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