added moving by bfs

main.py

@@ -19,8 +19,7 @@ def main():
     screen = pygame.display.set_mode((settings.screen_width, settings.screen_height))
     pygame.display.set_caption('TRAKTOHOLIK')
 
-    search = BFSSearcher().search((8, 1), (6, 2), Constants.UP)
-    print(search)
+    path = BFSSearcher().search((8, 1), (6, 2), Constants.UP)
 
     run = True
     while run:
@@ -33,7 +32,7 @@ def main():
             if event.type == pygame.QUIT:
                 run = False
 
-        tractor.update()
+        tractor.update(path)
         tractor.check_collision(obstacles)
         pygame.display.update()
     pygame.quit()

src/tractor.py

@@ -1,7 +1,7 @@
 import pygame
 import math
 from pygame.sprite import Sprite
-
+from constants import Constants as C
 
 class Tractor(Sprite):
     """ Class to represent our agent """
@@ -88,16 +88,17 @@ class Tractor(Sprite):
             self.rect.y += self.curr_direction[1] * self.settings.tile_size  # jak wejdzie na kolizje to cofamy ruch
                                                                              # w przyszlosci mozna zmienic
 
-    def update(self):
-        key = pygame.key.get_pressed()
+    def update(self, path):
 
-        if key[pygame.K_d] and self.rect.x:
-            self.turn_right()
-        elif key[pygame.K_a]:
-            self.turn_left()
-        elif key[pygame.K_w]:
-            self.move()
-        # print(self.rect)
+        while(path):
+            action = path.pop(0)
+            if action == C.ROTATE_RIGHT and self.rect.x:
+                self.turn_right()
+            elif action == C.ROTATE_LEFT:
+                self.turn_left()
+            elif action == C.MOVE:
+                self.move()
+            # print(self.rect)
 
     def draw(self, screen):
         screen.blit(self.image, self.rect)

src/utils/bfs.py

@@ -5,7 +5,6 @@ class Node:
     def __init__(self, current_x, current_y, agent_direction, action=None, parent=None):
         self.current_x = current_x
         self.current_y = current_y
-        self.state = tuple([self.current_x, self.current_y])
         self.action = action
         self.parent = parent
         self.agent_direction = agent_direction
@@ -40,7 +39,7 @@ class Node:
 
             neighbours.append((actions, (x - 1, y), C.LEFT))
 
-        if y < 9:  # upper neighbour
+        if y > 0:  # upper neighbour
             if self.agent_direction == C.RIGHT:
                 actions = [C.ROTATE_LEFT, C.MOVE]
             elif self.agent_direction == C.LEFT:
@@ -50,9 +49,9 @@ class Node:
             elif self.agent_direction == C.DOWN:
                 actions = [C.ROTATE_LEFT, C.ROTATE_LEFT, C.MOVE]
 
-            neighbours.append((actions, (x, y + 1), C.UP))
+            neighbours.append((actions, (x, y - 1), C.UP))
 
-        if y > 0:  # down neighbour
+        if y < 9:  # down neighbour
             if self.agent_direction == C.RIGHT:
                 actions = [C.ROTATE_RIGHT, C.MOVE]
             elif self.agent_direction == C.LEFT:
@@ -62,12 +61,10 @@ class Node:
             elif self.agent_direction == C.DOWN:
                 actions = C.MOVE
 
-            neighbours.append((actions, (x, y - 1), C.DOWN))
+            neighbours.append((actions, (x, y + 1), C.DOWN))
+
         return neighbours
 
-    def __str__(self):
-        return self.state + ' ' + self.parent
-
 
 class BFSSearcher:
 
@@ -76,27 +73,30 @@ class BFSSearcher:
         self.explored_states = []
         self.path = []
 
-    def search(self, first_state: tuple, goal: tuple, agent_direction: list):
+    def search(self, first_state: tuple, goal, agent_direction):
         self.fringe.append(Node(first_state[0], first_state[1], agent_direction))
 
         while True:
             if not self.fringe:
                 return False
-            element: Node = self.fringe.pop(0)
+            element = self.fringe.pop(0)
 
             if element.state == goal:
                 return self.__state_eq_goal_action(element)
 
             self.explored_states.append(element)
-            for action, state, direction in element.successor():
+
+            for action, state, direction in element.succesor():
                 fringe_states = []
                 explored_states = []
                 for node in self.fringe:
                     fringe_states.append(node.state)
                 for node in self.explored_states:
-                    explored_states.append(node.state)
-                if (state not in fringe_states) and (state not in explored_states):
-                    x = Node(state[0], state[1], direction, action, element)
+                    explored_states.append(node)
+                if state not in fringe_states and state not in explored_states:
+                    x = Node(state[0], state[1], direction)
+                    x.parent = element
+                    x.action = action
                     self.fringe.append(x)
 
     def __state_eq_goal_action(self, current_element: Node):
@@ -107,7 +107,5 @@ class BFSSearcher:
                     self.path.append(action)
             else:
                 self.path.append(current_element.action)
-            current_element = current_element.parent
 
-        self.path.reverse()
-        return self.path
+        return self.path.reverse()