refactor code and add a_star algorithm

app/__init__.py

@@ -1,14 +1,16 @@
 #!/usr/bin/python3
 import copy
-from queue import Queue
+from queue import Queue, PriorityQueue
 from threading import Event
 
 import pygame
 
 from config import *
-from app.graphsearch import Node, Graphsearch
+from app.graphsearch import Node
 from app.board import Board
 from app.tractor import Tractor
+from app.a_star import AStar
+from app.bfs import Bfs
 
 
 class App:
@@ -39,15 +41,6 @@ class App:
     def keys_pressed_handler(self):
         keys = pygame.key.get_pressed()
 
-        if keys[pygame.K_UP]:
-            self.__tractor.direction_up()
-        if keys[pygame.K_DOWN]:
-            self.__tractor.direction_down()
-        if keys[pygame.K_LEFT]:
-            self.__tractor.direction_left()
-        if keys[pygame.K_RIGHT]:
-            self.__tractor.direction_right()
-
         if keys[pygame.K_m]:
             self.__tractor.move()
             print(self.__tractor)
@@ -81,24 +74,40 @@ class App:
             else:
                 print(f"Bfs is succeed")
                 self.__bot_is_running.set()
-                self.__tractor.move_by_bfs_handler(self.__moves, self.__bot_is_running)
+                self.__tractor.run_bot_handler(self.__moves, self.__bot_is_running)
 
+        if keys[pygame.K_c]:
+            self.get_moves_by_a_star()
+            if not self.__moves:
+                print(f"A Star is failed")
+            else:
+                print(f"A Star is succeed")
+                self.__bot_is_running.set()
+                self.__tractor.run_bot_handler(self.__moves, self.__bot_is_running)
 
-    def update_screen(self):
+    def update_screen(self) -> None:
         pygame.display.flip()
 
-    def quit(self):
+    def quit(self) -> None:
         pygame.quit()
 
-    def get_moves_by_bfs(self):
+    def get_moves_by_a_star(self) -> None:
         x, y = self.__tractor.get_position()
         node = Node(None, x, y, self.__tractor.get_direction(), 0, "movement", "initial state")
         board = copy.deepcopy(self.__board)
-        self.__moves = Graphsearch.bfs(Queue(), Queue(), node,
+        self.__moves = AStar.search(PriorityQueue(), Queue(), node,
-                              lambda n=node, b=board: Graphsearch.succ(n, b),
+                                       lambda n=node, b=board: AStar.succ(n, b),
-                              lambda n=node: Graphsearch.goaltest(n), board)
+                                       lambda n=node: AStar.goaltest(n), board)
 
-    def run(self):
+    def get_moves_by_bfs(self) -> None:
+        x, y = self.__tractor.get_position()
+        node = Node(None, x, y, self.__tractor.get_direction(), 0, "movement", "initial state")
+        board = copy.deepcopy(self.__board)
+        self.__moves = Bfs.search(Queue(), Queue(), node,
+                              lambda n=node, b=board: Bfs.succ(n, b),
+                              lambda n=node: Bfs.goaltest(n), board)
+
+    def run(self) -> None:
         self.initialize()
 
         while self.__running:

