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A* and corrected graphsearch

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Łukasz 2021-04-28 15:31:17 +02:00
parent 8098a258f2
commit 5109d10d8c
6 changed files with 77 additions and 129 deletions
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30
Field.py
View File

@ -8,21 +8,6 @@ class Field:
def state(self):
return self.__state
@property
def cost(self):
if self.state == 'toPlow':
return 1
elif self.state == 'toSeed':
return 2
elif self.state == 'toFertilize':
return 3
elif self.state == 'toWater':
return 4
elif self.state == 'toCut':
return 5
else:
return 0
@property
def horizontal_index(self):
return self.__horizontal_index
@ -31,6 +16,21 @@ class Field:
def vertical_index(self):
return self.__vertical_index
@property
def cost(self):
if self.state == 'toPlow':
return 1
elif self.state == 'toSeed':
return 2
elif self.state == 'toFertilize':
return 300
elif self.state == 'toWater':
return 4
elif self.state == 'toCut':
return 5000
else:
return 0
@state.setter
def state(self, state):
if state == "toPlow" or state == "toWater" or state == "toSeed" or \

100
FindPath.py
View File

@ -1,21 +1,7 @@
from constants import *
from queue import Queue
class Node:
def __init__(self, parent: (int, int), index: (int, int)):
self.__index = index
self.__parent = parent
def get_index(self):
return self.__index
def get_parent(self):
return self.__parent
def whichStateLookingFor(tractor, TillageUnit):
searching_field = "toPlow"
searching_field = "none"
if tractor.header and tractor.hitch == "Crop Trailer":
searching_field = "toCut"
elif isinstance(tractor.hitch, TillageUnit) and tractor.hitch.load == "Nothing":
@ -30,87 +16,15 @@ def whichStateLookingFor(tractor, TillageUnit):
def nearestLookingField(board, tractor, TillageUnit):
horizontal_tiles_number = int(HORIZONTAL_TILES_NUMBER)
vertical_tiles_number = int(VERTICAL_TILES_NUMBER)
print(horizontal_tiles_number, vertical_tiles_number)
a = input()
end_horizontal_index = 0
end_vertical_index = 0
searching_field = whichStateLookingFor(tractor, TillageUnit)
for i in range(horizontal_tiles_number):
for j in range(vertical_tiles_number):
for i in range(0, int(HORIZONTAL_TILES_NUMBER)):
for j in range(0, int(VERTICAL_TILES_NUMBER)):
field = board[i][j]
if searching_field == field.state:
end_horizontal_index = field.horizontal_index
end_vertical_index = field.vertical_index
break
end_horizontal_index = field.horizontal_index / TILE_SIZE
end_vertical_index = field.vertical_index / TILE_SIZE
return end_horizontal_index, end_vertical_index
return end_horizontal_index, end_vertical_index
def graphsearch(tractor, board, TillageUnit, fringe: Queue, explored):
start_horizontal_index = tractor.horizontal_index
start_vertical_index = tractor.vertical_index
start_state = (start_horizontal_index, start_vertical_index)
end_state = nearestLookingField(board, tractor, TillageUnit)
print(start_state)
print(end_state)
fringe.put(start_state)
while True:
if fringe.empty():
return False
elem = fringe.get()
if goaltest(elem, end_state):
break
#TODO
#return droga ktora musi pokonac traktor
else:
explored.append(elem)
elem = succ(start_state, end_state, tractor)
fringe.put(elem)
def goaltest(elem, end_state):
print('element:', elem, 'state:', end_state)
if elem == end_state:
return True
else:
return False
def succ(start_state, end_state, tractor):
print(tractor.horizontal_index, ' ', tractor.vertical_index)
a = input()
if start_state[1] < end_state[1]:
if tractor.direction == "RIGHT":
tractor.drive()
print("przesunalem sie w prawo")
else:
tractor.direction = "RIGHT"
elif start_state[1] > end_state[1]:
if tractor.direction == "LEFT":
tractor.drive()
print("przesunalem sie w lewo")
else:
tractor.direction = "LEFT"
elif start_state[0] < end_state[0]:
if tractor.direction == "DOWN":
tractor.drive()
print("przesunalem sie w dol")
else:
tractor.direction = "DOWN"
elif start_state[0] > end_state[0]:
if tractor.direction == "UP":
tractor.drive()
print("przesunalem sie w gore")
else:
tractor.direction = "UP"
else:
return tractor.horizontal_index, tractor.horizontal_index
return end_horizontal_index, end_vertical_index

