Wykrywanie paczki, półki i samodzielne poruszanie wózka

Astar.py

@@ -2,6 +2,7 @@ import math
 
 import pygame
 from Global_variables import Global_variables as G_var
+from Package import Package
 from Shelf import Shelf
 
 
@@ -90,7 +91,11 @@ class Pathfinding:
 
         fringe = []
         explored = []
-
+        
+        is_target_node_walkable = True
+        if not target_node.walkable:
+            target_node.walkable = True
+            is_target_node_walkable = False
         fringe.append(start_node)
 
         while len(fringe) > 0:
@@ -117,6 +122,8 @@ class Pathfinding:
                     neighbour.parent = current_node
                     if not neighbour in fringe:
                         fringe.append(neighbour)
+
+        target_node.walkable = is_target_node_walkable
     
     def get_distance(self, node_a, node_b): # funckja liczy dystans dla odległości między dwoma nodami
         dist_x = abs(node_a.state.x - node_b.state.x)
@@ -148,4 +155,4 @@ class Pathfinding:
             )
             pygame.draw.rect(window,
                              color,
-                             block)
+                             block)

Environment.py

@@ -1,4 +1,6 @@
+import time
 from Empty import Empty
+from Finding_fields import Finding_fields
 from Moving_truck import Moving_truck
 from Package import Package
 from Package_types import Package_types
@@ -23,14 +25,13 @@ class Environment:
         # TEST CREATE PACKAGE
         self.package_spawner = Packages_spawner(window,self.enviroment_2d)
         self.package_spawner.spawn_package()
-        # new_package = Package(self.window, 26, 7)
-        # self.enviroment_2d[26][7] = new_package
         new_truck = Truck(window, 14, 7)
         self.enviroment_2d[14][7] = new_truck
         self.truck = new_truck
         self.moving_truck = Moving_truck(
             self.window, self.enviroment_2d, self.truck, self.package_spawner)
         self.astar = Pathfinding(self.enviroment_2d)
+        self.finding_fields = Finding_fields(self.enviroment_2d)
 
     def draw_all_elements(self):
         for row in self.enviroment_2d:
@@ -41,34 +42,25 @@ class Environment:
         pygame.display.flip()
         
     def update_all_elements(self,event):
-        # self.use_astar()
-        self.update_truck(event)
+        self.use_astar()    # wywyoływanie za każdym razem astar jest bardzo zasobożerne. Lepiej raz na przejście
+        self.update_truck()
+        time.sleep(0.5)
         
     
     def use_astar(self):
-        start_state = State(1,self.truck.x,self.truck.y)
-        package = self.find_packate()
-        end_state = State(1,package.x, package.y)
+        start_state = State(1,self.truck.x,self.truck.y) # sprawić aby paczka i shelf były wyszukiwane raz
+        if self.truck.has_package:
+            end_position = self.finding_fields.find_closest_shelf(self.truck,self.truck.package_type)
+        else:
+            end_position = self.finding_fields.find_package()
+        end_state = State(1,end_position.x, end_position.y)
         self.astar.find_path(start_state,end_state)
     
-    def find_packate(self):   #ta funkcja została zrobiona na szybko, może nie być potrzebna w przyszłości kiedy
-        #ktoś wpadnie na lepsze rozwiązanie
-        for row in self.enviroment_2d:
-            for field in row:
-                if isinstance(field,Package):
-                    return field
-        return None
-
-    def update_truck(self, event):
-        if event.type == KEYDOWN:
-            if event.key == K_LEFT:
-                self.moving_truck.move(-1, 0)
-            if event.key == K_RIGHT:
-                self.moving_truck.move(1, 0)
-            if event.key == K_UP:
-                self.moving_truck.move(0, -1)
-            if event.key == K_DOWN:
-                self.moving_truck.move(0, 1)
+    def update_truck(self):
+        next_field_to_move = self.astar.path[0].state
+        next_field_x = next_field_to_move.x - self.truck.x
+        next_field_y = next_field_to_move.y - self.truck.y
+        self.moving_truck.move(next_field_x,next_field_y)
 
     def gen_shelf_type(self):
         shelve_types = list(Package_types)

Finding_fields.py

@@ -0,0 +1,31 @@
+import math
+from Empty import Empty
+from Package import Package
+from Shelf import Shelf
+
+
+class Finding_fields:
+    def __init__(self, enviroment_2d):
+        self.enviroment_2d = enviroment_2d
+
+    def find_closest_shelf(self, start_field, type):
+        shelves = []
+        for row in self.enviroment_2d:
+            for field in row:
+                if isinstance(field,Shelf):
+                    shelves.append(field)
+        min_distance = math.inf
+        closest_shelf = None
+        for shelf in shelves:
+            if shelf.type == type:
+                distance = abs(start_field.x - shelf.x) + abs(start_field.y - shelf.y)
+                if distance < min_distance:
+                    min_distance = distance
+                    closest_shelf = shelf
+        return closest_shelf
+
+    def find_package(self):
+        for row in self.enviroment_2d:
+            for field in row:
+                if isinstance(field,Package) and not field.is_placed:
+                    return field