app/a_star.py

@@ -0,0 +1,110 @@
+from __future__ import annotations
+
+import copy
+from typing import Callable, Union
+from queue import Queue, PriorityQueue
+
+from app.board import Board
+from config import *
+from app.graphsearch import Node, Graphsearch
+
+
+class PriorityItem:
+    def __init__(self, node: Node, priority: int):
+        self.node = node
+        self.priority = priority
+
+    def __lt__(self, other: PriorityItem):
+        return self.priority < other.priority
+
+
+class AStar(Graphsearch):
+    @staticmethod
+    def convert_queue_of_priority_items_to_list(q: Queue[PriorityItem], *args) -> list:
+        items = []
+        [items.append((i.node.get_x(), i.node.get_y(), i.node.get_direction(), *args)) for i in q.queue]
+        return items
+
+    @staticmethod
+    def convert_queue_of_priority_items_with_priority_to_list(q: Queue[PriorityItem], *args) -> list:
+        items = []
+        [items.append((i.node.get_x(), i.node.get_y(), i.node.get_direction(), i.priority, *args)) for i in q.queue]
+        return items
+
+    @staticmethod
+    def replace_node_in_fringe_queue(fringe: PriorityQueue[PriorityItem], state) -> None:
+        tmp_queue = Queue()
+        while not fringe.empty():
+            item = fringe.get()
+
+            if state == item.node.transform_node_to_tuple():
+                break
+            else:
+                tmp_queue.put(item)
+
+        while not tmp_queue.empty():
+            fringe.put(tmp_queue.get())
+
+    @staticmethod
+    def replace_nodes(fringe: PriorityQueue[PriorityItem], priority: int, state: tuple[int, int, float]):
+        fringe_items = AStar.convert_queue_of_priority_items_with_priority_to_list(fringe)
+        for s in fringe_items:
+            if s[:-1] == state[:-1]:
+                if s[-1] > priority:
+                    # s[-1] is priority (last element of state tuple)
+                    # remove and add node to fringe - PriorityQueue
+                    AStar.replace_node_in_fringe_queue(fringe, state[:-1])
+                    break
+
+    @staticmethod
+    def g(board: Board, node: Node) -> int:
+        """cost function"""
+        result = 0
+        while node.get_node() is not None:
+            field = board.get_field(node.get_x(), node.get_y())
+            result += field.get_value()
+            node = node.get_node()
+        return result
+
+    @staticmethod
+    def h(node: Node) -> int:
+        """heuristic function"""
+        crops_to_harvested = AMOUNT_OF_CROPS - node.get_amount_of_harvested_crops()
+        return crops_to_harvested ** 2 + crops_to_harvested * 10
+
+    @staticmethod
+    def f(board: Board, node: Node) -> int:
+        """evaluation function"""
+        return AStar.g(board, node) + AStar.h(node) + VALUE_OF_MOVEMENT
+
+    @staticmethod
+    def search(fringe: PriorityQueue, explored: Queue, istate: Node,
+               succ: Callable[[Node, Board], list],
+               goaltest: Callable[[Node], bool], board: Board) -> Union[bool, list]:
+
+        print(f"Start A*")
+        fringe.put(PriorityItem(istate, 0))
+
+        while True:
+            if fringe.empty():
+                return False
+
+            item = fringe.get()
+            if goaltest(item.node):
+                return AStar.get_all_moves(item.node)
+
+            copied_item = copy.deepcopy(item)
+            explored.put(item)
+
+            for (action, state) in succ(copied_item.node, board):
+                # print(state)
+                fringe_items = AStar.convert_queue_of_priority_items_to_list(fringe)
+                explored_items = AStar.convert_queue_of_priority_items_to_list(explored)
+
+                n = Node(item.node, *state, *action)
+                priority = AStar.f(board, n)
+                # print(priority)
+                if state[:-1] not in fringe_items and state[:-1] not in explored_items:
+                    fringe.put(PriorityItem(n, priority))
+                elif state[:-1] in fringe_items:
+                    AStar.replace_nodes(fringe, priority, state[:-1])

app/base_field.py

@@ -7,17 +7,12 @@ class BaseField:
     def __init__(self, img_path: str):
         self._img_path = img_path
 
-    def draw_field(self, screen: pygame.Surface, pos_x: int, pos_y: int,
+    def draw_field(self, screen: pygame.Surface, pos_x: int,
-                   is_centered: bool = False, size: tuple = None, angle: float = 0.0):
+                   pos_y: int, is_centered: bool = False,
+                   size: tuple = None, angle: float = 0.0) -> None:
         img = pygame.image.load(self._img_path)
         img = pygame.transform.rotate(img, angle)
 
