A* and corrected graphsearch

Field.py

@@ -8,21 +8,6 @@ class Field:
     def state(self):
         return self.__state
 
-    @property
-    def cost(self):
-        if self.state == 'toPlow':
-            return 1
-        elif self.state == 'toSeed':
-            return 2
-        elif self.state == 'toFertilize':
-            return 3
-        elif self.state == 'toWater':
-            return 4
-        elif self.state == 'toCut':
-            return 5
-        else:
-            return 0
-
     @property
     def horizontal_index(self):
         return self.__horizontal_index
@@ -31,6 +16,21 @@ class Field:
     def vertical_index(self):
         return self.__vertical_index
 
+    @property
+    def cost(self):
+        if self.state == 'toPlow':
+            return 1
+        elif self.state == 'toSeed':
+            return 2
+        elif self.state == 'toFertilize':
+            return 300
+        elif self.state == 'toWater':
+            return 4
+        elif self.state == 'toCut':
+            return 5000
+        else:
+            return 0
+
     @state.setter
     def state(self, state):
         if state == "toPlow" or state == "toWater" or state == "toSeed" or \

FindPath.py

@@ -1,21 +1,7 @@
 from constants import *
-from queue import Queue
-
-
-class Node:
-    def __init__(self, parent: (int, int), index: (int, int)):
-        self.__index = index
-        self.__parent = parent
-
-    def get_index(self):
-        return self.__index
-
-    def get_parent(self):
-        return self.__parent
-
 
 def whichStateLookingFor(tractor, TillageUnit):
-    searching_field = "toPlow"
+    searching_field = "none"
     if tractor.header and tractor.hitch == "Crop Trailer":
         searching_field = "toCut"
     elif isinstance(tractor.hitch, TillageUnit) and tractor.hitch.load == "Nothing":
@@ -30,87 +16,15 @@ def whichStateLookingFor(tractor, TillageUnit):
 
 
 def nearestLookingField(board, tractor, TillageUnit):
-    horizontal_tiles_number = int(HORIZONTAL_TILES_NUMBER)
-    vertical_tiles_number = int(VERTICAL_TILES_NUMBER)
-
-    print(horizontal_tiles_number, vertical_tiles_number)
-    a = input()
     end_horizontal_index = 0
     end_vertical_index = 0
     searching_field = whichStateLookingFor(tractor, TillageUnit)
-    for i in range(horizontal_tiles_number):
+    for i in range(0, int(HORIZONTAL_TILES_NUMBER)):
-        for j in range(vertical_tiles_number):
+        for j in range(0, int(VERTICAL_TILES_NUMBER)):
             field = board[i][j]
             if searching_field == field.state:
-                end_horizontal_index = field.horizontal_index
+                end_horizontal_index = field.horizontal_index / TILE_SIZE
-                end_vertical_index = field.vertical_index
+                end_vertical_index = field.vertical_index / TILE_SIZE
-                break
+                return end_horizontal_index, end_vertical_index
 
-    return end_horizontal_index, end_vertical_index
+    return end_horizontal_index, end_vertical_index
-
-
-def graphsearch(tractor, board, TillageUnit, fringe: Queue, explored):
-    start_horizontal_index = tractor.horizontal_index
-    start_vertical_index = tractor.vertical_index
-    start_state = (start_horizontal_index, start_vertical_index)
-    end_state = nearestLookingField(board, tractor, TillageUnit)
-    print(start_state)
-    print(end_state)
-
-    fringe.put(start_state)
-
-    while True:
-        if fringe.empty():
-            return False
-
-        elem = fringe.get()
-
-        if goaltest(elem, end_state):
-            break
-            #TODO
-            #return droga ktora musi pokonac traktor
-        else:
-            explored.append(elem)
-            elem = succ(start_state, end_state, tractor)
-            fringe.put(elem)
-
-
-def goaltest(elem, end_state):
-    print('element:', elem, 'state:', end_state)
-    if elem == end_state:
-        return True
-    else:
-        return False
-
-
-def succ(start_state, end_state, tractor):
-    print(tractor.horizontal_index, ' ', tractor.vertical_index)
-    a = input()
-    if start_state[1] < end_state[1]:
-        if tractor.direction == "RIGHT":
-            tractor.drive()
-            print("przesunalem sie w prawo")
-        else:
-            tractor.direction = "RIGHT"
-
-    elif start_state[1] > end_state[1]:
-        if tractor.direction == "LEFT":
-            tractor.drive()
-            print("przesunalem sie w lewo")
-        else:
-            tractor.direction = "LEFT"
-
-    elif start_state[0] < end_state[0]:
-        if tractor.direction == "DOWN":
-            tractor.drive()
-            print("przesunalem sie w dol")
-        else:
-            tractor.direction = "DOWN"
-    elif start_state[0] > end_state[0]:
-        if tractor.direction == "UP":
-            tractor.drive()
-            print("przesunalem sie w gore")
-        else:
-            tractor.direction = "UP"
-    else:
-        return tractor.horizontal_index, tractor.horizontal_index

Tractor.py

@@ -94,8 +94,7 @@ class Tractor:
 
