Graphsearch A*, heurystyka, action cost

.idea/misc.xml

@@ -1,4 +1,4 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
-  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.7 (venv)" project-jdk-type="Python SDK" />
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.8" project-jdk-type="Python SDK" />
 </project>

.idea/sapper.iml

@@ -2,7 +2,7 @@
 <module type="PYTHON_MODULE" version="4">
   <component name="NewModuleRootManager">
     <content url="file://$MODULE_DIR$" />
-    <orderEntry type="jdk" jdkName="Python 3.7 (venv)" jdkType="Python SDK" />
+    <orderEntry type="inheritedJdk" />
     <orderEntry type="sourceFolder" forTests="false" />
   </component>
 </module>

bin/Classess/Node.py

@@ -1,11 +1,15 @@
 from resources.Globals import *
 
+images_coord_list = []
+cell_expense_list = []
+
 
 class Node:
     def __init__(self):
         self.state = State()
-        self.parent = None
+        self.parent = []
         self.action = ""
+        self.priority = 0
 
 
 class State:
@@ -14,6 +18,14 @@ class State:
         self.direction = ""
 
 
+def init_data(coord_list, expense_list):
+    global images_coord_list
+    global cell_expense_list
+
+    images_coord_list = coord_list
+    cell_expense_list = expense_list
+
+
 def successor(state):
 
     node_state_left = Node()
@@ -98,11 +110,86 @@ def successor(state):
         return [node_state_left, node_state_right]
 
 
-def graph_search(fringe, explored, start_state, end_state_coord):
+def get_cell_expense(node):
+    global images_coord_list
+    global cell_expense_list
 
+    for i in range(0, len(images_coord_list)):
+        if (images_coord_list[i][0] <= node.state.coord[0] and node.state.coord[0] <= images_coord_list[i][0] + IMAGE_SIZE) and (images_coord_list[i][1] <= node.state.coord[1] and node.state.coord[1] <= images_coord_list[i][1] + IMAGE_SIZE):
+            return cell_expense_list[i]
+
+
+def heurystyka(node_now):
+
+    if node_now.action == "Left" or node_now.action == "Right":
+        return node_now.parent[2] + (get_cell_expense(node_now) / 2)
+    elif node_now.action == "Up":
+        return node_now.parent[2] + (get_cell_expense(node_now) * 2)
+    elif node_now.action == "":
+        return get_cell_expense(node_now)
+
+
+# def graph_search(fringe, explored, start_state, end_state_coord):
+#
+#     node = Node()
+#     node.state = start_state
+#     node.parent = node.state
+#     fringe.append(node)
+#     iterator = 0
+#
+#     end_loop = True
+#     while end_loop:
+#         if len(fringe) == 0:
+#             end_loop = False
+#             #return False
+#
+#         elem = fringe[iterator]
+#
+#         if elem.state.coord == end_state_coord:
+#             return fringe
+#
+#         explored.append(elem)
+#
+#         another_states = successor(elem.state)
+#         for i in range(0, len(another_states)):
+#             n = len(fringe)
+#             for j in range(0, n):
+#                 if another_states[i].state.coord[0] == fringe[j].state.coord[0] and another_states[i].state.coord[1] == fringe[j].state.coord[1]:
+#                     if another_states[i].state.direction == fringe[j].state.direction:
+#                         break
+#                     else:
+#                         states = []
+#                         for k in range(0, len(fringe)):
+#                             new_state = [fringe[k].state.coord, fringe[k].state.direction]
+#                             states.append(new_state)
+#                         now_state = [another_states[i].state.coord, another_states[i].state.direction]
+#                         if now_state in states:
+#                             break
+#
+#                         another_states[i].parent = elem.state
+#                         fringe.append(another_states[i])
+#                 else:
+#                     states = []
+#                     for k in range(0, len(fringe)):
+#                         new_state = [fringe[k].state.coord, fringe[k].state.direction]
+#                         states.append(new_state)
+#                     now_state = [another_states[i].state.coord, another_states[i].state.direction]
+#
+#                     if now_state in states:
+#                         break
+#
+#                     if another_states[i].state.direction == fringe[j].state.direction:
+#                         another_states[i].parent = elem.state
+#                         fringe.append(another_states[i])
+#         iterator += 1
+
+
+def graph_search_A(fringe, explored, start_state, end_state_coord):
     node = Node()
     node.state = start_state
-    node.parent = node.state
+    node.priority = heurystyka(node)
+    node.parent = [node.state.coord, node.state.direction, node.priority]
+
     fringe.append(node)
     iterator = 0
 
