A* implemented and working, Task2 Ready

Game1/Sources/Crops/Crops.cs

@@ -31,15 +31,15 @@ class Crops
 
     public int getCostOnMovement()
     {
-        if (Status == 1)
+        if (Status == 1)        //grass
         {
             return 1;
         }
-        else if (Status == 2)
+        else if (Status == 2)   //dirt
         {
-            return 5;
+            return 8;
         }
-        else if (Status == 3)
+        else if (Status == 3)   //crops
         {
             return 15;
         }

Game1/Sources/Pathing/A-Star/Astar.cs

@@ -31,6 +31,7 @@ class Astar
         return allPaths.Peek();
     }
 
+    // Get all adjacent nodes
     private List<Nodes> GetAdjacentNodes(Vector2 currentPos)
     {
         var adjacentNodes = new List<Nodes>()
@@ -53,7 +54,7 @@ class Astar
                     adjacentNodes.Remove(adjacentNodes[i]);
             }
         }
-
+        // return if not an obstacle
         return adjacentNodes.Where(
             item => crops[(int)item.getCords().X, (int)item.getCords().Y].Status != 0).ToList();
     }
@@ -63,18 +64,19 @@ class Astar
     {
         return (int)(Math.Abs(endNote.X - currentNode.X) + Math.Abs(endNote.Y - currentNode.Y));
     }
-
+    // Rotation Cost
     public int CalculateRotationCost(int currDir, int newDir)
     {
         if (currDir == newDir)
             return 0;
         else if (Math.Abs(currDir - newDir) == 1 || Math.Abs(currDir - newDir) == 3)
-            return 3;
+            return 2;
-        else if (Math.Abs(currDir - newDir) == 0 || Math.Abs(currDir - newDir) == 2) //its for turning back, so it never should happen anyway, remove this check then?
+        else if (Math.Abs(currDir - newDir) == 0 || Math.Abs(currDir - newDir) == 2)
             return 9;
         return 0;
     }
 
+    // Convert rotation used by sprite, to get direction of first node in next path
     public int ConvertRotation()
     {
         int rotation = 0;
@@ -89,50 +91,37 @@ class Astar
         return rotation;
     }
 
+    // Main function of A* algorithm
     public Path FindPath()
     {
+        int g = 0;
+        int direction = ConvertRotation();
         Path path = new Path();
-        //PriorityQueue openList = new PriorityQueue();
         MinHeap openList = new MinHeap();
-        //PriorityQueue closedList = new PriorityQueue();
         MinHeap closedList = new MinHeap();
         Nodes target = new Nodes(targetPos);
-        int direction = ConvertRotation();
         Nodes startPos = new Nodes(tractorPos, direction);
         Nodes current = null;
-        int g = 0;
-        //int direction = SmartTractor.update
 
-        //openList.Enqueue(startPos);
         openList.Insert(startPos);
 
-        //while (openList.Count > 0)
         while (openList.GetSize() > 0)
         {
             current = openList.getMin();
-            //current = openList.Peek();
-            //g = current.getG();
             closedList.Insert(current);
-            //closedList.Enqueue(current);
             openList.removeMin();
-            //openList.Dequeue();
             direction = current.getDirection();
 
             if (current.getCords() == target.getCords())
                 break;
 
-
-            //if (closedList.Exists(target.getCords()))
-            //   break;
-
             var adjacentNodes = GetAdjacentNodes(current.getCords());
-            //g++;
             foreach (var adjacentNode in adjacentNodes)
             {
-                if (closedList.Exists(adjacentNode.getCords()))
+                if (closedList.Exists(adjacentNode.getCords()))                                                                                                                                 // check if adjacent node is on closed list, if it is, skip it
                     continue;
-                g = current.getG() + crops[(int)adjacentNode.getCords().X, (int)adjacentNode.getCords().Y].getCostOnMovement() + CalculateRotationCost(direction, adjacentNode.getDirection());
+                g = current.getG() + crops[(int)adjacentNode.getCords().X, (int)adjacentNode.getCords().Y].getCostOnMovement() + CalculateRotationCost(direction, adjacentNode.getDirection()); // calculate g - cost from start point
-                if (!(openList.Exists(adjacentNode.getCords())))
+                if (!(openList.Exists(adjacentNode.getCords())))                                                                                                                                // if adjacent node is not on open list, add it
                 {
 
                     adjacentNode.setG(g);
@@ -140,11 +129,10 @@ class Astar
                     adjacentNode.calculateF();
                     adjacentNode.setParent(current);
                     openList.Insert(adjacentNode);
-                    //openList.Enqueue(adjacentNode);
                 }
                 else
                 {
-                    if (g + adjacentNode.getH() < adjacentNode.getF())
+                    if (g + adjacentNode.getH() < adjacentNode.getF())                                                                                                                          // check if adjacent node is a better path than the current one
                     {
                         adjacentNode.setG(g);
                         adjacentNode.calculateF();
@@ -153,20 +141,18 @@ class Astar
                 }
 
