Zaktualizuj 'node.py'
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3fd1afdaeb
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56
node.py
56
node.py
@ -137,10 +137,12 @@ class Node:
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closedList.append(currentNode)
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if currentNode.field[currentNode.position[0]][currentNode.position[1]].planted and \
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currentNode.field[currentNode.position[0]][currentNode.position[1]].field_type == "soil" and \
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currentNode.field[currentNode.position[0]][currentNode.position[1]].hydration < 2:
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path = []
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for _ in range(currentNode.field[currentNode.position[0]][currentNode.position[1]].hydration, 4):
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path.append("hydrate")
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path.append("fertilize")
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current = currentNode
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while current is not None:
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path.append(current.action)
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@ -174,3 +176,57 @@ class Node:
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continue
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heapq.heappush(openList, child)
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def findPathToPlantSpot(self, goals):
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startNode = Node(self.field, self.position, self.rotation)
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openList = []
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closedList = []
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startNode.parent = None
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heapq.heappush(openList, startNode)
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while len(openList) > 0:
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currentNode = heapq.heappop(openList)
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closedList.append(currentNode)
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if not currentNode.field[currentNode.position[0]][currentNode.position[1]].planted and \
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goals[currentNode.position[0]][currentNode.position[1]] != "":
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path = []
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path.append("plant")
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current = currentNode
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while current is not None:
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path.append(current.action)
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current = current.parent
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return path[::-1]
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children = succesor(currentNode)
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perm = 0
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for child in children:
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for closedChild in closedList:
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if child.position == closedChild.position and child.rotation == closedChild.rotation and child.action == closedChild.action:
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perm = 1
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break
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if perm == 1:
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perm = 0
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continue
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child.parent = currentNode
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child.startCost = currentNode.startCost + child.field[child.position[0]][child.position[1]].moveCost
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child.heuristic = abs(startNode.position[0] - child.position[0]) + abs(
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startNode.position[1] - child.position[1])
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child.totalCost = child.startCost + child.heuristic
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for openNode in openList:
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if child.position == openNode.position and child.rotation == openNode.rotation and child.action == openNode.action and child.startCost >= openNode.startCost:
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perm = 1
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break
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if perm == 1:
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perm = 0
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continue
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heapq.heappush(openList, child)
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