112 lines
3.5 KiB
Python
112 lines
3.5 KiB
Python
|
from data_structures.heap import Heap
|
||
|
|
from path_search_algorthms import a_star_utils as utils
|
||
|
|
|
||
|
|
def search_path(start_x: int, start_y: int, target_x: int, target_y: int, array: list[list[int]]) -> list[str]:
|
||
|
|
|
||
|
|
start_node = utils.Node(start_x, start_y, utils.Rotation.RIGHT)
|
||
|
|
target_node = utils.Node(target_x, target_y, utils.Rotation.NONE)
|
||
|
|
|
||
|
|
# heap version
|
||
|
|
|
||
|
|
# nodes for check
|
||
|
|
search_list = Heap()
|
||
|
|
search_list.append(start_node, 0)
|
||
|
|
|
||
|
|
# checked nodes
|
||
|
|
searched_list: list[(int, int)] = []
|
||
|
|
|
||
|
|
while (search_list.length() > 0):
|
||
|
|
node: utils.Node = search_list.take_first()
|
||
|
|
|
||
|
|
searched_list.append((node.x, node.y))
|
||
|
|
|
||
|
|
# check for target node
|
||
|
|
if ((node.x, node.y) == (target_x, target_y)):
|
||
|
|
return trace_path(node)
|
||
|
|
|
||
|
|
# neightbours processing
|
||
|
|
neighbours = utils.get_neighbours(node, searched_list, array)
|
||
|
|
for neighbour in neighbours:
|
||
|
|
|
||
|
|
# calculate new g cost for neightbour (start -> node -> neightbour)
|
||
|
|
new_neighbour_cost = node.g_cost + utils.get_neighbour_cost(node, neighbour)
|
||
|
|
|
||
|
|
if (new_neighbour_cost < neighbour.g_cost or not search_list.contains(neighbour)):
|
||
|
|
|
||
|
|
# replace cost and set parent node
|
||
|
|
neighbour.g_cost = new_neighbour_cost
|
||
|
|
neighbour.h_cost = utils.get_h_cost(neighbour, target_node)
|
||
|
|
neighbour.parent = node
|
||
|
|
|
||
|
|
# add to search
|
||
|
|
if(not search_list.contains(neighbour)):
|
||
|
|
search_list.append(neighbour, neighbour.f_cost())
|
||
|
|
|
||
|
|
# array version
|
||
|
|
|
||
|
|
# nodes for check
|
||
|
|
# search_list = [start_node]
|
||
|
|
|
||
|
|
# checked nodes
|
||
|
|
# searched_list: list[(int, int)] = []
|
||
|
|
|
||
|
|
# while (len(search_list) > 0):
|
||
|
|
# node = search_list[0]
|
||
|
|
|
||
|
|
# # find cheapest node in search_list
|
||
|
|
# for i in range(1, len(search_list)):
|
||
|
|
# if (search_list[i].f_cost() <= node.f_cost()):
|
||
|
|
# if(search_list[i].h_cost < node.h_cost):
|
||
|
|
# node = search_list[i]
|
||
|
|
|
||
|
|
# search_list.remove(node)
|
||
|
|
# searched_list.append((node.x, node.y))
|
||
|
|
|
||
|
|
# # check for target node
|
||
|
|
# if ((node.x, node.y) == (target_x, target_y)):
|
||
|
|
# return trace_path(node)
|
||
|
|
|
||
|
|
# # neightbours processing
|
||
|
|
# neighbours = utils.get_neighbours(node, searched_list, array)
|
||
|
|
# for neighbour in neighbours:
|
||
|
|
|
||
|
|
# # calculate new g cost for neightbour (start -> node -> neightbour)
|
||
|
|
# new_neighbour_cost = node.g_cost + utils.get_neighbour_cost(node, neighbour)
|
||
|
|
|
||
|
|
# if (new_neighbour_cost < neighbour.g_cost or neighbour not in search_list):
|
||
|
|
|
||
|
|
# # replace cost and set parent node
|
||
|
|
# neighbour.g_cost = new_neighbour_cost
|
||
|
|
# neighbour.h_cost = utils.get_h_cost(neighbour, target_node)
|
||
|
|
# neighbour.parent = node
|
||
|
|
|
||
|
|
# # add to search
|
||
|
|
# if(neighbour not in search_list):
|
||
|
|
# search_list.append(neighbour)
|
||
|
|
|
||
|
|
def trace_path(end_node: utils.Node) -> list[str]:
|
||
|
|
path = []
|
||
|
|
node = end_node
|
||
|
|
|
||
|
|
# set final rotation of end_node because we don't do it before
|
||
|
|
node.rotation = utils.get_needed_rotation(node.parent, node)
|
||
|
|
|
||
|
|
while (node.parent != 0):
|
||
|
|
move = utils.get_move(node.parent, node)
|
||
|
|
path += move
|
||
|
|
node = node.parent
|
||
|
|
|
||
|
|
# delete move on initial tile
|
||
|
|
path.pop()
|
||
|
|
|
||
|
|
# we found path from end, so we need to reverse it (get_move reverse move words)
|
||
|
|
path.reverse()
|
||
|
|
|
||
|
|
# last forward to destination
|
||
|
|
path.append("forward")
|
||
|
|
|
||
|
|
return path
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|