73 lines
2.4 KiB
Python
73 lines
2.4 KiB
Python
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from utilities import movement,check_moves
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from DataModels.House import House
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from DataModels.Container import Container
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from math import sqrt
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INF = float('Inf')
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def CalculateDistance(gc, goal):
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result = sqrt(pow(goal[0]-gc[0],2)+pow(goal[1]-gc[1],2))
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return result
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def BestFS(grid, available_movement, gc_moveset, houses_list, depth=0):
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possible_goals = []
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a = gc_moveset[-1][0]
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b = gc_moveset[-1][1]
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possible_goals.append([a+1,b])
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possible_goals.append([a-1,b])
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possible_goals.append([a,b+1])
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possible_goals.append([a,b-1])
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house_in_area = False
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for location in possible_goals:
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if location[0]>=0 and location[1]>=0:
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try:
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cell = grid[location[0]][location[1]]
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if(type(cell) == House and cell.container.is_full and cell.unvisited):
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cell.unvisited = False
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house_in_area = True
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break
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except:
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continue
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if(house_in_area):
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xy = gc_moveset[-1]
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gc_moveset.append("pick_garbage")
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return (xy, gc_moveset)
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if len(available_movement) == 0 or depth>30:
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return
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x,y = gc_moveset[-1]
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print([x,y])
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#calculate distance to the nearest object
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min_distance_goal = ['-',INF]
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for h in houses_list:
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distance = CalculateDistance([a,b],h[1])
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if(min_distance_goal[1] > distance):
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min_distance_goal = [h[1], distance]
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print(min_distance_goal)
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#set preffered directions based on the closest object
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preffered_directions = []
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if(min_distance_goal[1] == 1):
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preffered_directions.append("pick_garbage")
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if(min_distance_goal[0][0] >= a):
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preffered_directions.append("right")
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if(min_distance_goal[0][0] <= a):
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preffered_directions.append("left")
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if(min_distance_goal[0][1] >= b):
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preffered_directions.append("down")
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if(min_distance_goal[0][1] <= b):
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preffered_directions.append("up")
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print(preffered_directions)
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print("------------------------------")
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for direction in available_movement:
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x_next, y_next = movement(grid,x,y)[0][direction]
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available_movement_next = check_moves(grid, x_next,y_next,direction)
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gc_moveset_next = gc_moveset.copy()
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gc_moveset_next.append([x_next,y_next])
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result = BestFS(grid, available_movement_next, gc_moveset_next, houses_list, depth+1)
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if result!= None:
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return result
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