286 lines
10 KiB
Python
286 lines
10 KiB
Python
from resources.Globals import *
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images_coord_list = []
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cell_expense_list = []
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class Node:
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def __init__(self):
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self.state = State()
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self.parent = []
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self.action = ""
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self.priority = 0
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class State:
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def __init__(self):
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self.coord = []
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self.direction = ""
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def init_data(coord_list, expense_list):
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global images_coord_list
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global cell_expense_list
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images_coord_list = coord_list
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cell_expense_list = expense_list
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def successor(state):
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node_state_left = Node()
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node_state_right = Node()
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node_state_forward = Node()
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if state.direction == "east":
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node_state_left.state = State()
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node_state_left.state.coord = state.coord
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node_state_left.state.direction = "north"
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node_state_left.action = "Left"
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node_state_right.state = State()
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node_state_right.state.coord = state.coord
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node_state_right.state.direction = "south"
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node_state_right.action = "Right"
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if state.coord[0] + STEP < FRAME_WIDTH:
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node_state_forward.state = State()
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node_state_forward.state.coord = [state.coord[0] + STEP, state.coord[1]]
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node_state_forward.state.direction = state.direction
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node_state_forward.action = "Up"
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elif state.direction == "west":
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node_state_left.state = State()
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node_state_left.state.coord = state.coord
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node_state_left.state.direction = "south"
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node_state_left.action = "Left"
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node_state_right.state = State()
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node_state_right.state.coord = state.coord
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node_state_right.state.direction = "north"
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node_state_right.action = "Right"
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if state.coord[0] > x_start:
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node_state_forward.state = State()
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node_state_forward.state.coord = [state.coord[0] - STEP, state.coord[1]]
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node_state_forward.state.direction = state.direction
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node_state_forward.action = "Up"
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elif state.direction == "north":
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node_state_left.state = State()
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node_state_left.state.coord = state.coord
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node_state_left.state.direction = "west"
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node_state_left.action = "Left"
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node_state_right.state = State()
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node_state_right.state.coord = state.coord
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node_state_right.state.direction = "east"
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node_state_right.action = "Right"
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if state.coord[1] > x_start:
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node_state_forward.state = State()
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node_state_forward.state.coord = [state.coord[0], state.coord[1] - STEP]
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node_state_forward.state.direction = state.direction
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node_state_forward.action = "Up"
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elif state.direction == "south":
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node_state_left.state = State()
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node_state_left.state.coord = state.coord
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node_state_left.state.direction = "east"
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node_state_left.action = "Left"
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node_state_right.state = State()
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node_state_right.state.coord = state.coord
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node_state_right.state.direction = "west"
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node_state_right.action = "Right"
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if state.coord[1] + STEP < FRAME_HEIGHT:
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node_state_forward.state = State()
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node_state_forward.state.coord = [state.coord[0], state.coord[1] + STEP]
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node_state_forward.state.direction = state.direction
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node_state_forward.action = "Up"
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if len(node_state_forward.state.coord) != 0:
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return [node_state_left, node_state_right, node_state_forward]
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else:
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return [node_state_left, node_state_right]
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def get_cell_expense(node):
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global images_coord_list
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global cell_expense_list
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for i in range(0, len(images_coord_list)):
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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):
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return cell_expense_list[i]
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def heurystyka(node_now):
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if node_now.action == "Left" or node_now.action == "Right":
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return node_now.parent[2] + (get_cell_expense(node_now) / 2)
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elif node_now.action == "Up":
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return node_now.parent[2] + (get_cell_expense(node_now) * 2)
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elif node_now.action == "":
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return get_cell_expense(node_now)
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# def graph_search(fringe, explored, start_state, end_state_coord):
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#
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# node = Node()
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# node.state = start_state
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# node.parent = node.state
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# fringe.append(node)
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# iterator = 0
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#
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# end_loop = True
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# while end_loop:
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# if len(fringe) == 0:
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# end_loop = False
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# #return False
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#
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# elem = fringe[iterator]
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#
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# if elem.state.coord == end_state_coord:
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# return fringe