             }
-
-            //openList.BuildMinHeap(openList.GetList());
         }
-
+        
+        // backtrack to create path
         while (current != null)
         {
             path.AddNode(current);
             current = current.getParent();
         }
         path = path.FlipArray();
+
         openList.deleteHeap();
         closedList.deleteHeap();
-        //openList.Clear();
-        //closedList.Clear();
         return path;
     }
 

Game1/Sources/Pathing/A-Star/PathSaver/MinHeap.cs

@@ -121,8 +121,6 @@ class MinHeap
         if (arr.Count > 0)
         {
             //clear the current heap
-            //Array.Resize(ref arr, input.Length);
-            //heapSize = 0;
             for (int i = 0; i < arr.Count; i++)
             {
                 arr[i] = input[i];

Game1/Sources/Pathing/A-Star/PathSaver/Path.cs

@@ -61,80 +61,4 @@ class Path
         return nodes[i];
     }
 
-
-    /* 
-    private int Count = 0;
-    private int Cost = 0;
-    private int Efficency;
-
-
-    public Nodes getNode(int i)
-    {
-
-        return nodes[i];
-    }
-    
-    public void setNode(Vector2 newNode)
-    {
-        nodes[Count] = new Nodes(10, newNode);
-        Count++;
-    }
-
-    public Nodes Reduce()
-    {
-        Count--;
-        Nodes temp = nodes[0];
-
-        for (int i = 0; i < Count; i++)
-        {
-            nodes[i] = nodes[i + 1];
-        }
-
-        return temp;
-    }
-
-    public Nodes getFinalDest()
-    {
-        return nodes[Count];
-    }
-
-    public int getCount()
-    {
-        return Count;
-    }
-
-    public Nodes getFirst()
-    {
-        return nodes[0];
-    }
-    
-    public Nodes getByIndex(int i)
-    {
-        return nodes[i];
-    }
-
-    public int getEfficency()
-    {
-        return Efficency;
-    }
-
-    private void calculateEfficency()
-    {
-        for (int i = 0; i < Count; i++)
-        {
-            Efficency = Efficency + nodes[i].getCost();
-        }
-    }
-
-    public int getCost()
-    {
-        return Cost;
-    }
-
-    public void setCost(Crops Crop)
-    {
-
-    }
-
-    */
 }

route-planning.md

@@ -0,0 +1,28 @@
+# intelligent tractor environment implementation report
+
+The environment is a resizable two dimensional grid that has sprites for a farmhouse, crops and empty fields
+
+House:
+
+![](https://lh4.googleusercontent.com/tEGhmLT2PAgvXG313YaVewDrUhMYgvY1PPmPpISbcW2BRz4UPfDph3-86YDHjHl4YdyCYAx4qhzB2fTlmA2Gh5nyg6oLM92Nwg-UtV3tKw3nLBe3RZvr47efqYMElmaQASTr-xMt)
+
+The tractor (in white) and crop (in red) on the field:
+
+![](https://lh4.googleusercontent.com/vd2n3rGPXDMLaaGBGBtjxVRftNryut-NYPstA4_CJwtRDrIVKVoAt-YrSZhcTysnk4cPXNEtssbVx02O9-DHUlV_JkY7nudSqanG7vCnMVMXQHSDnVjhDG8q98OelzNfxNXsMrbH)
+
+The simulation can increase in speed or even be halted with the arrow keys, the current speed is displayed at the bottom left of the window The current environment spawns crops in randomly generated locations and the tractor tracks the location of crops and it will haul the target back to the house as well as fertilize newly planted crops.
+
+As a task is complete on a tile its stage level will increase by one all the way up to 4 depending when it is fully grown and can be harvested,
+
+1.  The soil will not support crops.
+ 
+2.  Soil is ready for crops to be planted.
+    
+3.  Crops are planted and need fertilization.
+    
+4.  Crops are ready for harvest.
+    
+
+After the crops have been harvested they will return to stage 2.
+
+A short video of how the project works:[video](https://uam-my.sharepoint.com/:v:/g/personal/domhof1_st_amu_edu_pl/Ec1ThqI2DSZNob2-6IrfPvYBe9_G2xfK8Ffn04dSklsWIQ?e=OrTqmy)