@@ -121,10 +208,15 @@ def graph_search(fringe, explored, start_state, end_state_coord):
 
         another_states = successor(elem.state)
         for i in range(0, len(another_states)):
+            another_states[i].parent = [elem.state.coord, elem.state.direction, elem.priority]
+            p = heurystyka(another_states[i])
+
             n = len(fringe)
             for j in range(0, n):
                 if another_states[i].state.coord[0] == fringe[j].state.coord[0] and another_states[i].state.coord[1] == fringe[j].state.coord[1]:
-                    if another_states[i].state.direction == fringe[j].state.direction:
+                    if another_states[i].state.direction == fringe[j].state.direction and p < fringe[j].priority:
+                        another_states[i].priority = p
+                        fringe[j] = another_states[i]
                         break
                     else:
                         states = []
@@ -133,10 +225,30 @@ def graph_search(fringe, explored, start_state, end_state_coord):
                             states.append(new_state)
                         now_state = [another_states[i].state.coord, another_states[i].state.direction]
                         if now_state in states:
+                            index = states.index(now_state)
+                            if p < fringe[index].priority:
+                                another_states[i].priority = p
+                                fringe[index] = another_states[i]
+                                break
+                            else:
                                 break
 
-                        another_states[i].parent = elem.state
+                        another_states[i].priority = p
                         fringe.append(another_states[i])
+
+                        n1 = len(fringe)
+
+                        while n1 > 1:
+                            change = False
+                            for l in range(0, n1 - 1):
+                                if fringe[l].priority > fringe[l + 1].priority:
+                                    fringe[l], fringe[l + 1] = fringe[l + 1], fringe[l]
+                                    change = True
+
+                            n1 -= 1
+
+                            if not change:
+                                break
                 else:
                     states = []
                     for k in range(0, len(fringe)):
@@ -145,9 +257,29 @@ def graph_search(fringe, explored, start_state, end_state_coord):
                     now_state = [another_states[i].state.coord, another_states[i].state.direction]
 
                     if now_state in states:
+                        index = states.index(now_state)
+                        if p < fringe[index].priority:
+                            another_states[i].priority = p
+                            fringe[index] = another_states[i]
+                            break
+                        else:
                             break
 
                     if another_states[i].state.direction == fringe[j].state.direction:
-                        another_states[i].parent = elem.state
+                        another_states[i].priority = p
                         fringe.append(another_states[i])
+
+                        n2 = len(fringe)
+
+                        while n2 > 1:
+                            change = False
+                            for h in range(0, n2 - 1):
+                                if fringe[h].priority > fringe[h + 1].priority:
+                                    fringe[h], fringe[h + 1] = fringe[h + 1], fringe[h]
+                                    change = True
+
+                            n2 -= 1
+
+                            if not change:
+                                break
         iterator += 1

bin/main/main.py

@@ -28,6 +28,7 @@ field = Field()
 fringe = []
 explored = []
 action_list = []
+images_coord = []
 
 
 def Arrow(direction):
@@ -46,9 +47,16 @@ def Arrow(direction):
 
 # Putting images
 def Fill(bool):
+    global images_coord
     if bool:
         field.PuttingSmallImages()
 
+        for i in range(0, len(field.canvas_small_images)):
+            images_coord.append(field.small_field_canvas.coords(field.canvas_small_images[i]))
+        print("Coords List: ", images_coord)
+
+        nd.init_data(images_coord, field.cell_expense)
+
     # Drawing red/green rectangles
     for el in field.state_of_cell_array:
         if el[0] != 0:
@@ -171,7 +179,7 @@ def create_action_list(states, index):
         action_list.reverse()
         return True
     action_list.append(fringe[index].action)
-    state_parent = [fringe[index].parent.coord, fringe[index].parent.direction]
+    state_parent = [fringe[index].parent[0], fringe[index].parent[1]]
     create_action_list(states, states.index(state_parent))
 
