A*

.idea/workspace.xml

@@ -3,6 +3,8 @@
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       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/astar.py" beforeDir="false" afterPath="$PROJECT_DIR$/astar.py" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/definitions.py" beforeDir="false" afterPath="$PROJECT_DIR$/definitions.py" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/map.py" beforeDir="false" afterPath="$PROJECT_DIR$/map.py" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/py.py" beforeDir="false" afterPath="$PROJECT_DIR$/py.py" afterDir="false" />
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@@ -119,6 +121,8 @@
       <workItem from="1618219455026" duration="134000" />
       <workItem from="1619199327277" duration="68000" />
       <workItem from="1619200872847" duration="13871000" />
+      <workItem from="1619260796098" duration="514000" />
+      <workItem from="1619278079464" duration="10402000" />
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@@ -130,42 +134,42 @@
       <screen x="0" y="0" width="1920" height="1080" />
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     <state x="690" y="287" key="#com.intellij.refactoring.safeDelete.UnsafeUsagesDialog/0.0.1920.1080@0.0.1920.1080" timestamp="1617994393023" />
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+    <state width="1879" height="364" key="GridCell.Tab.0.bottom" timestamp="1619289752045">
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-    <state width="1879" height="364" key="GridCell.Tab.0.bottom/0.0.1920.1080@0.0.1920.1080" timestamp="1619215367013" />
+    <state width="1879" height="364" key="GridCell.Tab.0.bottom/0.0.1920.1080@0.0.1920.1080" timestamp="1619289752045" />
-    <state width="1879" height="364" key="GridCell.Tab.0.center" timestamp="1619215367013">
+    <state width="1879" height="364" key="GridCell.Tab.0.center" timestamp="1619289752045">
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-    <state width="1879" height="364" key="GridCell.Tab.0.center/0.0.1920.1080@0.0.1920.1080" timestamp="1619215367013" />
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-    <state width="1879" height="364" key="GridCell.Tab.1.bottom" timestamp="1619215367013">
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+    <state width="1879" height="364" key="GridCell.Tab.1.center" timestamp="1619289752045">
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-    <state width="1879" height="364" key="GridCell.Tab.1.right" timestamp="1619215367013">
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-    <state x="0" y="0" key="com.intellij.ide.util.TipDialog" timestamp="1618219454594">
+    <state x="0" y="0" key="com.intellij.ide.util.TipDialog" timestamp="1619278080559">
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@@ -179,6 +183,6 @@
     </breakpoint-manager>
   </component>
   <component name="com.intellij.coverage.CoverageDataManagerImpl">
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+    <SUITE FILE_PATH="coverage/SmartTractor$py.coverage" NAME="py Coverage Results" MODIFIED="1619289620713" SOURCE_PROVIDER="com.intellij.coverage.DefaultCoverageFileProvider" RUNNER="coverage.py" COVERAGE_BY_TEST_ENABLED="true" COVERAGE_TRACING_ENABLED="false" WORKING_DIRECTORY="$PROJECT_DIR$" />
   </component>
 </project>

