InteligentnySaper/classes/bfs.py
2022-04-07 16:43:11 +02:00

100 lines
3.6 KiB
Python

import heapq # dla utrzymania fringe
from classes import node, minesweeper
import time
class BFS:
agent: minesweeper.Minesweeper
node: node.Node
def __init__(self, agent):
self.agent = agent
def successor(self, current_position):
new_nodes = []
neighbours_list = self.agent.sensor(current_position[0], current_position[1])
print(neighbours_list[0])
print(neighbours_list[1])
print(neighbours_list[2])
if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
new_nodes.append([current_position[0] - 1, current_position[1]])
if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
new_nodes.append([current_position[0], current_position[1] + 1])
if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
new_nodes.append([current_position[0] + 1, current_position[1]])
if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
new_nodes.append([current_position[0],current_position[1] - 1])
return new_nodes
# fringe = struktura danych przeszowyjąca wierchowki do odwiedzenia
# explored = lista odwiedzonych stanow
# position_at_beginning = stan poczatkowy
# succ = funkcja nastempnika
# goaltest = test spewnienia celu
def graphsearch(self, fringe, explored, succ, goaltest):
positiont_at_beginning = [self.agent.position_x, self.agent.position_y, self.agent.rotation_degrees] # x, y, gdzie_patczy
final_action_list = []
root = node.Node(None, None, positiont_at_beginning[:2]) # parent, action, position
counter = 0
heapq.heappush(fringe, (counter, root))
visited_position = []
while len(fringe) != 0:
flag = True
if len(fringe) == 0:
return False
break
tmp_node = heapq.heappop(fringe) # node
#print(f'my parent is {tmp_node[1].get_parent()}')
tmp_node_position = tmp_node[1].get_position()
print(f'Position of our node {tmp_node_position[:2]}')
visited_position.append(tmp_node_position[:2])
#print(f'visited position: {visited_position}')
if tmp_node_position[:2] == goaltest:
print(' we find node')
# print(visited_position)
#print(fringe)
#break
while tmp_node[1].get_parent() is not None:
#print('sdfhdfg')
#print(tmp_node[1].get_parent()[1].get_position())
final_action_list.append(tmp_node[1].get_action())
tmp_node = tmp_node[1].get_parent()
final_action_list.reverse()
print(final_action_list)
return final_action_list
explored.append(tmp_node)
neighbours_list_of_our_node = self.successor(tmp_node_position[:2])
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 explored
if [node_[0], node_[1]] not in visited_position and node_[0] >= 0 and node_[1] >=0:
counter += 1
print([node_[0], node_[1]])
x = node.Node(tmp_node, None, [node_[0], node_[1]]) # action
heapq.heappush(fringe, (counter, x))
# time.sleep(0.5)