ESSA

frontend/js/main.js

@@ -69,6 +69,7 @@ class Agent{
     }
 
     goForward(){
+        this.hideAgent()
         if(this.turn == 'Up'){
             this.positionY += 1;
         }
@@ -81,6 +82,26 @@ class Agent{
         else if(this.turn == 'Right'){
             this.positionX += 1;
         }
+        this.showAgent()
+    }
+
+    goToField(field){
+        if(field.yField > this.positionY){
+            //pole jest nad agentem
+
+        }
+        if(field.yField < this.positionY){
+            //pole jest pod agentem
+
+        }
+        if(field.xField > this.positionX){
+            //pole jest na prawo
+
+        }
+        if(field.xField < this.positionX){
+            //pole jest na lewo
+
+        }
     }
 
 
@@ -94,8 +115,8 @@ class Field{
         this.isOccupiedByAgent = isOccupiedByAgent;
         this.costOfTravel = costOfTravel;
         this.neighbors = [];
-        this.gScore = 0;
+        this.g = 0;
-        this.heuristic = 0;
+        this.h = 0;
         this.f = 0;
         this.previous = undefined;
     }
@@ -376,24 +397,37 @@ function addNeighbors(board){
     }
 }
 
-function colorGreen(field){
+// function colorGreen(field){
-    document.getElementById(field.xField + "-" + field.yField).style.backgroundColor = "green";
+//     document.getElementById(field.xField + "-" + field.yField).style.backgroundColor = "green";
+// }
+
+// function colorRed(field){
+//     document.getElementById(field.xField + "-" + field.yField).style.backgroundColor = "red";
+// }
+
+// function colorYellow(field){
+//     document.getElementById(field.xField + "-" + field.yField).style.backgroundColor = "yellow";
+// }
+
+const colorFactory = color => (field, animationFrame) => {
+    const delay = animationFrame * 50
+    console.log(delay)
+    setTimeout(() => {
+        document.getElementById(field.xField + "-" + field.yField).style.backgroundColor = color;
+    }, delay);
+    return ++animationFrame
 }
 
-function colorRed(field){
+const colorYellow = colorFactory('yellow')
-    document.getElementById(field.xField + "-" + field.yField).style.backgroundColor = "red";
+const colorGreen = colorFactory('green')
-}
+const colorRed = colorFactory('red')
 
-function colorYellow(field){
+// function addNeighborsToOpenSet(set, neigbors){
-    document.getElementById(field.xField + "-" + field.yField).style.backgroundColor = "yellow";
+//     for(x = 0; x < neigbors.length; x++){
-}
+//         set.push(neigbors[x]);
-
+//         colorGreen(neigbors[x]);
-function addNeighborsToOpenSet(set, neigbors){
+//     }
-    for(x = 0; x < neigbors.length; x++){
+// }
-        set.push(neigbors[x]);
-        colorGreen(neigbors[x]);
-    }
-}
 
 function addToClosedSet(set, field){
     set.push(field);
@@ -432,24 +466,27 @@ function removeFromSet(openSet, promisingField){
     }
 }
 
-function sleep(milliseconds) {
-    const date = Date.now();
-    let currentDate = null;
-    do {
-      currentDate = Date.now();
-    } while (currentDate - date < milliseconds);
-  }
-
 function aStar(startField, goalField){
     let closedSet = [];
     let openSet = [];
     var path;
+    let animationFrame = 0
     
-    addToOpenSet(openSet, startField)
+    // addToOpenSet(openSet, startField)
+    openSet.push(startField);
+    colorGreen(startField, animationFrame);
 
     while(openSet.length > 0){
         
-        let current = findLowestFScore(openSet, goalField);
+        // let current = findLowestFScore(openSet, goalField);
+        let winner = 0;
+        for(let i = 0; i < openSet.length; i++){
+            if (openSet[i].f < openSet[winner].f){
+                winner = i
+            }
+        }
+
+        let current = openSet[winner];
 
         if(current === goalField){
             path = []
@@ -462,44 +499,45 @@ function aStar(startField, goalField){
             console.log("A* COMPLETED");
 
             for(var i = 0; i < path.length; i++){
-                colorYellow(path[i]);
+                animationFrame = colorYellow(path[i], animationFrame);
             }
-            return path
+            return path;
         }
-        
+
         removeFromSet(openSet, current);
-        addToClosedSet(closedSet, current);
+        // addToClosedSet(closedSet, current);
+        closedSet.push(current);
+        animationFrame = colorRed(current, animationFrame);
         
         var neighbors = current.neighbors;
 
-        for(var i = 0; i < neighbors.length; i++){
+        for(var i = 0; i < neighbors.length; i++){        
-            
             var neighbor = neighbors[i];
 
             if(!closedSet.includes(neighbor)){
-                var tempG = current.gScore + neighbor.costOfTravel;
+                var tempG = current.g + neighbor.costOfTravel;
 
                 if(openSet.includes(neighbor)){
-                    if(tempG < neighbor.gScore){
+                    if(tempG < neighbor.g){
-                        neighbor.gScore = tempG;
+                        neighbor.g = tempG;
                     }
                 } else {
-                    neighbor.gScore = tempG;
+                    neighbor.g = tempG;
-                    addToOpenSet(openSet, neighbor);
+                    // addToOpenSet(openSet, neighbor);
+                    openSet.push(neighbor);
+                    animationFrame = colorGreen(neighbor,animationFrame);
                 }
-
+                neighbor.h = getDistance(neighbor, goalField);
-                neighbor.heuristic = getDistance(neighbor, goalField);
+                neighbor.f = neighbor.g + neighbor.h;
-                neighbor.f = neighbor.gScore + neighbor.heuristic;
-                neighbor.previous = current;
                 
+                neighbor.previous = current;      
             }
         }
     }
 }
 
 function executePath(agent, path){
-
+    
-
 }
 
 
@@ -509,15 +547,22 @@ board = createCostofField(board, 10, 10);
 let candy = new Candy('zelek', 'truskawkowy', 'Jumbo', 541);
 let shelfs = createShelf();
 let agent = new Agent(0,0, 'Right');
-var button = document.getElementById("testButton");
+
 addNeighbors(board);
 
+function delayedFunction(func, index, time) {
+    setTimeout(() => func(), time * index);
+}
 
 function start(){
     showBoard(board);
     
-    let path = aStar(board[0][0], board[7][7]);
+    // for (let i = 0; i<9; i++) {
-    //console.log(path);
+    //     delayedStep(agent, i);
+    // }
+    const path = aStar(board[0][0], board[9][9]);
+    // agent.showAgent();
+    console.log(path.reverse())
 }