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#
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# explored.append(elem)
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#
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# another_states = successor(elem.state)
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# for i in range(0, len(another_states)):
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# n = len(fringe)
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# for j in range(0, n):
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# if another_states[i].state.coord[0] == fringe[j].state.coord[0] and another_states[i].state.coord[1] == fringe[j].state.coord[1]:
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# if another_states[i].state.direction == fringe[j].state.direction:
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# break
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# else:
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# states = []
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# for k in range(0, len(fringe)):
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# new_state = [fringe[k].state.coord, fringe[k].state.direction]
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# states.append(new_state)
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# now_state = [another_states[i].state.coord, another_states[i].state.direction]
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# if now_state in states:
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# break
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#
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# another_states[i].parent = elem.state
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# fringe.append(another_states[i])
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# else:
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# states = []
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# for k in range(0, len(fringe)):
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# new_state = [fringe[k].state.coord, fringe[k].state.direction]
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# states.append(new_state)
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# now_state = [another_states[i].state.coord, another_states[i].state.direction]
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#
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# if now_state in states:
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# break
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#
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# if another_states[i].state.direction == fringe[j].state.direction:
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# another_states[i].parent = elem.state
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# fringe.append(another_states[i])
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# iterator += 1
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def graph_search_A(fringe, explored, start_state, end_state_coord):
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node = Node()
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node.state = start_state
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node.priority = heurystyka(node)
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node.parent = [node.state.coord, node.state.direction, node.priority]
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fringe.append(node)
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iterator = 0
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end_loop = True
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while end_loop:
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if len(fringe) == 0:
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end_loop = False
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# return False
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elem = fringe[iterator]
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if elem.state.coord == end_state_coord:
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return fringe
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explored.append(elem)
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another_states = successor(elem.state)
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for i in range(0, len(another_states)):
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another_states[i].parent = [elem.state.coord, elem.state.direction, elem.priority]
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p = heurystyka(another_states[i])
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n = len(fringe)
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for j in range(0, n):
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if another_states[i].state.coord[0] == fringe[j].state.coord[0] and another_states[i].state.coord[1] == fringe[j].state.coord[1]:
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if another_states[i].state.direction == fringe[j].state.direction and p < fringe[j].priority:
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another_states[i].priority = p
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fringe[j] = another_states[i]
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break
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else:
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states = []
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for k in range(0, len(fringe)):
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new_state = [fringe[k].state.coord, fringe[k].state.direction]
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states.append(new_state)
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now_state = [another_states[i].state.coord, another_states[i].state.direction]
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if now_state in states:
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index = states.index(now_state)
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if p < fringe[index].priority:
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another_states[i].priority = p
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fringe[index] = another_states[i]
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break
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else:
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break
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another_states[i].priority = p
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fringe.append(another_states[i])
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n1 = len(fringe)
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while n1 > 1:
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change = False
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for l in range(0, n1 - 1):
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if fringe[l].priority > fringe[l + 1].priority:
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fringe[l], fringe[l + 1] = fringe[l + 1], fringe[l]
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change = True
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n1 -= 1
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if not change:
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break
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else:
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states = []
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for k in range(0, len(fringe)):
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new_state = [fringe[k].state.coord, fringe[k].state.direction]
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states.append(new_state)
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now_state = [another_states[i].state.coord, another_states[i].state.direction]
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if now_state in states:
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index = states.index(now_state)
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if p < fringe[index].priority:
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another_states[i].priority = p
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fringe[index] = another_states[i]
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break
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else:
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break
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if another_states[i].state.direction == fringe[j].state.direction:
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another_states[i].priority = p
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fringe.append(another_states[i])
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n2 = len(fringe)
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while n2 > 1:
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change = False
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for h in range(0, n2 - 1):
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if fringe[h].priority > fringe[h + 1].priority:
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fringe[h], fringe[h + 1] = fringe[h + 1], fringe[h]
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change = True
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n2 -= 1
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if not change:
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break
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iterator += 1
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