 
@@ -189,6 +197,7 @@ def MouseClickEvent(event):
         img_coords = field.small_field_canvas.coords(field.canvas_small_images[i])
         if (img_coords[0] <= event.x and event.x <= img_coords[0] + IMAGE_SIZE) and (img_coords[1] <= event.y and event.y <= img_coords[1] + IMAGE_SIZE):
             end_position = img_coords
+            print("Color cost: ", field.cell_expense[i])
 
     # if len(end_position) == 2:
     #     print("Koncowa pozycja: {} {}".format(end_position[0], end_position[1]))
@@ -202,8 +211,7 @@ def MouseClickEvent(event):
         for k in range(0, len(fringe)):
             new_state = fringe[k].state.coord
             states.append(new_state)
-        index = states.index(start_position)
-        start_node = fringe[index]
+        start_node = fringe[-1]
 
         node.state.coord = start_node.state.coord
         node.state.direction = start_node.state.direction
@@ -211,21 +219,28 @@ def MouseClickEvent(event):
     fringe.clear()
     explored.clear()
     action_list.clear()
-
-    fringe = nd.graph_search(fringe, explored, node.state, end_position)
+    fringe = nd.graph_search_A(fringe, explored, node.state, end_position)
+    # fringe = nd.graph_search(fringe, explored, node.state, end_position)
 
     states = []
+    goal_all = []
     for i in range(0, len(fringe)):
         new_state = [fringe[i].state.coord, fringe[i].state.direction]
         states.append(new_state)
         if end_position[0] == fringe[i].state.coord[0] and end_position[1] == fringe[i].state.coord[1]:
-            fringe = fringe[:i + 1]
-            break
+            goal_all.append(fringe[i])
+
+    elem_min = goal_all[0]
+    for i in range(1, len(goal_all)):
+        if elem_min.priority > goal_all[i].priority:
+            elem_min = goal_all[i]
+    index = fringe.index(elem_min)
+    fringe = fringe[:index + 1]
 
     create_action_list(states, -1)
 
     # for i in range(0, len(fringe)):
-    #     print('Node{} = State: {} {}, Parent: {} {}, Action: {}'.format(i + 1, fringe[i].state.coord, fringe[i].state.direction, fringe[i].parent.coord, fringe[i].parent.direction, fringe[i].action))
+    #     print('Node{} = State: {} {}, Parent: {} {} {}, Action: {}'.format(i + 1, fringe[i].state.coord, fringe[i].state.direction, fringe[i].parent[0], fringe[i].parent[1], fringe[i].parent[2], fringe[i].action))
 
     print(action_list)
 
@@ -310,25 +325,26 @@ def DrawRectangle():
     y = 4
 
     color = None
-
     # Chose color for rectangle
     for i in range(len(field.cell_expense)):
         if field.cell_expense[i] == 10:
             color = "None"
         elif field.cell_expense[i] == 20:
             color = "yellow"
-        elif field.cell_expense[i] == 30:
-            color = "dodger blue"
         elif field.cell_expense[i] == 40:
+            color = "dodger blue"
+        elif field.cell_expense[i] == 80:
             color = "green4"
         if color != "None":
             field.small_field_canvas.create_rectangle(x, y, x + IMAGE_SIZE + 2, y + IMAGE_SIZE + 2, width=2, outline=color)
         x += player.step
-        if i > 0 and i % 10 == 0:
+        if x + IMAGE_SIZE + 2 > field.width:
             x = 4
             y += player.step
 
 
+
+
 def AddCostCellsToArray(amount, cost):
     counter = 0
     while counter < amount:

resources/Globals.py

@@ -19,12 +19,10 @@ amount_of_sand_cells = 10
 sand_cell_cost = 20
 
 amount_of_water_cells = 10
-water_cell_cost = 30
+water_cell_cost = 40
 
 amount_of_swamp_cells = 10
-swamp_cell_cost = 40
-
-
+swamp_cell_cost = 80
 
 x_start = 5
 y_start = 5