forked from s452751/AI_PRO
A* and corrected graphsearch
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parent
8098a258f2
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5109d10d8c
30
Field.py
30
Field.py
@ -8,21 +8,6 @@ class Field:
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def state(self):
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return self.__state
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@property
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def cost(self):
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if self.state == 'toPlow':
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return 1
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elif self.state == 'toSeed':
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return 2
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elif self.state == 'toFertilize':
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return 3
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elif self.state == 'toWater':
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return 4
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elif self.state == 'toCut':
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return 5
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else:
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return 0
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@property
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def horizontal_index(self):
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return self.__horizontal_index
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@ -31,6 +16,21 @@ class Field:
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def vertical_index(self):
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return self.__vertical_index
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@property
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def cost(self):
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if self.state == 'toPlow':
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return 1
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elif self.state == 'toSeed':
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return 2
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elif self.state == 'toFertilize':
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return 300
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elif self.state == 'toWater':
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return 4
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elif self.state == 'toCut':
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return 5000
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else:
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return 0
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@state.setter
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def state(self, state):
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if state == "toPlow" or state == "toWater" or state == "toSeed" or \
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98
FindPath.py
98
FindPath.py
@ -1,21 +1,7 @@
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from constants import *
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from queue import Queue
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class Node:
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def __init__(self, parent: (int, int), index: (int, int)):
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self.__index = index
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self.__parent = parent
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def get_index(self):
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return self.__index
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def get_parent(self):
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return self.__parent
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def whichStateLookingFor(tractor, TillageUnit):
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searching_field = "toPlow"
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searching_field = "none"
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if tractor.header and tractor.hitch == "Crop Trailer":
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searching_field = "toCut"
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elif isinstance(tractor.hitch, TillageUnit) and tractor.hitch.load == "Nothing":
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@ -30,87 +16,15 @@ def whichStateLookingFor(tractor, TillageUnit):
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def nearestLookingField(board, tractor, TillageUnit):
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horizontal_tiles_number = int(HORIZONTAL_TILES_NUMBER)
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vertical_tiles_number = int(VERTICAL_TILES_NUMBER)
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print(horizontal_tiles_number, vertical_tiles_number)
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a = input()
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end_horizontal_index = 0
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end_vertical_index = 0
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searching_field = whichStateLookingFor(tractor, TillageUnit)
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for i in range(horizontal_tiles_number):
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for j in range(vertical_tiles_number):
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for i in range(0, int(HORIZONTAL_TILES_NUMBER)):
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for j in range(0, int(VERTICAL_TILES_NUMBER)):
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field = board[i][j]
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if searching_field == field.state:
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end_horizontal_index = field.horizontal_index
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end_vertical_index = field.vertical_index
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break
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end_horizontal_index = field.horizontal_index / TILE_SIZE
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end_vertical_index = field.vertical_index / TILE_SIZE
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return end_horizontal_index, end_vertical_index
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def graphsearch(tractor, board, TillageUnit, fringe: Queue, explored):
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start_horizontal_index = tractor.horizontal_index
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start_vertical_index = tractor.vertical_index
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start_state = (start_horizontal_index, start_vertical_index)
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end_state = nearestLookingField(board, tractor, TillageUnit)
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print(start_state)
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print(end_state)
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fringe.put(start_state)
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while True:
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if fringe.empty():
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return False
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elem = fringe.get()
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if goaltest(elem, end_state):
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break
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#TODO
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#return droga ktora musi pokonac traktor
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else:
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explored.append(elem)
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elem = succ(start_state, end_state, tractor)
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fringe.put(elem)
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def goaltest(elem, end_state):
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print('element:', elem, 'state:', end_state)
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if elem == end_state:
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return True
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else:
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return False
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def succ(start_state, end_state, tractor):
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print(tractor.horizontal_index, ' ', tractor.vertical_index)
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a = input()
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if start_state[1] < end_state[1]:
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if tractor.direction == "RIGHT":
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tractor.drive()
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print("przesunalem sie w prawo")
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else:
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tractor.direction = "RIGHT"
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elif start_state[1] > end_state[1]:
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if tractor.direction == "LEFT":
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tractor.drive()
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print("przesunalem sie w lewo")
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else:
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tractor.direction = "LEFT"
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elif start_state[0] < end_state[0]:
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if tractor.direction == "DOWN":
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tractor.drive()
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print("przesunalem sie w dol")
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else:
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tractor.direction = "DOWN"
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elif start_state[0] > end_state[0]:
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if tractor.direction == "UP":
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tractor.drive()
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print("przesunalem sie w gore")
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else:
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tractor.direction = "UP"
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else:
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return tractor.horizontal_index, tractor.horizontal_index
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return end_horizontal_index, end_vertical_index
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31
Tractor.py
31
Tractor.py
@ -94,7 +94,6 @@ class Tractor:
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@direction.setter
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def direction(self, direction):
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if direction == "UP" or direction == "DOWN" or direction == "RIGHT" or direction == "LEFT":
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self.__direction = direction
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@ -111,3 +110,33 @@ class Tractor:
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elif self.__direction == "LEFT" and self.horizontal_index > 0:
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self.__horizontal_index += -mRange
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self.reduce_fuel()
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def left_rotation(self):
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if self.__direction == "UP":
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self.__direction = "LEFT"
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elif self.__direction == "LEFT":
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self.__direction = "DOWN"
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elif self.__direction == "DOWN":
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self.__direction = "RIGHT"
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elif self.__direction == "RIGHT":
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self.__direction = "UP"
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def right_rotation(self):
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if self.__direction == "UP":
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self.__direction = "RIGHT"
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elif self.__direction == "RIGHT":
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self.__direction = "DOWN"
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elif self.__direction == "DOWN":
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self.__direction = "LEFT"
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elif self.__direction == "LEFT":
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self.__direction = "UP"
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def auto_movement(self, move):
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if move == "Move":
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self.drive()
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elif move == "Left_Rotation":
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self.left_rotation()
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elif move == "Right_Rotation":
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self.right_rotation()
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@ -29,8 +29,8 @@ TRACTOR_WIDTH = TILE_SIZE
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TRACTOR_HEIGHT = TILE_SIZE
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#FRAMES PER SECOND
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FPS = 10
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FPS = 5
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#ANIMATION_PART
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ANIMATION_PART = 11
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ANIMATION_PART = 1
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28
main.py
28
main.py
@ -1,15 +1,14 @@
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import pygame
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import Board
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import FindPath
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import TractorAction
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import drawUI
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from FindPath import graphsearch
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import Graphsearch
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from Tractor import Tractor
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from TractorLoad import TillageUnit
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from animations import animationsOn, animationsOff
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from constants import *
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from manualSteering import manualSteeringDriver
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from queue import Queue
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pygame.init()
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@ -27,11 +26,13 @@ toolCounter = - 1
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board = Board.generate()
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tractor = Tractor(horizontal_index=-0, vertical_index=0, hitch="nothing", header=False, autodrive=False,
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direction='RIGHT')
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tractor = Tractor(horizontal_index=-0, vertical_index=0, hitch="nothing", header=False, autodrive=True,
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direction="RIGHT")
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tillageUnit = TillageUnit("Nothing")
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tractor.turnOnEngine()
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move_list = []
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clock = pygame.time.Clock()
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@ -45,23 +46,28 @@ while working:
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field = board[tractor.horizontal_index][tractor.vertical_index]
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print("curr field cost", field.cost)
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print("tractor dir", tractor.direction)
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if not move_list:
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field.state = TractorAction.changeFieldState(field, tractor)
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istate = Graphsearch.Istate(tractor.direction, tractor.horizontal_index, tractor.vertical_index)
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move_list = Graphsearch.graphsearch([], [], istate, FindPath.nearestLookingField(board, tractor, TillageUnit), board)
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print(move_list)
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elif move_list:
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tractor.auto_movement(move_list.pop(0))
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TractorAction.changeFieldState(field, tractor)
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if tractor.autodrive and tractor.engineWorking:
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animationSpeed = ANIMATION_PART
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else:
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animationSpeed = 1
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print(ANIMATION_PART)
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if tractor.autodrive:
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if field.horizontal_index == 0 and field.vertical_index == 0 and not move_list:
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tractor, tillageUnit, toolCounter = TractorAction.autoToolsChange(tractor, tillageUnit, toolCounter)
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field.state = TractorAction.changeFieldState(field, tractor)
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drawUI.drawUI(board, display, tractor, tractor.direction, tillageUnit, field, animationSpeed)
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clock.tick(FPS)
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#graphsearch(tractor, board, TillageUnit, Queue(), list())
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pygame.quit()
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quit()
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@ -51,13 +51,12 @@ def manualSteeringDriver(event, board, tractor, hitchCounter, tillageUnit, loadC
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def manualTurning(event, tractor):
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tractor.direction = "STOP"
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if event.type == pygame.KEYDOWN:
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if event.key == pygame.K_LEFT and tractor.horizontal_index > 0:
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tractor.direction = "LEFT"
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tractor.direction = TRACTOR_DIRECTION_LEFT
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elif event.key == pygame.K_RIGHT and tractor.horizontal_index < HORIZONTAL_TILES_NUMBER - 1:
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tractor.direction = "RIGHT"
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tractor.direction = TRACTOR_DIRECTION_RIGHT
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elif event.key == pygame.K_UP and tractor.vertical_index > 0:
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tractor.direction = "UP"
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tractor.direction = TRACTOR_DIRECTION_UP
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elif event.key == pygame.K_DOWN and tractor.vertical_index < VERTICAL_TILES_NUMBER - 1:
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tractor.direction = "DOWN"
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tractor.direction = TRACTOR_DIRECTION_DOWN
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