33
Tractor.py
View File

@ -94,8 +94,7 @@ class Tractor:
@direction.setter
def direction(self, direction):
if direction == "UP" or direction == "DOWN" or direction == "RIGHT" or direction == "LEFT":
self.__direction = direction
self.__direction = direction
def drive(self):
@ -111,3 +110,33 @@ class Tractor:
elif self.__direction == "LEFT" and self.horizontal_index > 0:
self.__horizontal_index += -mRange
self.reduce_fuel()
def left_rotation(self):
if self.__direction == "UP":
self.__direction = "LEFT"
elif self.__direction == "LEFT":
self.__direction = "DOWN"
elif self.__direction == "DOWN":
self.__direction = "RIGHT"
elif self.__direction == "RIGHT":
self.__direction = "UP"
def right_rotation(self):
if self.__direction == "UP":
self.__direction = "RIGHT"
elif self.__direction == "RIGHT":
self.__direction = "DOWN"
elif self.__direction == "DOWN":
self.__direction = "LEFT"
elif self.__direction == "LEFT":
self.__direction = "UP"
def auto_movement(self, move):
if move == "Move":
self.drive()
elif move == "Left_Rotation":
self.left_rotation()
elif move == "Right_Rotation":
self.right_rotation()

4
constants.py
View File

@ -29,8 +29,8 @@ TRACTOR_WIDTH = TILE_SIZE
TRACTOR_HEIGHT = TILE_SIZE
#FRAMES PER SECOND
FPS = 10
FPS = 5
#ANIMATION_PART
ANIMATION_PART = 11
ANIMATION_PART = 1

30
main.py
View File

@ -1,15 +1,14 @@
import pygame
import Board
import FindPath
import TractorAction
import drawUI
from FindPath import graphsearch
import Graphsearch
from Tractor import Tractor
from TractorLoad import TillageUnit
from animations import animationsOn, animationsOff
from constants import *
from manualSteering import manualSteeringDriver
from queue import Queue
pygame.init()
@ -27,11 +26,13 @@ toolCounter = - 1
board = Board.generate()
tractor = Tractor(horizontal_index=-0, vertical_index=0, hitch="nothing", header=False, autodrive=False,
direction='RIGHT')
tractor = Tractor(horizontal_index=-0, vertical_index=0, hitch="nothing", header=False, autodrive=True,
direction="RIGHT")
tillageUnit = TillageUnit("Nothing")
tractor.turnOnEngine()
move_list = []
clock = pygame.time.Clock()
@ -45,23 +46,28 @@ while working:
field = board[tractor.horizontal_index][tractor.vertical_index]
print("curr field cost", field.cost)
print("tractor dir", tractor.direction)
if not move_list:
field.state = TractorAction.changeFieldState(field, tractor)
istate = Graphsearch.Istate(tractor.direction, tractor.horizontal_index, tractor.vertical_index)
move_list = Graphsearch.graphsearch([], [], istate, FindPath.nearestLookingField(board, tractor, TillageUnit), board)
print(move_list)
elif move_list:
tractor.auto_movement(move_list.pop(0))
TractorAction.changeFieldState(field, tractor)
if tractor.autodrive and tractor.engineWorking:
animationSpeed = ANIMATION_PART
else:
animationSpeed = 1
print(ANIMATION_PART)
if tractor.autodrive:
if field.horizontal_index == 0 and field.vertical_index == 0 and not move_list:
tractor, tillageUnit, toolCounter = TractorAction.autoToolsChange(tractor, tillageUnit, toolCounter)
field.state = TractorAction.changeFieldState(field, tractor)
drawUI.drawUI(board, display, tractor, tractor.direction, tillageUnit, field, animationSpeed)
clock.tick(FPS)
#graphsearch(tractor, board, TillageUnit, Queue(), list())
pygame.quit()
quit()
quit()

9
manualSteering.py
View File

@ -51,13 +51,12 @@ def manualSteeringDriver(event, board, tractor, hitchCounter, tillageUnit, loadC
def manualTurning(event, tractor):
tractor.direction = "STOP"
if event.type == pygame.KEYDOWN:
if event.key == pygame.K_LEFT and tractor.horizontal_index > 0:
tractor.direction = "LEFT"
tractor.direction = TRACTOR_DIRECTION_LEFT
elif event.key == pygame.K_RIGHT and tractor.horizontal_index < HORIZONTAL_TILES_NUMBER - 1:
tractor.direction = "RIGHT"
tractor.direction = TRACTOR_DIRECTION_RIGHT
elif event.key == pygame.K_UP and tractor.vertical_index > 0:
tractor.direction = "UP"
tractor.direction = TRACTOR_DIRECTION_UP
elif event.key == pygame.K_DOWN and tractor.vertical_index < VERTICAL_TILES_NUMBER - 1:
tractor.direction = "DOWN"
tractor.direction = TRACTOR_DIRECTION_DOWN