     @direction.setter
     def direction(self, direction):
-        if direction == "UP" or direction == "DOWN" or direction == "RIGHT" or direction == "LEFT":
+        self.__direction = direction
-            self.__direction = direction
 
 
     def drive(self):
@@ -111,3 +110,33 @@ class Tractor:
         elif self.__direction == "LEFT" and self.horizontal_index > 0:
             self.__horizontal_index += -mRange
         self.reduce_fuel()
+
+    def left_rotation(self):
+        if self.__direction == "UP":
+            self.__direction = "LEFT"
+        elif self.__direction == "LEFT":
+            self.__direction = "DOWN"
+        elif self.__direction == "DOWN":
+            self.__direction = "RIGHT"
+        elif self.__direction == "RIGHT":
+            self.__direction = "UP"
+
+
+    def right_rotation(self):
+        if self.__direction == "UP":
+            self.__direction = "RIGHT"
+        elif self.__direction == "RIGHT":
+            self.__direction = "DOWN"
+        elif self.__direction == "DOWN":
+            self.__direction = "LEFT"
+        elif self.__direction == "LEFT":
+            self.__direction = "UP"
+
+    def auto_movement(self, move):
+        if move == "Move":
+            self.drive()
+        elif move == "Left_Rotation":
+            self.left_rotation()
+        elif move == "Right_Rotation":
+            self.right_rotation()
+

constants.py

@@ -29,8 +29,8 @@ TRACTOR_WIDTH = TILE_SIZE
 TRACTOR_HEIGHT = TILE_SIZE
 
 #FRAMES PER SECOND
-FPS = 10
+FPS = 5
 
 #ANIMATION_PART
 
-ANIMATION_PART = 11
+ANIMATION_PART = 1

main.py

@@ -1,15 +1,14 @@
 import pygame
 
 import Board
+import FindPath
 import TractorAction
 import drawUI
-from FindPath import graphsearch
+import Graphsearch
 from Tractor import Tractor
 from TractorLoad import TillageUnit
-from animations import animationsOn, animationsOff
 from constants import *
 from manualSteering import manualSteeringDriver
-from queue import Queue
 
 pygame.init()
 
@@ -27,11 +26,13 @@ toolCounter = - 1
 
 board = Board.generate()
 
-tractor = Tractor(horizontal_index=-0, vertical_index=0, hitch="nothing", header=False, autodrive=False,
+tractor = Tractor(horizontal_index=-0, vertical_index=0, hitch="nothing", header=False, autodrive=True,
-                  direction='RIGHT')
+                  direction="RIGHT")
+
 tillageUnit = TillageUnit("Nothing")
 
 tractor.turnOnEngine()
+move_list = []
 
 clock = pygame.time.Clock()
 
@@ -45,23 +46,28 @@ while working:
 
     field = board[tractor.horizontal_index][tractor.vertical_index]
 
-    print("curr field cost", field.cost)
+    if not move_list:
-    print("tractor dir", tractor.direction)
+        field.state = TractorAction.changeFieldState(field, tractor)
+        istate = Graphsearch.Istate(tractor.direction, tractor.horizontal_index, tractor.vertical_index)
+        move_list = Graphsearch.graphsearch([], [], istate, FindPath.nearestLookingField(board, tractor, TillageUnit), board)
+        print(move_list)
+
+    elif move_list:
+        tractor.auto_movement(move_list.pop(0))
+        TractorAction.changeFieldState(field, tractor)
+
     if tractor.autodrive and tractor.engineWorking:
         animationSpeed = ANIMATION_PART
     else:
         animationSpeed = 1
-    print(ANIMATION_PART)
 
-    if tractor.autodrive:
+    if field.horizontal_index == 0 and field.vertical_index == 0 and not move_list:
         tractor, tillageUnit, toolCounter = TractorAction.autoToolsChange(tractor, tillageUnit, toolCounter)
-        field.state = TractorAction.changeFieldState(field, tractor)
 
     drawUI.drawUI(board, display, tractor, tractor.direction, tillageUnit, field, animationSpeed)
 
     clock.tick(FPS)
 
-    #graphsearch(tractor, board, TillageUnit, Queue(), list())
 
 pygame.quit()
-quit()
+quit()

manualSteering.py

@@ -51,13 +51,12 @@ def manualSteeringDriver(event, board, tractor, hitchCounter, tillageUnit, loadC
 
 
 def manualTurning(event, tractor):
-    tractor.direction = "STOP"
     if event.type == pygame.KEYDOWN:
         if event.key == pygame.K_LEFT and tractor.horizontal_index > 0:
-            tractor.direction = "LEFT"
+            tractor.direction = TRACTOR_DIRECTION_LEFT
         elif event.key == pygame.K_RIGHT and tractor.horizontal_index < HORIZONTAL_TILES_NUMBER - 1:
-            tractor.direction = "RIGHT"
+            tractor.direction = TRACTOR_DIRECTION_RIGHT
         elif event.key == pygame.K_UP and tractor.vertical_index > 0:
-            tractor.direction = "UP"
+            tractor.direction = TRACTOR_DIRECTION_UP
         elif event.key == pygame.K_DOWN and tractor.vertical_index < VERTICAL_TILES_NUMBER - 1:
-            tractor.direction = "DOWN"
+            tractor.direction = TRACTOR_DIRECTION_DOWN