algorithms/a_star.py

@@ -29,6 +29,12 @@ class State:
     position: Tuple[int, int]
     direction: str
 
+    def __lt__(self, state):
+        return self.position < state.position
+
+    def __hash__(self) -> int:
+        return hash(self.position)
+
 
 @dataclass
 class Node:
@@ -38,6 +44,9 @@ class Node:
     cost: int = field(init=False)
     depth: int = field(init=False)
 
+    def __lt__(self, node):
+        return self.state < node.state
+
     def __post_init__(self) -> None:
         self.cost = 0 if not self.parent else self.parent.cost + 1
         self.depth = self.cost

logic/level.py

@@ -2,8 +2,7 @@ import random
 
 import pygame
 
-import algorithms.a_star as a_s
-from algorithms.bfs import graphsearch, State
+from algorithms.a_star import a_star, State
 from common.constants import *
 from common.helpers import castle_neighbors
 from logic.knights_queue import KnightsQueue
@@ -107,37 +106,38 @@ class Level:
         current_knight = self.knights_queue.dequeue_knight()
         knight_pos_x = current_knight.position[0]
         knight_pos_y = current_knight.position[1]
-        state = State(knight_pos_y, knight_pos_x, current_knight.direction)
 
         castle_cords = (self.list_castles[0].position[0], self.list_castles[0].position[1])
         goal_list = castle_neighbors(self.map, castle_cords[0], castle_cords[1])  # list of castle neighbors
-        print(knight_pos_x, knight_pos_y)
-        st = a_s.State((knight_pos_x, knight_pos_y), a_s.UP)
-        print(f'Actions: {a_s.actions(st, self.map)}')
-        action_list = graphsearch(state, self.map, goal_list)
-        print(action_list)
+
+        state = State((knight_pos_y, knight_pos_x), current_knight.direction.name)
+        action_list = a_star(state, self.map, goal_list)
+
+        for action in action_list:
+            print(action)
+        print()
 
         if len(action_list) == 0:
             return
 
-        next_action = action_list.pop(0)
-        if next_action == ACTION.get("rotate_left"):
-            current_knight.rotate_left()
-        elif next_action == ACTION.get("rotate_right"):
-            current_knight.rotate_right()
-        elif next_action == ACTION.get("go"):
-            current_knight.step_forward()
-            self.map[knight_pos_y][knight_pos_x] = ' '
-
-            # update knight on map
-            if current_knight.direction.name == 'UP':
-                self.map[knight_pos_y - 1][knight_pos_x] = current_knight
-            elif current_knight.direction.name == 'RIGHT':
-                self.map[knight_pos_y][knight_pos_x + 1] = current_knight
-            elif current_knight.direction.name == 'DOWN':
-                self.map[knight_pos_y + 1][knight_pos_x] = current_knight
-            elif current_knight.direction.name == 'LEFT':
-                self.map[knight_pos_y][knight_pos_x - 1] = current_knight
+        # next_action = action_list.pop(0)
+        # if next_action == ACTION.get("rotate_left"):
+        #     current_knight.rotate_left()
+        # elif next_action == ACTION.get("rotate_right"):
+        #     current_knight.rotate_right()
+        # elif next_action == ACTION.get("go"):
+        #     current_knight.step_forward()
+        #     self.map[knight_pos_y][knight_pos_x] = ' '
+        #
+        #     # update knight on map
+        #     if current_knight.direction.name == 'UP':
+        #         self.map[knight_pos_y - 1][knight_pos_x] = current_knight
+        #     elif current_knight.direction.name == 'RIGHT':
+        #         self.map[knight_pos_y][knight_pos_x + 1] = current_knight
+        #     elif current_knight.direction.name == 'DOWN':
+        #         self.map[knight_pos_y + 1][knight_pos_x] = current_knight
+        #     elif current_knight.direction.name == 'LEFT':
+        #         self.map[knight_pos_y][knight_pos_x - 1] = current_knight
 
     def update(self):
         bg_width = (GRID_CELL_PADDING + GRID_CELL_SIZE) * COLUMNS + BORDER_WIDTH