cost for every node

classes/ai.py

@@ -90,7 +90,7 @@ class AI:
         dists = []  # how long way is to all mines from start([0, 0])
         for mine in self.current_map.mines:
             dists.append(sqrt((self.saper.position_x-mine.position_x)**2 + (self.saper.position_y-mine.position_y)**2))
-        # print(dists)
+        print(dists)
         ind = dists.index(min(dists))  # choose nearest mine
         goal_state = [self.current_map.mines[ind].position_x, self.current_map.mines[ind].position_y]
         print(f'We go to {goal_state}')

classes/bfs.py

@@ -19,6 +19,7 @@ class BFS:
         #print(neighbours_list[0])
         #print(neighbours_list[1])
         #print(neighbours_list[2])
+        #print(neighbours_list)
 
 
         # if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
@@ -76,46 +77,118 @@ class BFS:
 
         if current_position[2] == 180:  # jesli patrzy na polnoc
             if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
-                tmp = ('forward', [current_position[0], current_position[1] - 1, 180])
+                if neighbours_list[0][1] == 'grass':
+                    cost = 2
+                elif neighbours_list[0][1] == 'sand':
+                    cost = 1
+                elif neighbours_list[0][1] == 'mine':
+                    cost = 0
+                tmp = ('forward', [current_position[0], current_position[1] - 1, 180], cost)
                 new_nodes.append(tmp)
             if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
-                tmp = ('left', [current_position[0],current_position[1], 270])
+                if neighbours_list[1][0] == 'grass':
+                    cost = 2
+                elif neighbours_list[1][0] == 'sand':
+                    cost = 1
+                elif neighbours_list[1][0] == 'mine':
+                    cost = 0
+                tmp = ('left', [current_position[0],current_position[1], 270], cost)
                 new_nodes.append(tmp)
             if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
-                tmp = ('right', [current_position[0], current_position[1], 90])
+                if neighbours_list[1][2] == 'grass':
+                    cost = 2
+                elif neighbours_list[1][2] == 'sand':
+                    cost = 1
+                elif neighbours_list[1][2] == 'mine':
+                    cost = 0
+                tmp = ('right', [current_position[0], current_position[1], 90], cost)
                 new_nodes.append(tmp)
 
         if current_position[2] == 90:  # jesli patrzy na wschod
             if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
-                tmp = ('forward', [current_position[0] + 1, current_position[1], 90])
+                if neighbours_list[1][2] == 'grass':
+                    cost = 2
+                elif neighbours_list[1][2] == 'sand':
+                    cost = 1
+                elif neighbours_list[1][2] == 'mine':
+                    cost = 0
+                tmp = ('forward', [current_position[0] + 1, current_position[1], 90], cost)
                 new_nodes.append(tmp)
             if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
-                tmp = ('left', [current_position[0], current_position[1], 180])
+                if neighbours_list[0][1] == 'grass':
+                    cost = 2
+                elif neighbours_list[0][1] == 'sand':
+                    cost = 1
+                elif neighbours_list[0][1] == 'mine':
+                    cost = 0
+                tmp = ('left', [current_position[0], current_position[1], 180], cost)
                 new_nodes.append(tmp)
             if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
-                tmp = ('right', [current_position[0], current_position[1], 0])
+                if neighbours_list[2][1] == 'grass':
+                    cost = 2
+                elif neighbours_list[2][1] == 'sand':
+                    cost = 1
+                elif neighbours_list[2][1] == 'mine':
+                    cost = 0
+                tmp = ('right', [current_position[0], current_position[1], 0], cost)
                 new_nodes.append(tmp)
 
         if current_position[2] == 0: # jesli patczy na poludzie
             if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
-                tmp = ('forward', [current_position[0], current_position[1] + 1, 0])
+                if neighbours_list[2][1] == 'grass':
+                    cost = 2
+                elif neighbours_list[2][1] == 'sand':
+                    cost = 1
+                elif neighbours_list[2][1] == 'mine':
+                    cost = 0
+                tmp = ('forward', [current_position[0], current_position[1] + 1, 0], cost)
                 new_nodes.append(tmp)
             if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
-                tmp = ('left', [current_position[0], current_position[1], 90])
+                if neighbours_list[1][2] == 'grass':
+                    cost = 2
+                elif neighbours_list[1][2] == 'sand':
+                    cost = 1
+                elif neighbours_list[1][2] == 'mine':
+                    cost = 0
+                tmp = ('left', [current_position[0], current_position[1], 90], cost)
                 new_nodes.append(tmp)
             if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
-                tmp = ('right', [current_position[0],current_position[1], 270])
+                if neighbours_list[1][0] == 'grass':
+                    cost = 2
+                elif neighbours_list[1][0] == 'sand':
+                    cost = 1
+                elif neighbours_list[1][0] == 'mine':
+                    cost = 0
+                tmp = ('right', [current_position[0],current_position[1], 270], cost)
                 new_nodes.append(tmp)
 
