Resolve "simple pathfinding"

Closes #120 (closed)

cooperative_cuisine/configs/agents/random_agent.py

@@ -22,7 +22,9 @@ from cooperative_cuisine.utils import custom_asdict_factory
 
 TIME_TO_STOP_ACTION = 3.0
 
-ADD_RANDOM_MOVEMENTS = True
+ADD_RANDOM_MOVEMENTS = False
+DIAGONAL_MOVEMENTS = True
+AVOID_OTHER_PLAYERS = True
 
 
 def get_free_neighbours(
@@ -32,7 +34,7 @@ def get_free_neighbours(
     free_space = np.ones((width, height), dtype=bool)
     for counter in state["counters"]:
         grid_idx = np.array(counter["pos"]).astype(int)
-        free_space[*grid_idx] = False
+        free_space[grid_idx[0], grid_idx[1]] = False
     i, j = np.array(counter_pos).astype(int)
     free = []
 
@@ -90,8 +92,9 @@ async def agent():
                 continue
 
             if movement_graph is None:
-                movement_graph = create_movement_graph(state, diagonal=True)
-
+                movement_graph = create_movement_graph(
+                    state, diagonal=DIAGONAL_MOVEMENTS
+                )
 
             if counters is None:
                 counters = defaultdict(list)
@@ -170,16 +173,17 @@ async def agent():
                         paths = []
                         for free in target_free_spaces:
                             try:
-                                modified_graph = restrict_movement_graph(
-                                    graph=movement_graph.copy(),
-                                    player_positions=[
-                                        p["pos"]
-                                        for p in state["players"]
-                                        if p["id"] != args.player_id
-                                    ],
-                                )
                                 path = networkx.astar_path(
-                                    modified_graph,
+                                    restrict_movement_graph(
+                                        graph=movement_graph,
+                                        player_positions=[
+                                            p["pos"]
+                                            for p in state["players"]
+                                            if p["id"] != args.player_id
+                                        ],
+                                    )
+                                    if AVOID_OTHER_PLAYERS
+                                    else movement_graph,
                                     source,
                                     free,
                                     heuristic=astar_heuristic,
@@ -203,6 +207,8 @@ async def agent():
                             do_movement = True
                         else:
                             # no paths available
+                            print("NO PATHS")
+
                             # task_type = None
                             # task_args = None
                             do_movement = False
@@ -247,6 +253,7 @@ async def agent():
                                 await websocket.recv()
                         else:
                             # Target reached here.
+                            print("TARGET REACHED")
                             task_type = None
                             task_args = None
                     case "INTERACT":
@@ -303,9 +310,8 @@ async def agent():
                         ...
 
             if not task_type:
-                # task_type = random.choice(["GOTO"])
-                task_type = random.choice(["GOTO", "PUT"])
                 # task_type = random.choice(["GOTO", "PUT", "INTERACT"])
+                task_type = random.choice(["GOTO"])
                 threshold = datetime.now() + timedelta(seconds=TIME_TO_STOP_ACTION)
                 if task_type == "GOTO":
                     # counter_type = random.choice(list(counters.keys()))
@@ -314,7 +320,13 @@ async def agent():
                     random_counter = random.choice(all_counters)
                     counter_type = random_counter["type"]
                     task_args = random_counter["pos"]
-                    print(args.player_hash, args.player_id, task_type, counter_type, task_args)
+                    print(
+                        args.player_hash,
+                        args.player_id,
+                        task_type,
+                        counter_type,
+                        task_args,
+                    )
                 else:
                     print(args.player_hash, args.player_id, task_type)
                     task_args = None