SzybciorSmartTraktor/graph.py

import copy
import settings


class State:
    def __init__(self, direction, x, y):
        self.direction = direction
        self.x = x
        self.y = y

    def get_direction(self):
        return self.direction

    def set_direction(self, direction):
        self.direction = direction

    def get_x(self):
        return self.x

    def set_x(self, x):
        self.x = x

    def get_y(self):
        return self.y

    def set_y(self, y):
        self.y = y


class Node:
    def __init__(self, action, direction, parent, x, y):
        self.action = action
        self.direction = direction
        self.parent = parent
        self.x = x
        self.y = y

    def get_action(self):
        return self.action

    def set_action(self, action):
        self.action = action

    def get_direction(self):
        return self.direction

    def set_direction(self, direction):
        self.direction = direction

    def get_parent(self):
        return self.parent

    def set_parent(self, parent):
        self.parent = parent

    def get_x(self):
        return self.x

    def set_x(self, x):
        self.x = x

    def get_y(self):
        return self.y

    def set_y(self, y):
        self.y = y


def goal_test(goal_test_arr, elem):
    if elem.get_x() == goal_test_arr[0] and elem.get_y() == goal_test_arr[1]:
        return True
    else:
        return False


def graph_search(explored, fringe, goal_test_arr, is_state, succ):
    node = Node(None, is_state.get_direction(), None, is_state.get_x(),
                is_state.get_y())
    fringe.append(node)
    while True:
        if not fringe:
            return False
        elem = fringe.pop(0)
        temp = copy.copy(elem)
        if goal_test(goal_test_arr,
                         elem) is True:
            return get_moves_list(elem)
        explored.append(elem)
        for (action, state) in succ(
                temp):
            fringe_tuple = []
            explored_tuple = []
            for x in fringe:
                fringe_tuple.append((x.get_direction(), x.get_x(), x.get_y()))
            for x in explored:
                explored_tuple.append((x.get_direction(), x.get_x(), x.get_y()))
            if state not in fringe_tuple and state not in explored_tuple:
                x = Node(action, state[0], elem, state[1],
                         state[2])
                fringe.append(x)


def get_moves_list(node):
    moves_list = []
    while (node.get_parent() != None):
        moves_list.append(node.get_action())
        node = node.get_parent()
    moves_list.reverse()
    return moves_list


def succ(node):
    actions_list = []
    direction = copy.copy(node.get_direction())
    if direction == 1:
        direction = 4
    else:
        direction = direction - 1
    actions_list.append(("l", (direction, node.get_x(), node.get_y())))
    direction = copy.copy(node.get_direction())
    if direction == 4:
        direction = 1
    else:
        direction = direction + 1
    actions_list.append(("r", (direction, node.get_x(), node.get_y())))
    temp_move_south = node.get_y() + 1
    temp_move_west = node.get_x() - 1
    temp_move_east = node.get_x() + 1
    temp_move_north = node.get_y() - 1
    if is_move_allowed(node) == "x + 1":
        actions_list.append(("f", (node.get_direction(), temp_move_east, node.get_y())))
    elif is_move_allowed(node) == "y - 1":
        actions_list.append(("f", (node.get_direction(), node.get_x(), temp_move_north)))
    elif is_move_allowed(node) == "y + 1":
        actions_list.append(("f", (node.get_direction(), node.get_x(), temp_move_south)))
    elif is_move_allowed(node) == "x - 1":
        actions_list.append(("f", (node.get_direction(), temp_move_west, node.get_y())))
    return actions_list


def is_move_allowed(node):
    if node.get_direction() == 2 and node.get_x() + 1 < settings.Pygame.width():
        return "x + 1"
    elif node.get_direction() == 1 and node.get_y() - 1 >= 0:
        return "y - 1"
    elif node.get_direction() == 3 and node.get_y() + 1 < settings.Pygame.height():
        return "y + 1"
    elif node.get_direction() == 4 and node.get_x() - 1 >= 0:
        return "x - 1"
    else:
        return False