         if current_position[2] == 270:  # jesli patczy na wschod
             if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
-                tmp = ('forward', [current_position[0] - 1,current_position[1], 270])
+                if neighbours_list[1][0] == 'grass':
+                    cost = 2
+                elif neighbours_list[1][0] == 'sand':
+                    cost = 1
+                elif neighbours_list[1][0] == 'mine':
+                    cost = 0
+                tmp = ('forward', [current_position[0] - 1,current_position[1], 270], cost)
                 new_nodes.append(tmp)
             if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
-                tmp = ('left', [current_position[0], current_position[1], 0])
+                if neighbours_list[2][1] == 'grass':
+                    cost = 2
+                elif neighbours_list[2][1] == 'sand':
+                    cost = 1
+                elif neighbours_list[2][1] == 'mine':
+                    cost = 0
+                tmp = ('left', [current_position[0], current_position[1], 0], cost)
                 new_nodes.append(tmp)
             if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
-                tmp = ('right', [current_position[0], current_position[1], 180])
+                if neighbours_list[0][1] == 'grass':
+                    cost = 2
+                elif neighbours_list[0][1] == 'sand':
+                    cost = 1
+                elif neighbours_list[0][1] == 'mine':
+                    cost = 0
+                tmp = ('right', [current_position[0], current_position[1], 180], cost)
                 new_nodes.append(tmp)
 
         return new_nodes
@@ -129,12 +202,15 @@ class BFS:
     # goaltest = test spewnienia celu
 
     def graphsearch(self, fringe, explored, succ, goaltest):
+
+        # def manhattan(state, target_state):
+        #     return abs(state.get_x() - target_state.get_x()) + abs(state.get_y() - target_state.get_y())
         self.window.pause(True)
 
         positiont_at_beginning = [self.agent.position_x, self.agent.position_y, self.agent.rotation_degrees] # x, y, gdzie_patczy
         print(f'Position {positiont_at_beginning}')
         final_action_list = []  # lista co ma robic zeby dojechac do miny
-        root = node.Node(None, None, positiont_at_beginning)  # parent, action, position
+        root = node.Node(None, None, positiont_at_beginning, 0)  # parent, action, position
         counter = 0
         heapq.heappush(fringe, (counter, root))
         #visited_position = []
@@ -171,12 +247,12 @@ class BFS:
 
 
             neighbours_list_of_our_node = self.successor(tmp_node_position)  # lista możliwych akcij
-            #print(neighbours_list_of_our_node)
+            print(neighbours_list_of_our_node)
 
             for node_ in neighbours_list_of_our_node:
                 # jesli pozucja wezla nie jest w fringe i nie jest w visited
                 if [node_[1][0], node_[1][1], node_[1][2]] not in explored and node_[1][0] >= 0 and node_[1][1] >=0:
                     counter += 1
-                    x = node.Node(tmp_node, node_[0], node_[1])  # action
+                    x = node.Node(tmp_node, node_[0], node_[1], node_[2])  # action
                     heapq.heappush(fringe, (counter, x))
                     self.window.draw_search([self.agent.position_x, self.agent.position_y], [node_[1][0], node_[1][1]])

classes/minesweeper.py

@@ -112,7 +112,7 @@ class Map:
                 rng = randrange(10)
                 if ok and rng==0 and not (i<2 and j<3):
                     matrix[i].append(10)
-                elif ok and rng>8 and not (i<2 and j<3):
+                elif ok and rng>7 and not (i<2 and j<3):
                     matrix[i].append(5)
                 elif ok and rng<2 and not (i<2 and j<3):
                     matrix[i].append(0)

classes/node.py

@@ -1,23 +1,9 @@
 class Node:
-    def __init__(self, parent, action, state_array):
+    def __init__(self, parent, action, state_array, cost):
         self.parent = parent
         self.action = action
         self.position = state_array
-
+        self.cost = cost
-        # if parent:
-        #     parent_pos = parent[1].get_position()
-        #     diff = [state_array[0] - parent_pos[0], state_array[1] - parent_pos[1]]
-        #     if diff[0]==1:
-        #         action="E"
-        #     elif diff[0]==-1:
-        #         action="W"
-        #     elif diff[1]==1:
-        #         action="S"
-        #     elif diff[1]==-1:
-        #         action="N"
-        #     self.action=action
-        # else:
-        #     self.action=action
 
     def get_position(self):
         return self.position
@@ -31,4 +17,6 @@ class Node:
     def set_parent(self, parent):
         self.parent = parent
 
+    def get_cost(self):
+        return self.cost