a star

container/a_star.py

@@ -0,0 +1,87 @@
+from container import board
+from container.node import Node
+from container.mushroom import Mushroom
+from container.tree import Tree
+from operator import attrgetter
+
+
+def a_star(board, fringe, explored, istate, successor, get_cost, goaltest):
+    
+    agent_x = istate[0]
+    agent_y = istate[1]
+    agent_angle = istate[2]
+    fringe: List[Node] = [Node(agent_x, agent_y, agent_angle)]
+
+    while fringe:
+
+        if not fringe:
+            return False, False
+
+        node = min(fringe, key=lambda x: x.cost)
+        fringe.remove(node)
+
+        if (node.x, node.y) == goaltest:
+            actions = []
+            while node.parent != None:
+                actions.append(node.action)
+                node = node.parent
+            actions.reverse()
+            return actions
+
+        explored.append(node)
+
+        for action, x, y, angle in successor(board, node.x, node.y, node.angle):
+            next_node = Node(x, y, angle)
+            next_node.parent = node
+            next_node.action = action
+            next_node.cost = get_cost(next_node, goaltest,board) + heuristic_function(node, goaltest)
+
+            if next_node not in fringe and next_node not in explored:
+                fringe.append(next_node)
+            else:
+                for checked_node in fringe:
+                        if(checked_node == next_node and (next_node.cost) < (checked_node.cost)):
+                            fringe[fringe.index(checked_node)] = next_node
+
+
+
+def successor(board,x,y,angle):
+
+    result = []
+
+    result.append(("rotate_left", x, y, (angle + 1) % 4))
+    result.append(("rotate_right", x, y, (angle - 1) % 4))
+
+    if angle == 1:
+        if x > 0:
+            result.append(("move", x-1, y, angle))
+    elif angle == 0:
+        if y > 0: 
+            result.append(("move", x, y-1, angle))
+    elif angle == 3:
+        if x < board.col - 1:
+            result.append(("move", x+1, y, angle))
+    elif angle == 2:
+        if y < board.row - 1:
+            result.append(("move", x, y+1, angle))
+
+    return result
+
+
+def get_cost(node, goal:  Mushroom, board):
+
+    if (node.parent.x, node.parent.y) == (node.x, node.y):
+        sum = 1
+    elif(isinstance((board.board[node.x][node.y]),Tree)):
+        sum = 1000
+    elif(isinstance((board.board[node.x][node.y]),Mushroom) and (board.board[node.x][node.y].poison) == True):
+        sum = 1000
+    else:
+        sum = 2
+
+    return sum + node.parent.cost
+
+
+def heuristic_function(node, goal):
+    return abs(node.x - goal[0]) + abs(node.y - goal[1])
+    

container/board.py

@@ -5,6 +5,7 @@ from container.constans import *
 from container.tree import Tree
 from container.mushroom import Mushroom
 from container.agent import Agent
+from container.a_star import a_star,successor, get_cost
 
 class Board:
     def __init__(self, x = 0, y = 0, width = WIDTH, height = HEIGHT, row = ROWS, col = COLUMNS):
@@ -21,7 +22,7 @@ class Board:
         
         self.agent = Agent(self.free_spaces.pop(), self.square_size)
         
-        print(f"Board {col}x{row} with agent on ({self.agent.col},{self.agent.row})")
+        print(f"Board {col}x{row} with agent on ({self.agent.col},{self.agent.row}) {self.agent.angle}")
         
         self.surface = pygame.Surface((self.width, self.height))
         
@@ -41,6 +42,9 @@ class Board:
         
         self.grow_next = 0
         
+        self.path = []
+        self.actions = []
+        
     def update_free_spaces(self):
         self.free_spaces = []
         
@@ -92,6 +96,15 @@ class Board:
     def update_agent(self):
         self.agent.update_animation()
         
+        
+        if self.actions and self.agent.moving == self.agent.rotating == 0:
+            action = self.actions.pop(0)
+            
+            if action == "move": self.agent.move()
+            elif action == "rotate_left": self.agent.rotate(1)
+            else: self.agent.rotate(-1)
+        
+        
         #zebranie grzyba
         if self.board[self.agent.col][self.agent.row] != False and self.board[self.agent.col][self.agent.row].name == "Mushroom" and self.board[self.agent.col][self.agent.row].grow == 100:
             self.agent.points += self.board[self.agent.col][self.agent.row].points
@@ -122,8 +135,22 @@ class Board:
             x_y = self.free_spaces.pop()
             self.board[x_y[0]][x_y[1]] = Mushroom(x_y, random.randint(0, 2), True, 0)
             
-                
+    def a_starxd(self):
-            
+        print(self.agent.angle)
+        fringe = []
+        explored = []
+        self.actions = a_star(self,
+                            fringe,
+                            explored,
+                            (self.agent.col,self.agent.row, self.agent.angle),
+                            successor,
+                            get_cost,
+                            (bfs((self.agent.col,self.agent.row,self.agent.angle),successor,self))
+                            )
+    
+        print(self.actions)
+        
+        return self.actions
             
         
     

container/node.py

@@ -0,0 +1,15 @@
+
+class Node:
+    def __init__(self, x, y, angle = None, parent = None, action = 0, cost=0):
+        self.x = x
+        self.y = y
+        self.angle = angle
+        self.parent = parent
+        self.action = action
+        self.cost = cost
+
+    def __eq__(self, other):
+        if isinstance(other, Node) and (self.x == other.x and self.y == other.y and self.angle == other.angle):
+            return True
+        else:
+            return False

main.py

@@ -2,7 +2,9 @@ import pygame
 from container.constans import WIDTH, HEIGHT, ROWS, COLUMNS, GREEN
 from container.board import Board
 
-FPS = 30
+
+FPS = 18
+
 
 #creating game window  
 WIN = pygame.display.set_mode((WIDTH,HEIGHT))
@@ -35,9 +37,11 @@ def main():
         if key_input[pygame.K_UP]: board.agent.move()
         if key_input[pygame.K_RIGHT]: board.agent.rotate(-1)
     
+    
+
         #drawing map and detective
         WIN.fill(GREEN)        
-        board.update_agent()
+        board.update_agent() #update moves and collecting mushrooms 
         board.grow_mushrooms()
         
         board.draw_squares(WIN)
@@ -47,6 +51,21 @@ def main():
 
         pygame.display.update()
 
+
+        if key_input[pygame.K_SPACE]:
+            board.a_starxd()
+        
+        if(board.agent.rotating==0 and board.agent.moving==0):
+            board.a_starxd()
+            
+
+    
+    
     pygame.quit()
 
 main()
+
+
+
+
+