bfs.py

@@ -1,21 +1,23 @@
 from succ import succ as successors
+from queue import PriorityQueue
+
 
 def bfs(istate, goalx, goaly, passedFields):
     fringe = [istate]
     explored = []
     steps = []
-    while(fringe):
+    while fringe:
         state = fringe.pop(0)
-        if state.xpos == goalx and state.ypos == goaly: 
+        if state.xpos == goalx and state.ypos == goaly:
+            steps.insert(0, state)
+            while (state.parent != None):
+                state = state.parent
                 steps.insert(0, state)
-                while(state.parent != None):
-                    state = state.parent
-                    steps.insert(0, state)
-                return steps
-        
+            return steps
+
         element = successors(state, passedFields)
         explored.append((state.xpos, state.ypos, state.orientation))
-        for value in element :
+        for value in element:
             val = (value.xpos, value.ypos, value.orientation)
             if val not in explored and value not in fringe:
                 fringe.append(value)

main.py

@@ -28,49 +28,55 @@ class Agent:
         self.rect = rect
         self.direction = direction
 
+
 def randomize_map():        # tworzenie mapy z losowymi polami
-    fields_list = [DIRT, GRASS, SAND, COBBLE]
     field_array_1 = []
     field_array_2 = []
+    field_priority = []
     for i in range(16):
+        temp_priority = []
         for j in range(16):
-            randomChoiceOfBlock = random.choice(fields_list)
-            priorityOfBlock = fields_list.index(randomChoiceOfBlock)
-            field_array_2.append([randomChoiceOfBlock,priorityOfBlock])
+            if i in (0, 1) and j in (0, 1):
+                field_array_2.append(GRASS)
+                temp_priority.append(1)
+            else:
+                prob = random.uniform(0, 100)
+                if 0 <= prob <= 10:
+                    field_array_2.append(COBBLE)
+                    temp_priority.append(3)
+                if 10 < prob <= 20:
+                    field_array_2.append(SAND)
+                    temp_priority.append(2)
+                else:
+                    field_array_2.append(GRASS)
+                    temp_priority.append(1)
         field_array_1.append(field_array_2)
         field_array_2 = []
-    return field_array_1
+        field_priority.append(temp_priority)
+    return field_array_1, field_priority
 
 
 def draw_window(agent, fields):
     for i in range(16):
         for j in range(16):
-            window.blit(fields[i][j][0], (i * 50, j * 50))
+            window.blit(fields[i][j], (i * 50, j * 50))
     window.blit(AGENT, (agent.rect.x, agent.rect.y))      # wyswietlanie agenta
     pygame.display.update()
 
 
-#def agent_movement(keys_pressed, agent):    # sterowanie
-#    if keys_pressed[pygame.K_LEFT] and agent.x > 0:
-#        agent.x -= 50
-#    if keys_pressed[pygame.K_RIGHT] and agent.x < 750:
-#        agent.x += 50
-#    if keys_pressed[pygame.K_UP] and agent.y > 0:
-#        agent.y -= 50
-#    if keys_pressed[pygame.K_DOWN] and agent.y < 750:
-#        agent.y += 50
-
 def main():
     clock = pygame.time.Clock()
     run = True
     agent = GarbageTruck(0, 0, pygame.Rect(0, 0, 50, 50), 0)   # tworzenie pola dla agenta
-    fields = randomize_map()
+    fields, priority_array = randomize_map()
+    print(priority_array)
+    print(priority_array[4][8])
     while run:
         clock.tick(FPS)
-        for event in pygame.event.get():    # przechwycanie zamknięcia okna
+        for event in pygame.event.get():
             if event.type == pygame.QUIT:
                 run = False
-        #keys_pressed = pygame.key.get_pressed()
+        # keys_pressed = pygame.key.get_pressed()
         draw_window(agent, fields)
         steps = bfs(State(None, None, 0, 0, 'E'), 100, 50, fields)
         for interm in steps:
@@ -89,6 +95,5 @@ def main():
     pygame.quit()
 
 
-
 if __name__ == "__main__":
     main()