astar.py

@@ -46,13 +46,15 @@ class Node: #wierzchołek grafu
     def set_y(self, y):
         self.y = y
 def cost(map, node): #funkcja kosztu : ile kosztuje przejechanie przez dane pole
-    return map.get_field_cost(int(node.get_x()), int(node.get_y()))
+    cost = 0
+    while(node.get_parent() != None):
+        cost = cost + map.get_field_cost(int(node.get_x()), int(node.get_y())) + 1
+        node = node.get_parent()
+    return cost
 def heuristic(node, goaltest): #funkcja heurestyki : oszacowuje koszt osiągnięcia stanu końcowego (droga)
     return abs(node.get_x() - goaltest[0]) + abs(node.get_y() - goaltest[1])
 def f(map, node, goaltest): #funkcja zwracająca sumę funkcji kosztu oraz heurestyki
     return cost(map, node) + heuristic(node, goaltest)
-# def optimal_goal_test():
-    
 def goal_test(elem, goaltest): #funkcja sprawdzająca czy położenie traktora równa się położeniu punktu docelowego, jeśli tak zwraca prawdę, w przeciwnym wypadku fałsz
     if elem.get_x() == goaltest[0] and elem.get_y() == goaltest[1]:
         return True
@@ -60,9 +62,9 @@ def goal_test(elem, goaltest): #funkcja sprawdzająca czy położenie traktora r
         return False
 def print_moves(elem): #zwraca listę ruchów jakie należy wykonać by dotrzeć do punktu docelowego
     moves_list = []
-    while (elem[0].get_parent() != None):
+    while (elem.get_parent() != None):
-        moves_list.append(elem[0].get_action())
+        moves_list.append(elem.get_action())
-        elem = elem[0].get_parent()
+        elem = elem.get_parent()
     moves_list.reverse()
     return moves_list
 def succ(elem): #funkcja następnika, przypisuje jakie akcje są możliwe do wykonania na danym polu oraz jaki będzie stan (kierunek, położenie) po wykonaniu tej akcji
@@ -101,18 +103,18 @@ def graphsearch(fringe, explored, istate, succ, goaltest, f, map): #przeszukiwan
         elem = fringe.pop(0) #zdejmujemy wierzchołek z kolejki fringe i rozpatrujemy go
         temp = copy.copy(elem[0])
         if goal_test(elem[0], goaltest) is True: #jeżeli osiągniemy cel w trakcie przeszukiwania grafu wszerz (wjedziemy na pole docelowe) : zwracamy listę ruchów, po których wykonaniu dotrzemy na miejsce
-            return print_moves(elem)
+            return print_moves(elem[0])
         explored.append(elem) #dodajemy wierzchołek do listy wierzchołków odwiedzonych
         for (action, state) in succ(temp): #iterujemy po wszystkich możliwych akcjach i stanach otrzymanych dla danego wierzchołka grafu
             fringe_tuple = []
             fringe_tuple_prio = []
             explored_tuple = []
-            for (x, y)  in fringe:
+            for (x, y) in fringe:
                 fringe_tuple.append((x.get_direction(), x.get_x(), x.get_y()))
                 fringe_tuple_prio.append(((x.get_direction(), x.get_x(), x.get_y()), y))
             for (x, y) in explored:
                 explored_tuple.append((x.get_direction(), x.get_x(), x.get_y()))
-            x = Node(action, state[0], elem, state[1], state[2])  #stworzenie nowego wierzchołka, którego rodzicem jest elem
+            x = Node(action, state[0], elem[0], state[1], state[2])  #stworzenie nowego wierzchołka, którego rodzicem jest elem
             p = f(map, x, goaltest) #liczy priorytet
             if state not in fringe_tuple and state not in explored_tuple: #jeżeli stan nie znajduje się na fringe oraz nie znajduje się w liście wierzchołków odwiedzonych
                 fringe.append((x, p)) #dodanie wierzchołka na fringe
@@ -123,6 +125,7 @@ def graphsearch(fringe, explored, istate, succ, goaltest, f, map): #przeszukiwan
                     if str(state_prio) == str(state):
                         if r > p:
                             fringe.insert(i, (x, p)) #zamiana state, który należy do fringe z priorytetem r na state z priorytetem p (niższym)
+                            fringe.pop(i + 1)
                             fringe = sorted(fringe, key=itemgetter(1)) #sortowanie fringe'a według priorytetu
                             break
                     i = i + 1