-#     def draw_field(self, screen: pygame.Surface, pos_x: int, pos_y: int, is_centered: bool = False, size: tuple = None,
-#                    angle: int = 0):
-#         pre_img = pygame.image.load(self._img_path)
-#         if angle == 90:
-#             pre_img = pygame.transform.flip(pre_img, True, False)
-#         img = pygame.transform.rotate(pre_img, angle)
         scale = pygame.transform.scale(img, (FIELD_SIZE, FIELD_SIZE))
         rect = img.get_rect()
 

app/bfs.py

@@ -0,0 +1,44 @@
+import copy
+from queue import Queue
+from typing import Callable, Union
+
+from app import Board
+from app.graphsearch import Graphsearch, Node
+
+
+class Bfs(Graphsearch):
+
+    @staticmethod
+    def search(fringe: Queue, explored: Queue, istate: Node,
+               succ: Callable[[Node, Board], list],
+               goaltest: Callable[[Node], bool], board: Board) -> Union[bool, list]:
+
+        print(f"Start bfs")
+        fringe.put(istate)
+
+        while True:
+            if fringe.empty():
+                # print(list(explored.queue))
+                # return Graphsearch.get_all_moves(explored.get())
+                return False
+
+            item = fringe.get()
+
+            if goaltest(item):
+                # board.print_board()
+                return Graphsearch.get_all_moves(item)
+
+            copied_item = copy.deepcopy(item)
+            explored.put(item)
+
+            for (action, state) in succ(copied_item, board):
+                # print(state)
+                fringe_items = []
+                explored_items = []
+                [fringe_items.append((i.get_x(), i.get_y(), i.get_direction()))
+                 for i in fringe.queue]
+                [explored_items.append((i.get_x(), i.get_y(), i.get_direction()))
+                 for i in explored.queue]
+                if state[:-1] not in fringe_items and state[:-1] not in explored_items:
+                    n = Node(item, *state, *action)
+                    fringe.put(n)

app/board.py

@@ -21,21 +21,21 @@ class Board:
     def get_fields(self) -> list:
         return self.__fields
 
-    def get_field(self, x: int, y: int) -> BaseField:
+    def get_field(self, x: int, y: int) -> Field:
         return self.__fields[x][y]
 
-    def create_board(self):
+    def create_board(self) -> None:
         for i in range(HORIZONTAL_NUM_OF_FIELDS):
             self.__fields.append([])
             for j in range(VERTICAL_NUM_OF_FIELDS):
                 self.__fields[i].append(None)
 
-    def fill(self):
+    def fill(self) -> None:
         for i in range(len(self.__fields)):
             for j in range(len(self.__fields[i])):
                 self.__fields[i][j] = random.choice(FIELD_TYPES).capitalize()
 
-    def generate_board(self):
+    def generate_board(self) -> None:
         for x in range(len(self.__fields)):
             for y in range(len(self.__fields[x])):
                 field_type = self.__fields[x][y]
@@ -43,7 +43,7 @@ class Board:
                 field = c()
                 self.__fields[x][y] = field
 
-    def draw(self, screen: pygame.Surface):
+    def draw(self, screen: pygame.Surface) -> None:
         for x in range(len(self.__fields)):
             for y in range(len(self.__fields[x])):
                 field = self.__fields[x][y]
@@ -51,8 +51,8 @@ class Board:
                 pos_y = y * FIELD_SIZE
                 field.draw_field(screen, pos_x, pos_y)
 
-    def print_board(self):
+    def print_board(self) -> None:
         for i in range(HORIZONTAL_NUM_OF_FIELDS):
             for j in range(VERTICAL_NUM_OF_FIELDS):
                 print(f"{j} - {type(self.__fields[i][j]).__name__}", end=" | ")
-            print()
+            print()

app/fields.py

@@ -5,29 +5,41 @@ from app.base_field import BaseField
 from config import *
 
 
-class Soil(BaseField):
+class Field(BaseField):
+    def __init__(self, img_path: str):
+        super().__init__(img_path)
+        self._value = 0
+
+    def get_value(self) -> int:
+        return self._value
+
+
+class Soil(Field):
     def __init__(self, img_path: str):
         super().__init__(img_path)
 
 
-class Crops(BaseField):
+class Crops(Field):
     price = 0
 
     def __init__(self, img_path: str):
         super().__init__(img_path)
         self.weight = 1.0
+        self._value = VALUE_OF_CROPS
 
