added real-time pathfinding and agent mobility

npc/pirate/actions.py

@@ -48,22 +48,37 @@ def get_actions(self, caller, bb):
         return a list of action that this caller is able to move with
         """
 
-        if not SimpleGoal(is_tired=True).test(bb):
-            pos = caller.environment.can_move_from(caller, dist=30)
-            return [ self.build_action(caller, p) for p in pos ]
-        else:
+        if SimpleGoal(is_tired=True).test(bb):
             return []
+        else:
+            pos = caller.environment.can_move_from(caller, dist=100)
+            return [ self.build_action(caller, p) for p in pos ]
+
 
     def build_action(self, caller, pos):
         a = move_action(caller)
+        a.setEndpoint(pos[1])
         a.effects.append(PositionGoal(target=caller, position=pos))
         a.effects.append(SimpleGoal(is_tired=True))
         return a
 
 
-
 class move_action(CallableAction):
-    pass
+    def update(self, time):
+        super(move_action, self).update(time)
+        if self.caller.position[1] == self.endpoint:
+            self.finish()
+        else:
+            env = self.caller.environment
+            path = env.pathfind(self.caller.position[1], self.endpoint)
+            path.pop() # this will always the the starting position
+            env.move(self.caller, (env, path.pop()))
+
+    def setStartpoint(self, pos):
+        self.startpoint = pos
+
+    def setEndpoint(self, pos):
+        self.endpoint = pos
 
 exported_actions.append(move)
 

pygoap/agent.py

@@ -4,6 +4,8 @@
 from actionstates import *
 
 
+DEBUG = 0
+
 NullAction = InstancedAction()
 
 
@@ -95,7 +97,7 @@ def handle_precept(self, pct):
         # our filters may have caused us to ignore the precept
         if pct == None: return None
 
-        print "[agent] {} recv'd pct {}".format(self, pct)
+        if DEBUG: print "[agent] {} recv'd pct {}".format(self, pct)
 
         # this line has been added for debugging purposes
         self.plan = []
@@ -115,7 +117,7 @@ def replan(self):
         s = [ g for g in s if g[0] > 0 ]
         s.sort(reverse=True)
 
-        print "[agent] goals {}".format(s)
+        if DEBUG: print "[agent] goals {}".format(s)
 
         # starting for the most relevant goal, attempt to make a plan      
         for score, goal in s:
@@ -126,13 +128,15 @@ def replan(self):
                 self.bb,
                 goal)
 
-            if ok:
+            if ok and DEBUG:
                 print "[agent] {} has planned to {}".format(self, goal)
                 pretty = list(reversed(plan[:]))
                 print "[agent] {} has plan {}".format(self, pretty)
                 return plan
-            else:
+            elif DEBUG:
                 print "[agent] {} cannot {}".format(self, goal)
+            elif ok:
+                return plan
 
         return []
 
@@ -143,7 +147,8 @@ def current_action(self):
             return NullAction
 
     def running_actions(self):
-        return self.current_action()
+        action = self.current_action()
+        return action
 
     def next_action(self):
         """
@@ -157,7 +162,10 @@ def next_action(self):
 
         # this action is done, so return the next one
         if current_action.state == ACTIONSTATE_FINISHED:
-            return self.plan.pop()
+            if self.plan:
+                return self.plan.pop()
+            else:
+                return None
 
         # this action failed somehow
         elif current_action.state == ACTIONSTATE_FAILED:

pygoap/environment.py

@@ -17,6 +17,7 @@
 from itertools import chain, repeat, product, izip
 
 
+DEBUG = 0
 
 class ObjectBase(object):
     """
@@ -111,7 +112,7 @@ def add_thing(self, thing, position=None):
         thing.position = position or self.default_position(thing)
         self.things.append(thing)
 
-        print "[env] adding {}".format(thing)
+        if DEBUG: print "[env] adding {}".format(thing)
 
         # add the agent
         if isinstance(thing, GoapAgent):
@@ -144,13 +145,13 @@ def update(self, time_passed):
         p = Precept(sense="time", time=self.time) 
         [ a.handle_precept(p) for a in self.agents ]
 
+        # get all the running actions for the agents
+        self.action_que = [ a.running_actions() for a in self.agents ]
+
         # update all the actions that may be running
         precepts = [ a.update(time_passed) for a in self.action_que ]
         precepts = [ p for p in precepts if not p == None ]
-
-        # get all the running actions for the agents
-        self.action_que = chain([ a.running_actions() for a in self.agents ])
-
+
         # start any actions that are not started
         [ action.start() for action in self.action_que 
             if action.state == ACTIONSTATE_NOT_STARTED ]

pygoap/environment2d.py

@@ -11,6 +11,7 @@
 
 from pygoap.agent import GoapAgent
 from environment import Environment, Precept
+from pathfinding.astar import search, Node
 import random, math
 
 
@@ -46,6 +47,9 @@ def get_surrounding(self, position):
     def calc_h(self, position1, position2):
         return distance(position1, position2)
 
+    def factory(self, position):
+        return Node(position)
+
 
 class XYEnvironment(Environment, Pathfinding2D):
     """
@@ -135,3 +139,10 @@ def can_move_from(self, agent, dist=100):
                     pos.append((self, (xx, yy)))
 
         return pos
+
+    def pathfind(self, start, finish):
+        """
+        return a path from start to finish
+        """
+
+        return search(start, finish, self.factory) 

pygoap/planning.py

@@ -1,5 +1,6 @@
 from blackboard import Blackboard
 from heapq import heappop, heappush, heappushpop
+from actionstates import *
 import sys
 
 
@@ -159,13 +160,17 @@ class InstancedAction(object):
     builder = None
 
     def __init__(self):
-        self.state = None
+        self.state = ACTIONSTATE_FINISHED 
+
+    def update(self, time):
+        pass
 
     def touch(self, bb):
         if DEBUG: print "[debug] action {} has no touch method".format(self)
 
     def test(self, bb):
         if DEBUG: print "[debug] action {} has no test method".format(self)
+        return 1.0
 
     def __repr__(self):
         return self.__class__.__name__

pygoap/tiledenvironment.py

@@ -21,7 +21,7 @@ def render(self, surface):
         for l in xrange(0, len(self.tiledmap.layers)):
             for y in xrange(0, self.tiledmap.height):
                 for x in xrange(0, self.tiledmap.width):
-                    tile = self.tiledmap.get_tile_image(x, y, l)
+                    tile = self.tiledmap.getTileImage(x, y, l)
                     xx = x * self.tiledmap.tilewidth
                     yy = y * self.tiledmap.tileheight
                     if not tile == 0:

test.py

@@ -88,7 +88,7 @@ def run_once():
             formosa.add_thing(rum)
 
         elif time == 5:
-            formosa.move(rum, pirate.position)
+            #formosa.move(rum, pirate.position)
             pass
 
         elif time == 6:
@@ -134,7 +134,7 @@ def run_once():
         stdout.write("\n\n");
         time += 1
 
-        if time == 8: run = False
+        if time == 32: run = False
 
 
 if __name__ == "__main__":