str2()函数的地图形式：：')
# print(self.map.str2())
# for ship in self.map.friendly_ships:
# ship.move()
# #print('船体位置：',ship.coordinate())
# self.check_target()
# #print (self.map)
# print('update_之后：输出ma.str2()函数的地图形式：：')
# print(self.map.str2())
def update(self):
# print('update_之前：输出ma.str2()函数的地图形式：：')
# print(self.map.str2())
try:
for ship in self.map.friendly_ships:
#if ship.uid == 0: recenv = ship.recordenv()
if not ship.is_enemy: recenv = ship.recordenv()
# if ship.uid == 0: recaction = ship.recordaction()
if not ship.is_enemy: recaction = ship.recordaction()
ship.move()
self.recordlist.append((recenv, recaction))
self.check_target()
self.check_obstacle()
except IndexError as e:
self.is_target_safe = False
self.arriveObstacle = True
# print('update_之后：输出ma.str2()函数的地图形式：：')
# print(self.map.str2())
def check_target(self):
target_x, target_y = self.map.target_coordinate()
for ship in self.map.friendly_ships:
ship_x, ship_y = ship.coordinate()
if(ship_x == target_x and ship_y == target_y):
self.is_target_safe = True
self.arriveTarget = True
def check_obstacle(self):
for ship in self.map.friendly_ships:
ship_x, ship_y = ship.coordinate()
for obstacle in self.map.enemy_ships:
obstacle_x, obstacle_y = obstacle.coordinate()
if(ship_x == obstacle_x and ship_y == obstacle_y):
self.is_target_safe = False
self.arriveObstacle = True
def is_game_over(self):
return not self.is_target_safe
def start(self):
while not self.is_game_over():
#print('game-start-update前的地图形式：')
#print(self.map.str2())
self.update()
# print('\n决策链（当前环境env + 采取动作action）',self.recordlist)
print(self.map.env_matrix())
print ('----------------------------------------------------------------------------------------')
print ("press any key to continue")
#raw_input()
input()
print ("game over!")
print('是否到达终点：(0表示没，1表示到达)',self.arriveTarget)
print('是否碰到障碍物：(0表示没，1表示碰到)', self.arriveObstacle)
if __name__ == '__main__':
'''开始游戏'''
test_map = BasicMap(10, 10)
test_map.set_target(9, 9)
#print (test_map.str2())
test_friendly_ship = MyUSV(uid=0, x=0, y=0, env=test_map) #USV友艇起始点
test_friendly_ship.set_as_friendly()
test_map.add_ship(test_friendly_ship)
# 静态敌船--障碍物区域
test_enemy_ship1 = MyUSV(uid=1, x=2, y=2, env=test_map);test_enemy_ship1.set_as_enemy();test_map.add_ship(test_enemy_ship1)
test_enemy_ship2 = MyUSV(uid=2, x=3, y=2, env=test_map);test_enemy_ship2.set_as_enemy();test_map.add_ship(test_enemy_ship2)
test_enemy_ship3 = MyUSV(uid=3, x=4, y=2, env=test_map);test_enemy_ship3.set_as_enemy();test_map.add_ship(test_enemy_ship3)
test_enemy_ship4 = MyUSV(uid=4, x=2, y=5, env=test_map);test_enemy_ship4.set_as_enemy();test_map.add_ship(test_enemy_ship4)
test_enemy_ship5 = MyUSV(uid=5, x=2, y=6, env=test_map);test_enemy_ship5.set_as_enemy();test_map.add_ship(test_enemy_ship5)
test_enemy_ship6 = MyUSV(uid=6, x=2, y=7, env=test_map);test_enemy_ship6.set_as_enemy();test_map.add_ship(test_enemy_ship6)
test_enemy_ship7 = MyUSV(uid=7, x=3, y=5, env=test_map);test_enemy_ship7.set_as_enemy();test_map.add_ship(test_enemy_ship7)
test_enemy_ship8 = MyUSV(uid=8, x=3, y=6, env=test_map);test_enemy_ship8.set_as_enemy();test_map.add_ship(test_enemy_ship8)
test_enemy_ship9 = MyUSV(uid=9, x=4, y=3, env=test_map);test_enemy_ship9.set_as_enemy();test_map.add_ship(test_enemy_ship9)
test_enemy_ship10 = MyUSV(uid=10, x=5, y=6, env=test_map);test_enemy_ship10.set_as_enemy();test_map.add_ship(test_enemy_ship10)
test_enemy_ship11 = MyUSV(uid=11, x=6, y=5, env=test_map);test_enemy_ship11.set_as_enemy();test_map.add_ship(test_enemy_ship11)
test_enemy_ship12 = MyUSV(uid=12, x=7, y=5, env=test_map);test_enemy_ship12.set_as_enemy();test_map.add_ship(test_enemy_ship12)
test_enemy_ship13 = MyUSV(uid=13, x=7, y=6, env=test_map);test_enemy_ship13.set_as_enemy();test_map.add_ship(test_enemy_ship13)
test_enemy_ship14 = MyUSV(uid=14, x=7, y=7, env=test_map);test_enemy_ship14.set_as_enemy();test_map.add_ship(test_enemy_ship14)
test_enemy_ship15 = MyUSV(uid=15, x=8, y=5, env=test_map);test_enemy_ship15.set_as_enemy();test_map.add_ship(test_enemy_ship15)
print('game-start:初始地图：',test_map.str2());print('\n')
game = MyGame()
game.set_map(test_map)
game.start()