 
-class Plant(BaseField):
+class Plant(Field):
     def __init__(self, img_path: str):
         super().__init__(img_path)
         self.is_hydrated = False
+        self._value = VALUE_OF_PLANT
 
 
 class Clay(Soil):
     def __init__(self):
         super().__init__(os.path.join(RESOURCE_DIR, f"{CLAY}.{PNG}"))
         self.is_fertilized = False
+        self._value = VALUE_OF_CLAY
 
 
 class Sand(Soil):
@@ -35,6 +47,7 @@ class Sand(Soil):
         super().__init__(os.path.join(RESOURCE_DIR, f"{SAND}.{PNG}"))
         self.is_sowed = False
         self.is_hydrated = False
+        self._value = VALUE_OF_SAND
 
 
 class Grass(Plant):

app/graphsearch.py

@@ -1,6 +1,5 @@
 from __future__ import annotations
-
+from abc import abstractmethod
-import copy
 from typing import Callable, Union
 from queue import Queue
 
@@ -44,8 +43,17 @@ class Node:
     def get_amount_of_harvested_crops(self) -> int:
         return self.__amount_of_harvested_crops
 
+    def transform_node_to_tuple(self) -> tuple[int, int, float]:
+        return self.__x, self.__y, self.__direction
+
 
 class Graphsearch:
+    @staticmethod
+    def convert_queue_of_nodes_to_list(q: Queue[Node], *args) -> list:
+        items = []
+        [items.append((i.get_x(), i.get_y(), i.get_direction(), *args)) for i in q.queue]
+        return items
+
     @staticmethod
     def succ(item: Node, board: Board) -> list:
         # list of tuples (movement,action),(x,y,direction, harvested_crops)
@@ -71,9 +79,9 @@ class Graphsearch:
             # action_name = A_HYDRATE
 
         elif isinstance(field, Plant):
+            # hydrate
             action_name = A_HYDRATE
             field = Tractor.irrigate_plants_succ(field, board, x, y)
-            # hydrate
 
         elif type(field).__name__ in CROPS:
             # harvest
@@ -109,11 +117,11 @@ class Graphsearch:
             return False
 
     @staticmethod
-    def get_all_moves(item: Node):
+    def get_all_moves(item: Node) -> list:
         moves = []
         str_moves = []
         while item.get_node() is not None:
-            moves.append((item.get_movement(),item.get_action()))
+            moves.append((item.get_movement(), item.get_action()))
             str_moves.append(
                 f"{item.get_action()} - {item.get_movement()} - {item.get_x()}:{item.get_y()} {item.get_direction()}")
             item = item.get_node()
@@ -121,35 +129,8 @@ class Graphsearch:
         return moves[::-1]
 
     @staticmethod
-    def bfs(fringe: Queue, explored: Queue, istate: Node,
+    @abstractmethod
-            succ: Callable[[Node, Board], list],
+    def search(fringe: Queue, explored: Queue, istate: Node,
-            goaltest: Callable[[Node], bool], board: Board):
+               succ: Callable[[Node, Board], list],
-        print(f"Start bfs")
+               goaltest: Callable[[Node], bool], board: Board) -> Union[bool, list]:
-        fringe.put(istate)
+        raise NotImplementedError
-
-        while True:
-            if fringe.empty():
-                # print(list(explored.queue))
-                # return Graphsearch.get_all_moves(explored.get())
-                return False
-
-            item = fringe.get()
-
-            if goaltest(item):
-                # board.print_board()
-                return Graphsearch.get_all_moves(item)
-
-            copied_item = copy.deepcopy(item)
-            explored.put(item)
-
-            for (action, state) in succ(copied_item, board):
-                # print(state)
-                fringe_items = []
-                explored_items = []
-                [fringe_items.append((i.get_x(), i.get_y(), i.get_direction()))
-                 for i in fringe.queue]
-                [explored_items.append((i.get_x(), i.get_y(), i.get_direction()))
-                 for i in explored.queue]
-                if state[:-1] not in fringe_items and state[:-1] not in explored_items:
-                    n = Node(item, *state, *action)
-                    fringe.put(n)