definitions.py

@@ -2,6 +2,8 @@
 import os
 import pygame
 BLOCK_SIZE = 60
+BEETROOTS_ADULT_COST = 4
+BEETROOTS_GROW_COST = 10
 BEETROOTS_GROW_TIME = 5
 BEETROOTS_MAXIMUM_STATE = BEETROOTS_GROW_TIME * 3 + 1
 BEETROOTS_STAGE_0 = pygame.image.load(os.path.join('resources', 'beetroots_stage_0.png'))
@@ -12,6 +14,8 @@ BEETROOTS_STAGE_2 = pygame.image.load(os.path.join('resources', 'beetroots_stage
 BEETROOTS_STAGE_2 = pygame.transform.scale(BEETROOTS_STAGE_2, (BLOCK_SIZE, BLOCK_SIZE))
 BEETROOTS_STAGE_3 = pygame.image.load(os.path.join('resources', 'beetroots_stage_3.png'))
 BEETROOTS_STAGE_3 = pygame.transform.scale(BEETROOTS_STAGE_3, (BLOCK_SIZE, BLOCK_SIZE))
+CARROTS_ADULT_COST = 4
+CARROTS_GROW_COST = 10
 CARROTS_GROW_TIME = 5
 CARROTS_MAXIMUM_STATE = CARROTS_GROW_TIME * 3 + 1
 CARROTS_STAGE_0 = pygame.image.load(os.path.join('resources', 'carrots_stage_0.png'))
@@ -24,13 +28,18 @@ CARROTS_STAGE_3 = pygame.image.load(os.path.join('resources', 'carrots_stage_3.p
 CARROTS_STAGE_3 = pygame.transform.scale(CARROTS_STAGE_3, (BLOCK_SIZE, BLOCK_SIZE))
 DIRT = pygame.image.load(os.path.join('resources', 'dirt.png'))
 DIRT = pygame.transform.scale(DIRT, (BLOCK_SIZE, BLOCK_SIZE))
+DIRT_COST = 2
 HEIGHT_AMOUNT, WIDTH_AMOUNT = 10, 10
 HEIGHT,  WIDTH = BLOCK_SIZE * HEIGHT_AMOUNT, BLOCK_SIZE * WIDTH_AMOUNT
 FARMLAND_DRY = pygame.image.load(os.path.join('resources', 'farmland_dry.png'))
 FARMLAND_DRY = pygame.transform.scale(FARMLAND_DRY, (BLOCK_SIZE, BLOCK_SIZE))
+FARMLAND_DRY_COST = 3
 FARMLAND_WET = pygame.image.load(os.path.join('resources', 'farmland_wet.png'))
 FARMLAND_WET = pygame.transform.scale(FARMLAND_WET, (BLOCK_SIZE, BLOCK_SIZE))
-FPS = 1
+FARMLAND_WET_COST = 1
+FPS = 10
+POTATOES_ADULT_COST = 4
+POTATOES_GROW_COST = 10
 POTATOES_GROW_TIME = 5
 POTATOES_MAXIMUM_STATE = POTATOES_GROW_TIME * 3 + 1
 POTATOES_STAGE_0 = pygame.image.load(os.path.join('resources', 'potatoes_stage_0.png'))
@@ -45,6 +54,7 @@ SPONGE = pygame.image.load(os.path.join('resources', 'sponge.png'))
 SPONGE = pygame.transform.scale(SPONGE, (BLOCK_SIZE, BLOCK_SIZE))
 STATION = pygame.image.load(os.path.join('resources', 'rail_normal.png'))
 STATION = pygame.transform.scale(STATION, (BLOCK_SIZE, BLOCK_SIZE))
+STATION_COST = 5
 TRACTOR_DIRECTION_EAST_TEXTURE = pygame.image.load(os.path.join('resources', 'minecart_command_block_east.png'))
 TRACTOR_DIRECTION_EAST_TEXTURE = pygame.transform.scale(TRACTOR_DIRECTION_EAST_TEXTURE, (BLOCK_SIZE, BLOCK_SIZE))
 TRACTOR_DIRECTION_NORTH_TEXTURE = pygame.image.load(os.path.join('resources', 'minecart_command_block_north.png'))
@@ -58,10 +68,12 @@ TRACTOR_DIRECTION_NORTH = 1
 TRACTOR_DIRECTION_SOUTH = 3
 TRACTOR_DIRECTION_WEST = 4
 TRACTOR_FERTILIZER = 2
-TRACTOR_FUEL = 200
+TRACTOR_FUEL = 99999999999999
 TRACTOR_AMOUNT_OF_SEEDS_EACH_TYPE = 20
 TRACTOR_MAXIMUM_COLLECTED_PLANTS = 80
 TRACTOR_WATER_LEVEL = 40
+WHEAT_ADULT_COST = 4
+WHEAT_GROW_COST = 10
 WHEAT_GROW_TIME = 5
 WHEAT_MAXIMUM_STATE = WHEAT_GROW_TIME * 7 + 1
 WHEAT_STAGE_0 = pygame.image.load(os.path.join('resources', 'wheat_stage_0.png'))

