s434713/SZI_PROJEKT_GR1_TRAKTOR
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fixed move to current

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marcinljablonski 2019-05-14 10:56:17 +02:00
parent 265137d29b
commit 662968f1f4
1 changed files with 23 additions and 25 deletions
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48
tractor.py
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@ -64,38 +64,36 @@ class Tractor:
await self.move() await self.move()
return final_direction return final_direction
def dfs_paths(self, start, goal):
stack = [(start, [start])]
visited = []
while stack:
(vertex, path) = stack.pop()
if vertex not in visited:
if vertex == goal:
return path
visited.append(vertex)
for neighbor in self.graph.nodes[vertex]:
stack.append((neighbor, path + [neighbor]))
async def move_to_current_location(self, last_location): async def move_to_current_location(self, last_location):
if last_location == self.current_location: if last_location == self.current_location:
print("olewka")
return self.current_rotation return self.current_rotation
print("nie ma olewka") path = self.dfs_paths(last_location, self.current_location)
frontier = PriorityQueue() path = path[1:]
frontier.put(last_location, 0)
cost_so_far = {} print("~~~~~~~~~~~~~~~~~~")
came_from = [] print(path)
cost_so_far[last_location] = 0
final_direction = self.current_rotation
pos = last_location pos = last_location
final_direction = self.current_rotation
while not frontier.empty(): for node in path:
current = frontier.get()
if current == goal:
break
for next in self.graph.neighbors(current):
new_cost = cost_so_far[current] + 1
if next not in cost_so_far or new_cost < cost_so_far[next]:
cost_so_far[next] = new_cost
priority = new_cost + self.heuristic(goal, next)
frontier.put(next, priority)
came_from.append(current)
came_from = reversed(came_from[::len(came_from)-1])
for node in came_from:
final_direction = await self.move_to_neighbor(pos, node, final_direction) final_direction = await self.move_to_neighbor(pos, node, final_direction)
pos = node pos = node
# final_direction = await(self.move_to_neighbor(last_location, self.current_location, self.current_rotation)) # # final_direction = await(self.move_to_neighbor(last_location, self.current_location, self.current_rotation))
self.moved_flag = True self.moved_flag = True
return final_direction return final_direction
@ -135,8 +133,8 @@ class Tractor:
self.last_node = self.directions[(self.directions.index(self.current_rotation) - 1) % 4] self.last_node = self.directions[(self.directions.index(self.current_rotation) - 1) % 4]
self.current_rotation = await self.move_to_current_location(last_location) self.current_rotation = await self.move_to_current_location(last_location)
print(last_location) # print(last_location)
print(self.current_location) # print(self.current_location)
last_location = self.current_location last_location = self.current_location
if self.current_location == goal: if self.current_location == goal: