SzybciorSmartTraktor/astar.py

from operator import itemgetter
import settings
import copy

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 cost(map, node):
    cost = 0
    x = node.get_x()
    y = node.get_y()
    if map[x][y] == 'dirt':
        cost = 5
    elif map[x][y] == 'grass':
        cost = 3
    elif map[x][y] == 'cobble':
        cost = 1
    elif map[x][y] == 'sand':
        cost = 10
    elif map[x][y] == 'station':
        cost = 0

    return cost


def f(goaltest, map, node):
    return cost(map, node) + heuristic(goaltest, node)


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


def graphsearch(explored, f, fringe, goaltest, state, map, succ):
    node = Node(None, state.get_direction(), None, state.get_x(), state.get_y())
    fringe.append((node, 0))
    while True:
        if not fringe: return False
        elem = fringe.pop(0)
        temp = copy.copy(elem[0])
        if goal_test(elem[0], goaltest) is True:
            return print_moves(elem[0])
        explored.append(elem)
        for (action, state) in succ(temp):
            fringe_tuple = []
            fringe_tuple_priority = []
            explored_tuple = []
            for (x, y) in fringe:
                fringe_tuple.append((x.get_direction(), x.get_x(), x.get_y()))
                fringe_tuple_priority.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[0], state[1],
                     state[2])
            p = f(goaltest, map, x)
            if state not in fringe_tuple and state not in explored_tuple:
                fringe.append((x, p))
                fringe = sorted(fringe, key=itemgetter(1)) 
            elif state in fringe_tuple:
                i = 0
                for (state_prio, r) in fringe_tuple_priority:
                    if str(state_prio) == str(state):
                        if r > p:
                            fringe.insert(i, (x, p))
                            fringe.pop(i + 1)
                            fringe = sorted(fringe, key=itemgetter(1))
                            break
                    i = i + 1


def heuristic(goaltest, node):
    return abs(node.get_x() - goaltest[0]) + abs(node.get_y() - goaltest[1])

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

def is_move_allowed(node):
    if node.get_direction() == 2 and node.get_x() + 1 < settings.Field.horizontal_count():
        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.Field.vertical_count():
        return "y + 1"
    elif node.get_direction() == 4 and node.get_x() - 1 >= 0:
        return "x - 1"
    else:
        return False

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