Fixed cost and priority calculation

main.py

@@ -6,7 +6,6 @@ import random
 import project_constants as const
 import minefield as mf
 import searching_algorithms.a_star as a_star
-import searching_algorithms.bfs as bfs
 from display_assets import blit_graphics
 from ui.input_box import *
 from ui.button import *
@@ -94,8 +93,8 @@ def main():
             to_x = int(input1.get_input())
             to_y = int(input2.get_input())
 
-        action_sequence = bfs.graphsearch(
-            initial_state=bfs.State(
+        action_sequence = a_star.graphsearch(
+            initial_state=a_star.State(
                 row=minefield.agent.position[0],
                 column=minefield.agent.position[1],
                 direction=minefield.agent.direction),

project_constants.py

@@ -17,7 +17,7 @@ V_NAME_OF_WINDOW = "MineFusion TM"
 DIR_ASSETS = os.path.join("resources", "assets")
 V_FPS = 60
 
-ACTION_INTERVAL = 1  # interval between two actions in seconds
+ACTION_INTERVAL = 0.5  # interval between two actions in seconds
 
 V_TILE_SIZE = 60
 V_GRID_VER_TILES = 10  # vertical (number of rows)

searching_algorithms/a_star.py

@@ -20,25 +20,30 @@ class State:
 
 
 class Node:
-    def __init__(self, state: State, parent: Node = None, action: Action = None, weight=0):
+    def __init__(self, state: State, parent: Node = None, action: Action = None, cost=0):
         self.state = state
         self.parent = parent
         self.action = action
+        self.cost = cost
 
-        if not weight:
-            self.weight = self._get_weight()
-        else:
-            self.weight = weight
 
-    def _get_weight(self):
-        weight = 0
-        if self.parent is not None:
-            weight += self.parent.weight
+def get_node_cost(node: Node, minefield: Minefield):
+    row = node.state.row
+    column = node.state.column
 
-        heuristics = abs(self.state.row - GOAL[0]) + abs(self.state.column - GOAL[1])
-        weight += heuristics
+    # Rotation Cost??
+    if node.action != Action.GO:
+        return node.parent.cost + 1
 
-        return weight
+    # if Tile considered its mine in cost calculation, this code would be priettier
+    if minefield.matrix[row][column].mine is not None:
+        return node.parent.cost + 10
+    else:
+        return node.parent.cost + minefield.matrix[row][column].cost.value
+
+
+def get_estimated_cost(node: Node):
+    return abs(node.state.row - GOAL[0]) + abs(node.state.column - GOAL[1])
 
 
 def goal_test(state: State):
@@ -65,13 +70,23 @@ def get_successors(state: State, minefield: Minefield):
     return successors
 
 
-def graphsearch(initial_state: State, minefield: Minefield, fringe: List[Node] = None, explored: List[Node] = None):
+def graphsearch(initial_state: State,
+                minefield: Minefield,
+                fringe: List[Node] = None,
+                explored: List[Node] = None,
+                tox: int = None,
+                toy: int = None):
+
     # reset global priority queue helpers
     global entry_finder
     global counter
     entry_finder = {}
     counter = itertools.count()
 
+    global GOAL
+    if tox is not None and toy is not None:
+        GOAL = (tox, toy)
+
     # fringe and explored initialization
     if fringe is None:
         fringe = list()
@@ -83,18 +98,20 @@ def graphsearch(initial_state: State, minefield: Minefield, fringe: List[Node] =
     fringe_states = set()
 
     # root Node
-    add_node(fringe, Node(initial_state))
+    add_node(fringe, Node(initial_state), 0)
     fringe_states.add((initial_state.row, initial_state.column, initial_state.direction))
 
     while True:
         # fringe empty -> solution not found
         if not any(fringe):
+            # TODO: cross-platform popup, move to separate function
             ctypes.windll.user32.MessageBoxW(0, "Brak rozwiązania", "GAME OVER", 1)
             return []
 
         # get first element from fringe
         element = pop_node(fringe)
         if element is None:
+            # TODO: cross-platform popup, move to separate function
             ctypes.windll.user32.MessageBoxW(0, "Brak rozwiązania", "GAME OVER", 1)
             return []
 
@@ -124,17 +141,20 @@ def graphsearch(initial_state: State, minefield: Minefield, fringe: List[Node] =
             new_node = Node(state=successor[1],
                             parent=element,
                             action=successor[0])
+
+            new_node.cost = get_node_cost(new_node, minefield)
+            priority = new_node.cost + get_estimated_cost(new_node)
             successor_state = (successor[1].row, successor[1].column, successor[1].direction)
 
             if successor_state not in fringe_states and \
                     successor_state not in explored_states:
 
-                add_node(fringe, new_node)
+                add_node(fringe, new_node, priority)
                 fringe_states.add((new_node.state.row, new_node.state.column, new_node.state.direction))
 
             # update weight if it's lower
-            elif successor_state in fringe and entry_finder[successor_state][0] > new_node.weight:
-                update_priority(fringe, new_node)
+            elif successor_state in fringe and entry_finder[successor_state][0] > priority:
+                update_priority(fringe, new_node, priority)
 
             else:
                 del new_node
@@ -162,9 +182,9 @@ REMOVED = '<removed-node>'      # placeholder for a removed nodes
 counter = itertools.count()     # unique sequence count
 
 
-def add_node(heap, node: Node):
+def add_node(heap, node: Node, priority):
     count = next(counter)
-    entry = [node.weight, count, node]
+    entry = [priority, count, node]
     entry_finder[node.state] = entry
     heappush(heap, entry)
 
@@ -178,7 +198,7 @@ def pop_node(heap):
     return None
 
 
-def update_priority(heap, new_node):
+def update_priority(heap, new_node, new_priority):
     old_entry = entry_finder.pop(new_node.state)
     old_entry[-1] = REMOVED
-    add_node(heap, new_node)
+    add_node(heap, new_node, new_priority)