Poprawka, aby agent nie przejeżdżał przez regały gdy jest załadowany, poprawka warunku odpalenia rekurencyjnie find_nearest_rack_for

agent.py

@@ -2,7 +2,6 @@ from warehouse import Coordinates, Tile, Pack
 from queue import PriorityQueue
 from math import sqrt
 from attributes import TURN_LEFT_DIRECTIONS, TURN_RIGHT_DIRECTIONS, PackStatus, PackSize
-import pdb
 import pygame
 import sys
 
@@ -160,7 +159,7 @@ class Agent:
 		if not tile_on_map:
 			return False
 		next_tile = self.warehouse.tiles[next_coords.x][next_coords.y]
-		if not self.is_loaded:
+		if not self.is_loaded or (next_coords.x, next_coords.y) != (self.dest.x, self.dest.y):
 			tile_passable = isinstance(next_tile, Tile) and next_tile.category.passable
 		return tile_passable
 
@@ -196,14 +195,13 @@ class Agent:
 		quarter_racks = [[t for t in row if t.category.name == "Rack" and not t.occupied and t.category.pack_size in accepted_weights] for row in quarter]
 		quarter_racks = [t for row in quarter_racks for t in row]
 		racks_costs = []
-		if not quarter_racks:
-			self.find_nearest_rack_for(package, expand_box+1)
 		for rack in quarter_racks:
 			new_node = Node(rack.x_position, rack.y_position)
 			cost = self.heuristic(start_node, new_node)
 			if cost > 0:
 				racks_costs.append((rack, cost))
-		rack = min(racks_costs, key=lambda l: l[1])[0]
+
+		rack = self.find_nearest_rack_for(package, expand_box + 1) if not racks_costs else min(racks_costs, key=lambda l: l[1])[0]
 		return rack
 
 

main.py

@@ -21,7 +21,7 @@ class MainGameFrame:
         self.display = pygame.display.set_mode(WINDOW_SIZE)
         agent_radius = int(TILE_WIDTH/2)
         self.agent_tex = pygame.image.load('forklift.png')
-        self.warehouse_map = warehouse.Warehouse(20, 20, 150, 20)
+        self.warehouse_map = warehouse.Warehouse(20, 20, 150, 40)
         starting_x, starting_y = self.set_starting_agent_position()
         self.agent = agent.Agent(starting_x, starting_y, self.warehouse_map, agent_radius)
         self.clock = pygame.time.Clock()
@@ -37,7 +37,7 @@ class MainGameFrame:
             self.draw_agent()
             self.agent.move()
             pygame.display.update()
-            self.clock.tick(5)
+            self.clock.tick(8)
 
     def draw_floor(self):
         for x in range(self.warehouse_map.width):