app/tractor.py

@@ -2,7 +2,6 @@
 from __future__ import annotations
 import random
 import threading
-from queue import Queue
 
 import pygame
 import os
@@ -13,7 +12,7 @@ from typing import Union
 from app.base_field import BaseField
 from app.board import Board
 from app.utils import get_class
-from app.fields import CROPS, PLANTS, SOILS, Sand, Clay
+from app.fields import CROPS, PLANTS, Crops, Sand, Clay, Field
 from config import *
 
 from app.fields import Plant, Soil, Crops
@@ -30,12 +29,12 @@ class Tractor(BaseField):
         self.__harvested_corps = []
         self.__fuel = 10
 
-    def draw(self, screen: pygame.Surface):
+    def draw(self, screen: pygame.Surface) -> None:
         self.draw_field(screen, self.__pos_x + FIELD_SIZE / 2, self.__pos_y + FIELD_SIZE / 2,
                         is_centered=True, size=(FIELD_SIZE, FIELD_SIZE), angle=self.__direction)
 
     #  Key methods handlers
-    def move(self):
+    def move(self) -> None:
         if self.__direction == D_EAST:
             self.move_right()
         elif self.__direction == D_NORTH:
@@ -45,64 +44,29 @@ class Tractor(BaseField):
         else:
             self.move_down()
 
-    def move_up(self):
+    def move_up(self) -> None:
         if self.__pos_y - self.__move >= 0:
             self.__pos_y -= self.__move
 
-    def move_down(self):
+    def move_down(self) -> None:
         if self.__pos_y + self.__move + FIELD_SIZE <= HEIGHT:
             self.__pos_y += self.__move
 
-    def move_left(self):
+    def move_left(self) -> None:
         if self.__pos_x - self.__move >= 0:
             self.__pos_x -= self.__move
 
-    def move_right(self):
+    def move_right(self) -> None:
         if self.__pos_x + self.__move + FIELD_SIZE <= WIDTH:
             self.__pos_x += self.__move
 
-    def direction_up(self):
+    def rotate_left(self) -> None:
-        self.__direction = 0
-
-    def direction_right(self):
-        self.__direction = 270
-
-    def direction_down(self):
-        self.__direction = 180
-
-    def direction_left(self):
-        self.__direction = 90
-
-    # def move(self):
-    #     if self.__fuel > 0:
-    #         self.__fuel -= 1
-    #
-    #         if self.__direction == 0:
-    #             if self.__pos_y - self.__move >= 0:
-    #                 self.__pos_y -= self.__move
-    #
-    #         elif self.__direction == 270:
-    #             if self.__pos_x + self.__move + FIELD_SIZE <= WIDTH:
-    #                 self.__pos_x += self.__move
-    #
-    #         elif self.__direction == 180:
-    #             if self.__pos_y + self.__move + FIELD_SIZE <= HEIGHT:
-    #                 self.__pos_y += self.__move
-    #
-    #         elif self.__direction == 90:
-    #             if self.__pos_x - self.__move >= 0:
-    #                 self.__pos_x -= self.__move
-
-    # else:
-    #     print("Run out of fuel!")
-
-    def rotate_left(self):
         self.__direction = (self.__direction - 90.0) % 360.0
 
-    def rotate_right(self):
+    def rotate_right(self) -> None:
         self.__direction = (self.__direction + 90.0) % 360.0
 
-    def hydrate(self):
+    def hydrate(self) -> None:
         if self.check_field(Sand):
             field = self.get_field_from_board()
             if not field.is_hydrated and field.is_sowed:
@@ -114,34 +78,34 @@ class Tractor(BaseField):
                 print("Hydrate plant")
                 self.irrigate_plants(field)
 
-    def hydrate_sand(self):
+    def hydrate_sand(self) -> None:
         if self.check_field(Sand):
             field = self.get_field_from_board()
             if not field.is_hydrated and field.is_sowed:
                 print('Hydrate soil')
                 self.irrigate_sand(field)
 
-    def hydrate_plant(self):
+    def hydrate_plant(self) -> None:
         if self.check_field(Plant):
             field = self.get_field_from_board()
             if not field.is_hydrated:
                 print("Hydrate plant")
                 self.irrigate_plants(field)
 
