Merge branch 'dev' of https://github.com/DaVinciBot/CoupeDeRobotique …

…into dev

common/arena/__init__.py

@@ -3,9 +3,9 @@
     ZoneType,
     EnemyZone,
     StuffZone,
-    ForbiddenZone,
     BlueReservedZone,
     YellowReservedZone,
     BorderZone,
+    ZoneNavigability,
 )
 from arena.arena import Arena

common/arena/arena.py

@@ -31,10 +31,10 @@
     BaseArenaZone,
     EnemyZone,
     StuffZone,
-    ForbiddenZone,
     BlueReservedZone,
     YellowReservedZone,
     BorderZone,
+    ZoneNavigability,
 )
 
 
@@ -93,7 +93,7 @@ def __init__(
 
         # Add forbidden and border zones to the grid manager
         for zone in zones:
-            if zone.zone_type in [ZoneType.FORBIDDEN, ZoneType.BORDER_ZONE]:
+            if zone.navigability == ZoneNavigability.FORBIDDEN:
                 self.grid_manager.add_forbidden_static_zone(zone.polygon)
 
     # ====== Private Methods ======
@@ -149,24 +149,44 @@ def visualize(self, show_buffer: bool = True) -> None:
         # Draw the arena boundary
         arena_polygon = box(0, 0, self.width, self.height)
         self.__plot_polygon(ax, arena_polygon, color="lightgrey", label="Arena")
-
+        seen_zone_types = set()
+        first = True
         for zone in self.zones:
             if show_buffer and zone.zone_type != ZoneType.BORDER_ZONE:
-                # Plot buffer zone in light red
                 buffer_polygon = self.__add_buffer_to_zone(
                     zone.polygon, self.obstacle_buffer
                 )
                 self.__plot_polygon(
                     ax,
                     buffer_polygon,
-                    color="lightcoral",
-                    label=f"{zone.zone_type.name} Buffer",
+                    color="#E89393",
+                    label=f"zone Buffer" if first else None,
                 )
 
-            # Plot the original zone in dark red
+                first = False
             self.__plot_polygon(
-                ax, zone.polygon, color="darkred", label=f"{zone.zone_type.name} Zone"
+                ax,
+                zone.polygon,
+                color=zone.zone_color,
+                label=(
+                    f"{zone.zone_type.name} Zone"
+                    if zone.zone_type.name not in seen_zone_types
+                    else None
+                ),
             )
+            seen_zone_types.add(zone.zone_type.name)
+
+            if zone.navigability == ZoneNavigability.FORBIDDEN:
+                x, y = zone.polygon.exterior.xy
+                ax.fill(
+                    x, y, alpha=0.3, hatch="x", color=zone.zone_color, edgecolor="black"
+                )
+
+            elif zone.navigability == ZoneNavigability.RESTRICTED:
+                x, y = zone.polygon.exterior.xy
+                ax.fill(
+                    x, y, alpha=0.3, hatch="/", color=zone.zone_color, edgecolor="black"
+                )
 
         # Configure plot appearance
         ax.set_xlim(0, self.width)

common/arena/arena_zone.py

@@ -24,6 +24,7 @@
 class ZoneType(Enum):
     """Enumeration for different types of zones in the arena."""
 
+    DEFFAULT = auto()
     YELLOW_RESERVED = auto()
     BLUE_RESERVED = auto()
     FORBIDDEN = auto()
@@ -32,62 +33,113 @@ class ZoneType(Enum):
     BORDER_ZONE = auto()
 
 
+class ZoneNavigability(Enum):
+    """Enumeration for different types of zones in the arena."""
+
+    FREE = auto()
+    RESTRICTED = auto()
+    FORBIDDEN = auto()
+
+
 # ====== Base Zone Class ======
 class BaseArenaZone:
     """
-    Represents a general zone in the arena.
-
+    Represents a zone within an arena.
     Attributes:
-        polygon (Polygon): The geometric representation of the zone.
-        zone_type (ZoneType): The type of the zone.
+        polygon (Polygon): The geometric shape of the zone.
+        zone_type (ZoneType): The type/category of the zone.
+        zone_color (str): The color representation of the zone. Default is "#742A2A".
+        navigability (ZoneNavigability): The navigability of the zone. Default is "FREE".
+        visited_opposant (int): Counter for how many times the zone has been visited by the opponent.
+        visited_self (int): Counter for how many times the zone has been visited by self.
+    Args:
+        polygon (Polygon): The geometric shape of the zone.
+        zone_type (ZoneType): The type/category of the zone.
+        navigability (ZoneNavigability): The navigability of the zone.
+        zone_color (str, optional): The color representation of the zone. Default is "#742A2A".
     """
 
-    def __init__(self, polygon: Polygon, zone_type: ZoneType) -> None:
+    def __init__(
+        self,
+        polygon: Polygon,
+        zone_type: ZoneType = ZoneType.DEFFAULT,
+        navigability: ZoneNavigability = ZoneNavigability.FREE,
+        zone_color: str = "#f0aef2",
+    ) -> None:
         self.polygon: Polygon = polygon
         self.zone_type: ZoneType = zone_type
+        self.zone_color = zone_color
+        self.navigability: ZoneNavigability = navigability
+        self.visited_opposant = 0
+        self.visited_self = 0
 
 
 # ====== Specific Zone Classes ======
 class EnemyZone(BaseArenaZone):
     """Zone designated for enemies."""
 
-    def __init__(self, polygon: Polygon) -> None:
-        super().__init__(polygon, ZoneType.ENEMY)
+    def __init__(
+        self, polygon: Polygon, navigability: ZoneNavigability = ZoneNavigability.FREE
+    ) -> None:
+        super().__init__(
+            polygon, ZoneType.ENEMY, navigability=navigability, zone_color="#EE950F"
+        )
 
 
 class StuffZone(BaseArenaZone):
     """Zone designated for storage or stuff placement."""
 
-    def __init__(self, polygon: Polygon) -> None:
-        super().__init__(polygon, ZoneType.STUFF_ZONE)
-
-
-class ForbiddenZone(BaseArenaZone):
-    """Zone where access is restricted."""
-
-    def __init__(self, polygon: Polygon) -> None:
-        super().__init__(polygon, ZoneType.FORBIDDEN)
+    def __init__(
+        self, polygon: Polygon, navigability: ZoneNavigability = ZoneNavigability.FREE
+    ) -> None:
+        super().__init__(
+            polygon,
+            ZoneType.STUFF_ZONE,
+            navigability=navigability,
+            zone_color="#0FEE9C",
+        )
 
 
 class BlueReservedZone(BaseArenaZone):
     """Zone reserved for blue team operations."""
 
-    def __init__(self, polygon: Polygon) -> None:
-        super().__init__(polygon, ZoneType.BLUE_RESERVED)
+    def __init__(
+        self, polygon: Polygon, navigability: ZoneNavigability = ZoneNavigability.FREE
+    ) -> None:
+        super().__init__(
+            polygon,
+            ZoneType.BLUE_RESERVED,
+            navigability=navigability,
+            zone_color="#097D8D",
+        )
 
 
 class YellowReservedZone(BaseArenaZone):
     """Zone reserved for yellow team operations."""
 
-    def __init__(self, polygon: Polygon) -> None:
-        super().__init__(polygon, ZoneType.YELLOW_RESERVED)
+    def __init__(
+        self, polygon: Polygon, navigability: ZoneNavigability = ZoneNavigability.FREE
+    ) -> None:
+        super().__init__(
+            polygon,
+            ZoneType.YELLOW_RESERVED,
+            navigability=navigability,
+            zone_color="#ECC92E",
+        )
 
 
 class BorderZone(BaseArenaZone):
     """Zone representing the border of the arena."""
 
-    def __init__(self, polygon: Polygon) -> None:
-        super().__init__(polygon, ZoneType.BORDER_ZONE)
+    def __init__(
+        self, polygon: Polygon, navigability: ZoneNavigability = ZoneNavigability.FREE
+    ) -> None:
+        super().__init__(
+            polygon,
+            ZoneType.BORDER_ZONE,
+            navigability=navigability,
+            zone_color="#EF0D0D",
+        )
 
 
 # ====== Code Summary ======

common/arena/grid_manager.py

@@ -26,6 +26,8 @@
 from logger import Logger, LogLevels
 
 
+# TODO - Handle Restricted Zones. Currently, only forbidden zones are handled. Restricted zones are zones where movement is restricted but not completely forbidden.
+# First consider Restricted as obstacles but if no path is found, consider them as free zones.
 # ====== GridManager Class ======
 class GridManager:
     """
@@ -201,7 +203,7 @@ def get_static_grid(self) -> Grid:
         """Returns the static grid."""
         return self.static_grid
 
-    def static_and_dynamic_grid(self) -> Grid:
+    def get_static_and_dynamic_grid(self) -> Grid:
         """Returns the combined static and dynamic grid."""
         return self.static_and_dynamic_grid
 

robot1/rasp/arena_test.py

@@ -35,10 +35,10 @@
     ZoneType,
     EnemyZone,
     StuffZone,
-    ForbiddenZone,
     BlueReservedZone,
     YellowReservedZone,
     BorderZone,
+    ZoneNavigability,
 )
 
 from pathfinding.core.grid import Grid, GridNode
@@ -60,12 +60,29 @@
     border_buffer=2,
     obstacle_buffer=5,
     zones=[
-        ForbiddenZone(create_straight_rectangle(Point(45, 0), Point(0, 45))),
-        ForbiddenZone(create_straight_rectangle(Point(77.5, 0), Point(122.5, 45))),
-        ForbiddenZone(create_straight_rectangle(Point(155, 0), Point(200, 45))),
-        ForbiddenZone(create_straight_rectangle(Point(45, 255), Point(0, 155))),
-        ForbiddenZone(create_straight_rectangle(Point(77.5, 255), Point(122.5, 155))),
-        ForbiddenZone(create_straight_rectangle(Point(155, 255), Point(200, 155))),
+        BaseArenaZone(
+            create_straight_rectangle(Point(45, 0), Point(0, 45)),
+            navigability=ZoneNavigability.FORBIDDEN,
+        ),
+        BaseArenaZone(
+            create_straight_rectangle(Point(77.5, 0), Point(122.5, 45)),
+            navigability=ZoneNavigability.FORBIDDEN,
+        ),
+        BaseArenaZone(create_straight_rectangle(Point(155, 0), Point(200, 45))),
+        BaseArenaZone(
+            create_straight_rectangle(Point(45, 255), Point(0, 155)),
+            navigability=ZoneNavigability.RESTRICTED,
+        ),
+        BaseArenaZone(create_straight_rectangle(Point(77.5, 255), Point(122.5, 155))),
+        BaseArenaZone(create_straight_rectangle(Point(155, 255), Point(200, 155))),
+        StuffZone(
+            create_straight_rectangle(Point(50, 50), Point(100, 100)),
+            navigability=ZoneNavigability.FORBIDDEN,
+        ),
+        YellowReservedZone(create_straight_rectangle(Point(150, 50), Point(200, 100))),
+        BlueReservedZone(create_straight_rectangle(Point(50, 150), Point(100, 200))),
+        EnemyZone(create_straight_rectangle(Point(100, 100), Point(150, 150))),
+        EnemyZone(create_straight_rectangle(Point(10, 10), Point(50, 50))),
     ],
     chunk_size=2,
 )