node.py

@@ -0,0 +1,169 @@
+from dimensions import *
+import heapq
+
+
+def getTotalCost(x):
+    return x.totalCost
+
+def showPath(node, goal):
+    path = node.findPath(goal)
+    for x in path:
+        print(x.position, end=" ")
+        print(x.rotation, end=" ")
+        print(x.action)
+    print("***")
+    
+
+def succesor (node):
+    succesors = []
+    if node.position[0]+node.rotation[0] in range(0,GSIZE) and node.position[1]+node.rotation[1] in range(0,GSIZE):
+        child = Node(node.field, [node.position[0]+node.rotation[0], node.position[1]+node.rotation[1]], node.rotation)
+        child.action = "move"
+        succesors.append(child)
+    if node.rotation == [1,0]:
+        child = Node(node.field, node.position, [0,-1])
+        child.action = "left"
+        succesors.append(child)
+        child = Node(node.field, node.position, [0,1])
+        child.action = "right"
+        succesors.append(child)
+    if node.rotation == [0,1]:
+        child = Node(node.field, node.position, [-1, 0])
+        succesors.append(child)
+        child.action = "right"
+        child = Node(node.field, node.position, [1, 0])
+        child.action = "left"
+        succesors.append(child)
+    if node.rotation == [-1,0]:
+        child = Node(node.field, node.position, [0,-1])
+        succesors.append(child)
+        child.action = "right"
+        child = Node(node.field, node.position, [0,1])
+        child.action = "left"
+        succesors.append(child)
+    if node.rotation == [0,-1]:
+        child = Node(node.field, node.position, [-1, 0])
+        child.action = "left"
+        succesors.append(child)
+        child = Node(node.field, node.position, [1, 0])
+        child.action = "right"
+        succesors.append(child)
+    return succesors
+
+class Node():
+    def __init__(self, field, position, rotation):
+        self.parent = 0
+        self.startCost = 0
+        self.heuristic = 0
+        self.totalCost = 0
+        self.position = position
+        self.rotation = rotation
+        self.action = 0
+        self.field = field
+
+    def __lt__(self, other):
+        return self.totalCost < other.totalCost
+
+    def findPath(self, goal):
+        startNode = Node(self.field, self.position, self.rotation)
+        goalNode = goal
+
+        openList = []
+        closedList = []
+
+        startNode.parent = None
+
+        openList.append(startNode)
+
+        while len(openList) > 0:
+            openList.sort(key=getTotalCost)
+
+            currentNode = openList.pop(0)
+            closedList.append(currentNode)
+
+            if currentNode.position == goalNode:
+                path = []
+                current = currentNode
+                while current is not None:
+                    path.append(current)
+                    current = current.parent
+                return path[::-1]
+            
+            children = succesor(currentNode)
+
+            perm = 0
+            for child in children:
+                for closedChild in closedList:
+                    if child.position == closedChild.position and child.rotation == closedChild.rotation and child.action == closedChild.action:
+                        perm = 1
+                        break
+                if perm == 1:
+                    perm = 0
+                    continue
+                child.parent = currentNode
+                child.startCost = currentNode.startCost + child.field[child.position[0]][child.position[1]].moveCost
+                child.heuristic = abs(goal[0]-child.position[0]) + abs(goal[1]-child.position[1])
+                child.totalCost = child.startCost+child.heuristic
+
+                for openNode in openList:
+                    if child.position == openNode.position and child.rotation == openNode.rotation and child.action == openNode.action and child.startCost > openNode.startCost:
+                        perm = 1
+                        break
+
+                if perm == 1:
+                    perm = 0
+                    continue
+
+                openList.append(child)
+
+    def findPathToPlant(self):
+        startNode = Node(self.field, self.position, self.rotation)
+
+        openList = []
+        closedList = []
+
+        startNode.parent = None
+
+        heapq.heappush(openList, startNode)
+
+        while len(openList) > 0:
+            currentNode = heapq.heappop(openList)
+
+            closedList.append(currentNode)
+
+            if currentNode.field[currentNode.position[0]][currentNode.position[1]].planted and currentNode.field[currentNode.position[0]][currentNode.position[1]].hydration < 2:
+                path = []
+                for _ in range(currentNode.field[currentNode.position[0]][currentNode.position[1]].hydration, 4):
+                    path.append("hydrate")
+                current = currentNode
+                while current is not None:
+                    path.append(current.action)
+                    current = current.parent
+                return path[::-1]
+            
+            children = succesor(currentNode)
+
+            perm = 0
+            for child in children:
+                for closedChild in closedList:
+                    if child.position == closedChild.position and child.rotation == closedChild.rotation and child.action == closedChild.action:
+                        perm = 1
+                        break
+                if perm == 1:
+                    perm = 0
+                    continue
+                child.parent = currentNode
+                child.startCost = currentNode.startCost + child.field[child.position[0]][child.position[1]].moveCost
+                child.heuristic = abs(startNode.position[0]-child.position[0]) + abs(startNode.position[1]-child.position[1])
+                child.totalCost = child.startCost+child.heuristic
+
+                for openNode in openList:
+                    if child.position == openNode.position and child.rotation == openNode.rotation and child.action == openNode.action and child.startCost >= openNode.startCost:
+                        perm = 1
+                        break
+
+                if perm == 1:
+                    perm = 0
+                    continue
+
+                heapq.heappush(openList, child)