-    def sow(self):
+    def sow(self) -> None:
         field = self.get_field_from_board()
         if self.check_field(Sand) and not field.is_sowed:
             print('Sow')
             field.is_sowed = True
 
-    def harvest(self):
+    def harvest(self) -> None:
         if self.check_field(Crops):
             print('Harvest')
             field = self.get_field_from_board()
             self.harvest_crops(field)
             self.get_result_of_harvesting()
 
-    def fertilize(self):
+    def fertilize(self) -> None:
         if self.check_field(Clay):
             print('Fertilize soil')
             field = self.get_field_from_board()
@@ -149,56 +113,56 @@ class Tractor(BaseField):
 
     ################################################################################
 
-    def fertilize_clay(self, field: Clay):
+    def fertilize_clay(self, field: Clay) -> None:
         field.is_fertilized = True
         self.do_action((Sand.__name__,))
 
-    def irrigate_plants(self, field: Plant):
+    def irrigate_plants(self, field: Plant) -> None:
         field.is_hydrated = True
         # self.do_time_action(CROPS)
         self.do_action(CROPS)
 
-    def irrigate_sand(self, field: Sand):
+    def irrigate_sand(self, field: Sand) -> None:
         field.is_hydrated = True
         # self.do_time_action(PLANTS)
         self.do_action(PLANTS)
 
-    def harvest_crops(self, field: Crops):
+    def harvest_crops(self, field: Crops) -> None:
         self.__harvested_corps.append(type(field).__name__)
-        self.do_action(SOILS)
+        self.do_action((Clay.__name__,))
 
-    def do_action(self, TYPE: tuple):
+    def do_action(self, TYPE: tuple) -> None:
         choosen_type = random.choice(TYPE)
         obj = get_class("app.fields", choosen_type)
         x, y = self.get_position()
         self.__board.get_fields()[x][y] = obj()
 
-    def do_time_action(self, TYPE: tuple):
+    def do_time_action(self, TYPE: tuple) -> None:
         thread = Thread(target=self.do_time_action_handler, args=(TYPE,), daemon=True)
         thread.start()
 
-    def do_time_action_handler(self, TYPE: tuple):
+    def do_time_action_handler(self, TYPE: tuple) -> None:
         time.sleep(TIME_OF_GROWING)
         self.do_action(TYPE)
 
-    def check_field(self, class_name: Union[type(Plant), type(Crops), type(Soil)]):
+    def check_field(self, class_name: Union[type(Plant), type(Crops), type(Soil)]) -> bool:
         if isinstance(self.get_field_from_board(), class_name):
             return True
         return False
 
-    def get_field_from_board(self):
+    def get_field_from_board(self) -> BaseField:
         x, y = self.get_position()
         return self.__board.get_fields()[x][y]
 
-    def get_field_from_board_by_positions(self, x, y):
+    def get_field_from_board_by_positions(self, x, y) -> BaseField:
         return self.__board.get_fields()[x][y]
 
-    def get_position(self):
+    def get_position(self) -> tuple[int, int]:
         x = self.__pos_x // FIELD_SIZE
         y = self.__pos_y // FIELD_SIZE
         return x, y
 
-    def get_result_of_harvesting(self):
+    def get_result_of_harvesting(self) -> None:
         crops = set(self.__harvested_corps)
         result = 0.0
         for crop in crops:
@@ -208,20 +172,20 @@ class Tractor(BaseField):
 
         print(f"Price for collected crops: {result:.2f}")
 
-    def __str__(self):
+    def __str__(self) -> str:
         x, y = self.get_position()
         return f"Position: {x}:{y} - {type(self.__board.get_fields()[x][y]).__name__}"
 
-    def get_direction(self):
+    def get_direction(self) -> float:
         return self.__direction
 
-    def move_by_bfs_handler(self, moves: list[tuple[str, str]], is_running: threading.Event):
+    def run_bot_handler(self, moves: list[tuple[str, str]], is_running: threading.Event) -> None:
-        thread = threading.Thread(target=self.move_by_bfs, args=(moves, is_running), daemon=True)
+        thread = threading.Thread(target=self.run_bot, args=(moves, is_running), daemon=True)
         thread.start()
 
-    def move_by_bfs(self, moves: list[tuple[str, str]], is_running: threading.Event):
+    def run_bot(self, moves: list[tuple[str, str]], is_running: threading.Event) -> None:
         print(moves)
-        print(f"Length of Moves {len(moves)} - {3 ** len(moves)}")
+        print(f"Length of Moves {len(moves)}") #- {3 ** len(moves)}")
         while len(moves) > 0:
             movement, action = moves.pop(0)
             # do action
@@ -267,34 +231,33 @@ class Tractor(BaseField):
         return None
 
     @staticmethod
-    def fertilize_clay_succ(field: Clay, board: Board, x: int, y: int):
+    def fertilize_clay_succ(field: Clay, board: Board, x: int, y: int) -> Sand:
         field.is_fertilized = True
         return Tractor.do_action_succ(board, x, y, (Sand.__name__,))
 
     @staticmethod
-    def sow_succ(field: Sand):
+    def sow_succ(field: Sand) -> Sand:
         field.is_sowed = True
         return field
 
     @staticmethod
-    def irrigate_plants_succ(field: Plant, board: Board, x: int, y: int):
+    def irrigate_plants_succ(field: Plant, board: Board, x: int, y: int) -> Crops:
         field.is_hydrated = True
         return Tractor.do_action_succ(board, x, y, CROPS)
 
     @staticmethod
-    def irrigate_sand_succ(field: Sand, board: Board, x: int, y: int):
+    def irrigate_sand_succ(field: Sand, board: Board, x: int, y: int) -> Plant:
         field.is_hydrated = True
         return Tractor.do_action_succ(board, x, y, PLANTS)
 
     @staticmethod
-    def harvest_crops_succ(board: Board, x: int, y: int):
+    def harvest_crops_succ(board: Board, x: int, y: int) -> Clay:
         # Tractor.__harvested_corps.append(type(field).__name__)
-        return Tractor.do_action_succ(board, x, y, SOILS)
+        return Tractor.do_action_succ(board, x, y, (Clay.__name__,))
 
     @staticmethod
-    def do_action_succ(board: Board, x: int, y: int, types: tuple):
+    def do_action_succ(board: Board, x: int, y: int, types: tuple) -> Union[Sand, Clay, Plant, Crops]:
         choosen_type = random.choice(types)
         obj = get_class("app.fields", choosen_type)
         board.get_fields()[x][y] = obj()
         return obj()
-        # return f"Position: {x}:{y} - {type(self.__board.get_fields()[x][y]).__name__}\nFuel: {self.__fuel}\n"

config.py

@@ -10,7 +10,9 @@ __all__ = (
     'FIELD_TYPES', 'TIME_OF_GROWING', 'AMOUNT_OF_CROPS',
     'M_GO_FORWARD', 'M_ROTATE_LEFT', 'M_ROTATE_RIGHT',
     'A_SOW', 'A_HARVEST', 'A_HYDRATE', 'A_FERTILIZE', 'A_DO_NOTHING',
-    'D_NORTH', 'D_EAST', 'D_SOUTH', 'D_WEST'
+    'D_NORTH', 'D_EAST', 'D_SOUTH', 'D_WEST',
+    'VALUE_OF_MOVEMENT', 'VALUE_OF_CROPS', 'VALUE_OF_PLANT',
+    'VALUE_OF_SAND', 'VALUE_OF_CLAY'
 )
 
 # Board settings:
@@ -64,6 +66,13 @@ A_HYDRATE = "hydrate"
 A_FERTILIZE = "fertilize"
 A_DO_NOTHING = "do nothing"
 
+# Costs movement and fields:
+VALUE_OF_MOVEMENT = 8
+VALUE_OF_CROPS = 1
+VALUE_OF_PLANT = 3
+VALUE_OF_SAND = 7
+VALUE_OF_CLAY = 10
+
 # Times
 TIME_OF_GROWING = 2
 TIME_OF_MOVING = 2