funkcje dodatkowe do Piotrek.py

pathfinding_tractor.py

@@ -0,0 +1,82 @@
+from queue import PriorityQueue
+import time
+
+class pathfinding_tractor():
+    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_tractor(self,field,traktor,ui,pola_buraczane,i):
+        self.pola = pola_buraczane
+        self.ui = ui
+        self.traktor = traktor
+        self.start_position = [int(self.pola[i])%10,int(self.pola[i])//10]
+        # print(str(self.start_position))
+        self.field = field
+        self.end_point = [int(self.pola[i+1])%10,int(self.pola[i+1])//10]
+        # print(str(self.end_point))           
+
+        if 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

pathfinding_tractorless.py

@@ -0,0 +1,68 @@
+from queue import PriorityQueue
+import time
+
+class pathfinding_tractorless():
+    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_tractorless(self,field,pola_buraczane,i):
+        self.pola = pola_buraczane
+        self.start_position = [int(self.pola[i])%10,int(self.pola[i])//10]
+        # print(str(self.start_position))
+        self.field = field
+        self.end_point = [int(self.pola[i+1])%10,int(self.pola[i+1])//10]
+        # print(str(self.end_point))           
+
+        if self.start_position == self.end_point:
+            return 0 
+        else:
+            self.route = self.a_star(self.start_position,self.end_point)
+            return self.route
+
+
+    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.new_cost