map.py

@@ -23,32 +23,6 @@ class Map:
                 temp_field = field.Field(temp_plant, temp_rect, temp_soil)
                 temp_map_field.append(temp_field)
             self.fields.append(temp_map_field)
-    def get_field_cost(self, x, y): #zwraca koszt  danego pola
-        field = self.fields[x][y]
-        if field.get_plant().get_name() == "station" and field.get_plant().get_state() == -1:
-            return 5
-        elif field.get_plant().get_name() == "beetroot" and field.get_plant().get_state() > 0 and field.get_plant().get_state() <= 3 * definitions.BEETROOTS_GROW_TIME:
-            return 10
-        elif field.get_plant().get_name() == "beetroot" and field.get_plant().get_state() == definitions.BEETROOTS_MAXIMUM_STATE:
-            return 4
-        elif field.get_plant().get_name() == "carrot" and field.get_plant().get_state() > 0 and field.get_plant().get_state() <= 3 * definitions.CARROTS_GROW_TIME:
-            return 10
-        elif field.get_plant().get_name() == "carrot" and field.get_plant().get_state() == definitions.CARROTS_MAXIMUM_STATE:
-            return 4
-        elif field.get_plant().get_name() == "potato" and field.get_plant().get_state() > 0 and field.get_plant().get_state() <= 3 * definitions.POTATOES_GROW_TIME:
-            return 10
-        elif field.get_plant().get_name() == "potato" and field.get_plant().get_state() == definitions.POTATOES_MAXIMUM_STATE:
-            return 4
-        elif field.get_plant().get_name() == "wheat" and field.get_plant().get_state() > 0 and field.get_plant().get_state() <= 7 * definitions.WHEAT_GROW_TIME:
-            return 10
-        elif field.get_plant().get_name() == "wheat" and field.get_plant().get_state() == definitions.WHEAT_MAXIMUM_STATE:
-            return 4
-        elif field.get_soil().get_state() is False:
-            return 2
-        elif field.get_soil().get_state() is True and field.get_soil().get_water_level() is False:
-            return 3
-        elif field.get_soil().get_state() is True and field.get_soil().get_water_level() is True:
-            return 1
     def fill_map(self): #wypełnia mapę teksturami na podstawie logicznego stanu pól
         for i in range(definitions.WIDTH_AMOUNT):
             for j in range(definitions.HEIGHT_AMOUNT):
@@ -107,6 +81,32 @@ class Map:
                 elif block != definitions.DIRT or block != definitions.FARMLAND_DRY or block != definitions.FARMLAND_WET:
                     definitions.WINDOW.blit(definitions.FARMLAND_WET, (rect.x, rect.y))
                 definitions.WINDOW.blit(block, (rect.x, rect.y))
+    def get_field_cost(self, x, y): #zwraca koszt  danego pola
+        field = self.fields[x][y]
+        if field.get_plant().get_name() == "station" and field.get_plant().get_state() == -1:
+            return definitions.STATION_COST
+        elif field.get_plant().get_name() == "beetroot" and field.get_plant().get_state() > 0 and field.get_plant().get_state() <= 3 * definitions.BEETROOTS_GROW_TIME:
+            return definitions.BEETROOTS_GROW_COST
+        elif field.get_plant().get_name() == "beetroot" and field.get_plant().get_state() == definitions.BEETROOTS_MAXIMUM_STATE:
+            return definitions.BEETROOTS_ADULT_COST
+        elif field.get_plant().get_name() == "carrot" and field.get_plant().get_state() > 0 and field.get_plant().get_state() <= 3 * definitions.CARROTS_GROW_TIME:
+            return definitions.CARROTS_GROW_COST
+        elif field.get_plant().get_name() == "carrot" and field.get_plant().get_state() == definitions.CARROTS_MAXIMUM_STATE:
+            return definitions.CARROTS_ADULT_COST
+        elif field.get_plant().get_name() == "potato" and field.get_plant().get_state() > 0 and field.get_plant().get_state() <= 3 * definitions.POTATOES_GROW_TIME:
+            return definitions.POTATOES_GROW_COST
+        elif field.get_plant().get_name() == "potato" and field.get_plant().get_state() == definitions.POTATOES_MAXIMUM_STATE:
+            return definitions.POTATOES_ADULT_COST
+        elif field.get_plant().get_name() == "wheat" and field.get_plant().get_state() > 0 and field.get_plant().get_state() <= 7 * definitions.WHEAT_GROW_TIME:
+            return definitions.WHEAT_GROW_COST
+        elif field.get_plant().get_name() == "wheat" and field.get_plant().get_state() == definitions.WHEAT_MAXIMUM_STATE:
+            return definitions.WHEAT_ADULT_COST
+        elif field.get_soil().get_state() is False:
+            return definitions.DIRT_COST
+        elif field.get_soil().get_state() is True and field.get_soil().get_water_level() is False:
+            return definitions.FARMLAND_DRY_COST
+        elif field.get_soil().get_state() is True and field.get_soil().get_water_level() is True:
+            return definitions.FARMLAND_WET_COST
     def draw_window(self, tractor1, tractor1_rect): #rysuje mapę
         self.fill_map()
         if tractor1.get_direction() == definitions.TRACTOR_DIRECTION_EAST:

py.py

@@ -29,7 +29,7 @@ def main():
         if not move_list and plant.Plant.if_any_mature_plant(map1) is True: #jeżeli są jakieś ruchy do wykonania w move_list oraz istnieje jakaś dojrzała roślina
             istate = graph.Istate(tractor1.get_direction(), tractor1.get_x() / definitions.BLOCK_SIZE, tractor1.get_y() / definitions.BLOCK_SIZE) #stan początkowy traktora (jego orientacja oraz jego aktualne współrzędne)
             #move_list = (graph.graphsearch([], [], istate, graph.succ, plant.Plant.get_closest_mature_plant(map1, tractor1))) #lista z ruchami, które należy po kolei wykonać, graph
-            move_list = (astar.graphsearch([], [], istate, graph.succ, plant.Plant.get_closest_mature_plant(map1, tractor1), astar.f, map1)) #lista z ruchami, które należy po kolei wykonać, astar
+            move_list = (astar.graphsearch([], [], istate, graph.succ, plant.Plant.get_closest_mature_plant(map1, istate), astar.f, map1)) #lista z ruchami, które należy po kolei wykonać, astar
         elif move_list: #jeżeli move_list nie jest pusta
             tractor1.handle_movement(move_list.pop(0), tractor1_rect) #wykonaj kolejny ruch oraz zdejmij ten ruch z początku listy
         else: