108 lines
3.7 KiB
Python
108 lines
3.7 KiB
Python
|
from queue import PriorityQueue
|
||
|
|
import time
|
||
|
|
|
||
|
|
class pathfinding():
|
||
|
|
def __init__(self):
|
||
|
|
pass
|
||
|
|
|
||
|
|
def heuristic(self,a, b):
|
||
|
|
(x1, y1) = a
|
||
|
|
(x2, y2) = b
|
||
|
|
return abs(x1 - x2) + abs(y1 - y2)
|
||
|
|
|
||
|
|
def points(self, point):
|
||
|
|
self.point = []
|
||
|
|
for i in [[point[0],point[1]-1],[point[0]-1,point[1]],[point[0],point[1]+1],[point[0]+1,point[1]]]:
|
||
|
|
if i[0] in [-1,10] or i[1] in [-1,10]:
|
||
|
|
pass
|
||
|
|
else:
|
||
|
|
self.point.append(i)
|
||
|
|
return self.point
|
||
|
|
|
||
|
|
def pathfinding(self,traktor,field,ui):
|
||
|
|
self.ui = ui
|
||
|
|
self.traktor = traktor
|
||
|
|
self.activity = self.traktor.get_mode()
|
||
|
|
self.start_position = self.traktor.get_poz()
|
||
|
|
self.field = field
|
||
|
|
if self.activity == 0:
|
||
|
|
self.avaiable_value = [0,1,2,3]
|
||
|
|
elif self.activity == 1:
|
||
|
|
self.avaiable_value = [1,3,5,7]
|
||
|
|
elif self.activity == 2:
|
||
|
|
self.avaiable_value = [0,1,4,5]
|
||
|
|
elif self.activity == 3:
|
||
|
|
self.avaiable_value = [8]
|
||
|
|
self.end_point = self.search(self.start_position,self.avaiable_value)
|
||
|
|
if self.end_point == None:
|
||
|
|
print("Brak pola")
|
||
|
|
elif self.start_position == self.end_point:
|
||
|
|
self.traktor.work()
|
||
|
|
else:
|
||
|
|
self.route = self.a_star(self.start_position,self.end_point)
|
||
|
|
for i in self.route[::-1]:
|
||
|
|
self.poz = self.traktor.get_poz()
|
||
|
|
if i[1]> self.poz[1]:
|
||
|
|
self.traktor.move_down()
|
||
|
|
elif i[1]< self.poz[1]:
|
||
|
|
self.traktor.move_up()
|
||
|
|
elif i[0]> self.poz[0]:
|
||
|
|
self.traktor.move_right()
|
||
|
|
elif i[0]< self.poz[0]:
|
||
|
|
self.traktor.move_left()
|
||
|
|
self.ui.update()
|
||
|
|
time.sleep(0.1)
|
||
|
|
self.traktor.work()
|
||
|
|
|
||
|
|
|
||
|
|
def a_star(self,start, end):
|
||
|
|
self.a_queue = PriorityQueue()
|
||
|
|
self.a_queue.put(start,0)
|
||
|
|
self.cost = {tuple(start): 0}
|
||
|
|
self.path_from = {tuple(start): None}
|
||
|
|
self.finall_path = [tuple(end)]
|
||
|
|
self.found = 0
|
||
|
|
while not self.a_queue.empty():
|
||
|
|
self.current = tuple(self.a_queue.get())
|
||
|
|
|
||
|
|
if self.current == tuple(end):
|
||
|
|
break
|
||
|
|
|
||
|
|
for self.next in self.points(self.current):
|
||
|
|
self.new_cost = self.cost[tuple(self.current)] + self.field.get_value(self.next)
|
||
|
|
if tuple(self.next) not in self.cost or self.new_cost < self.cost[tuple(self.next)]:
|
||
|
|
self.cost[tuple(self.next)] = self.new_cost
|
||
|
|
self.priority = self.new_cost + self.heuristic(end, self.next)
|
||
|
|
self.a_queue.put(self.next,self.priority)
|
||
|
|
self.path_from[tuple(self.next)] = self.current
|
||
|
|
if self.next == end:
|
||
|
|
self.found = 1
|
||
|
|
break
|
||
|
|
if self.found:
|
||
|
|
break
|
||
|
|
|
||
|
|
self.pth = self.path_from[tuple(end)]
|
||
|
|
while not self.pth==tuple(start):
|
||
|
|
self.finall_path.append(self.pth)
|
||
|
|
self.pth = self.path_from[self.pth]
|
||
|
|
|
||
|
|
return self.finall_path
|
||
|
|
|
||
|
|
|
||
|
|
def search(self,start,value):
|
||
|
|
self.checked = []
|
||
|
|
self.visited = [start]
|
||
|
|
while self.visited:
|
||
|
|
if self.field.get_value(self.visited[0]) in value:
|
||
|
|
print("Znaleziono pole: "+str(self.visited[0]))
|
||
|
|
return self.visited[0]
|
||
|
|
else:
|
||
|
|
self.p = self.points(self.visited[0])
|
||
|
|
for i in self.p:
|
||
|
|
if i not in self.checked:
|
||
|
|
self.visited.append(i)
|
||
|
|
self.checked.append(self.visited[0])
|
||
|
|
del self.visited[0]
|
||
|
|
|
||
|
|
|