139 lines
5.1 KiB
Python
139 lines
5.1 KiB
Python
import copy
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import tractor
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class Node:
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def __init__(self, action, direction, parent, x, y):
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self.action = action
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self.direction = direction
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self.parent = parent
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self.x = x
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self.y = y
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def get_action(self):
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return self.action
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def set_action(self, action):
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self.action = action
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def get_direction(self):
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return self.direction
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def set_direction(self, direction):
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self.direction = direction
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def get_parent(self):
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return self.parent
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def set_parent(self, parent):
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self.parent = parent
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def get_x(self):
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return self.x
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def set_x(self, x):
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self.x = x
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def get_y(self):
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return self.y
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def set_y(self, y):
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self.y = y
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class Istate: #stan początkowy traktora
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def __init__(self, direction, x, y):
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self.direction = direction
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self.x = x
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self.y = y
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def get_direction(self):
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return self.direction
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def set_direction(self, direction):
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self.direction = direction
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def get_x(self):
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return self.x
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def set_x(self, x):
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self.x = x
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def get_y(self):
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return self.y
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def set_y(self, y):
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self.y = y
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# class Fringe: #kolejka zawierająca akcje oraz pola do odwiedzenia
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# def __init__(self, fringe):
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# self.fringe = fringe
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# def get_fringe(self):
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# return self.fringe
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# def set_fringe(self, fringe):
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# self.fringe = fringe
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# def add_to_fringe(self, value):
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# self.fringe.append(value)
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# def get_element_from_fringe_pop(self):
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# return self.fringe.pop(0)
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def goal_test(elem, goaltest):
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if elem.get_x() == goaltest.get_x() and elem.get_y() == goaltest.get_y(): #goaltest bez getterów
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return True
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else:
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return False
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def print_moves(elem, explored):
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moves_list = []
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while (elem.get_parent() != None):
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moves_list.append(elem.get_action())
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elem = elem.get_parent()
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moves_list.reverse()
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return moves_list
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def succ(elem):
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actions_list = []
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temp = copy.copy(elem.get_direction())
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if temp == 1:
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temp = 4
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else:
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temp = temp - 1
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actions_list.append(("rotate_left", (temp, elem.get_x(), elem.get_y())))
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temp = copy.copy(elem.get_direction())
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if temp == 4:
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temp = 1
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else:
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temp = temp + 1
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actions_list.append(("rotate_right", (temp, elem.get_x(), elem.get_y())))
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temp_move_south = elem.get_y() + 1
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temp_move_west = elem.get_x() - 1
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temp_move_east = elem.get_x() + 1
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temp_move_north = elem.get_y() - 1
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if tractor.Tractor.is_move_allowed_succ(elem) == "x + 1":
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actions_list.append(("move", (elem.get_direction(), temp_move_east, elem.get_y())))
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elif tractor.Tractor.is_move_allowed_succ(elem) == "y - 1":
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actions_list.append(("move", (elem.get_direction(), elem.get_x(), temp_move_north)))
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elif tractor.Tractor.is_move_allowed_succ(elem) == "y + 1":
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actions_list.append(("move", (elem.get_direction(), elem.get_x(), temp_move_south)))
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elif tractor.Tractor.is_move_allowed_succ(elem) == "x - 1":
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actions_list.append(("move", (elem.get_direction(), temp_move_west, elem.get_y())))
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return actions_list
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def graphsearch(fringe, explored, istate, succ, goaltest):
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node = Node(None, istate.get_direction(), None, istate.get_x(), istate.get_y()) #może None coś nie gra
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#fringe.add_to_fringe(node)
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fringe.append(node)
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while True:
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if not fringe:
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return False
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#elem = fringe.get_element_from_fringe_pop()
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elem = fringe.pop(0)
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temp = copy.copy(elem) #żeby explored w for succ() nie zmieniało
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if goal_test(elem, goaltest) is True:
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# for x in fringe:
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# print("action: " + str(x.get_action()))
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# print("direction: " + str(x.get_direction()))
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# print("parent: " + str(x.get_parent()))
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# print("node: " + str(x))
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# print("x: " + str(x.get_x()))
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# print("y: " + str(x.get_y()))
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# for x in explored:
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# print("action ex: " + str(x.get_action()))
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# print("direction ex: " + str(x.get_direction()))
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# print("parent ex: " + str(x.get_parent()))
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# print("node ex: " + str(x))
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# print("x ex: " + str(x.get_x()))
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# print("y ex: " + str(x.get_y()))
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return print_moves(elem, explored)
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explored.append(elem)
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for (action, state) in succ(temp):
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fringe_tuple = []
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explored_tuple = []
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for x in fringe:
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fringe_tuple.append((x.get_direction(), x.get_x(), x.get_y()))
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for x in explored:
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explored_tuple.append((x.get_direction(), x.get_x(), x.get_y()))
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if state not in fringe_tuple and state not in explored_tuple:
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x = Node(action, state[0], elem, state[1], state[2])
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# print(x.get_action())
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# print(state[0])
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# print(state[1])
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# print(state[2])
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# print(x.get_direction())
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# print(x.get_parent())
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fringe.append(x) |