SI_Traktor/pathfinding.py

111 lines
3.8 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]
if self.field.if_value(self.traktor.get_modes_values()) == 0:
print("Brak pola")
return 0
else:
self.end_point = self.search(self.start_position,self.avaiable_value)
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
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]