purge magic numbers from graph_search, TODO: do the same in tractor.py
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@ -14,23 +14,22 @@ class Search:
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x = state[0]
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x = state[0]
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y = state[1]
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y = state[1]
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angle = state[2]
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angle = state[2]
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angles = {0: 'UP', 90: 'RIGHT', 270: 'LEFT', 180: 'DOWN'}
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match(angle):
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match(angles[angle]):
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case 'UP':
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case 'UP':
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possible = [['left', x, y, 270], ['right', x, y, 90]]
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possible = [['left', x, y, 'LEFT'], ['right', x, y, 'RIGHT']]
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if y != 0: possible.append(['move', x, y - self.cell_size, 0])
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if y != 0: possible.append(['move', x, y - self.cell_size, 'UP'])
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return possible
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return possible
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case 'RIGHT':
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case 'RIGHT':
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possible = [['left', x, y, 0], ['right', x, y, 180]]
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possible = [['left', x, y, 'UP'], ['right', x, y, 'DOWN']]
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if x != self.cell_size*(self.cell_number-1): possible.append(['move', x + self.cell_size, y, 90])
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if x != self.cell_size*(self.cell_number-1): possible.append(['move', x + self.cell_size, y, 'RIGHT'])
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return possible
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return possible
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case 'DOWN':
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case 'DOWN':
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possible = [['left', x, y, 90], ['right', x, y, 270]]
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possible = [['left', x, y, 'RIGHT'], ['right', x, y, 'LEFT']]
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if y != self.cell_size*(self.cell_number-1): possible.append(['move', x, y + self.cell_size, 180])
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if y != self.cell_size*(self.cell_number-1): possible.append(['move', x, y + self.cell_size, 'DOWN'])
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return possible
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return possible
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case 'LEFT':
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case 'LEFT':
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possible = [['left', x, y, 180], ['right', x, y, 0]]
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possible = [['left', x, y, 'DOWN'], ['right', x, y, 'UP']]
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if x != 0: possible.append(['move', x - self.cell_size, y, 270])
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if x != 0: possible.append(['move', x - self.cell_size, y, 'LEFT'])
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return possible
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return possible
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def graphsearch(self, istate, goaltest):
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def graphsearch(self, istate, goaltest):
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@ -54,7 +53,7 @@ class Search:
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# print(elem.state[0], elem.state[1], elem.state[2])
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# print(elem.state[0], elem.state[1], elem.state[2])
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if elem.state[0] == goaltest[0] and elem.state[1] == goaltest[1]: # checks if we reached the given point
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if elem.state[0] == goaltest[0] and elem.state[1] == goaltest[1]: # checks if we reached the given point
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steps = []
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steps = []
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while elem.parent != '':
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while elem.parent:
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steps.append([elem.action, elem.state[0], elem.state[1]]) # should return only elem.action in prod
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steps.append([elem.action, elem.state[0], elem.state[1]]) # should return only elem.action in prod
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elem = elem.parent
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elem = elem.parent
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4
main.py
4
main.py
@ -98,8 +98,10 @@ class Game:
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random_x = random.randrange(0, self.cell_number * self.cell_size, 50)
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random_x = random.randrange(0, self.cell_number * self.cell_size, 50)
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random_y = random.randrange(0, self.cell_number * self.cell_size, 50)
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random_y = random.randrange(0, self.cell_number * self.cell_size, 50)
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print("Generated target: ",random_x, random_y)
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print("Generated target: ",random_x, random_y)
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# below line should be later moved into tractor.py
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angles = {0: 'UP', 90: 'RIGHT', 270: 'LEFT', 180: 'DOWN'}
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tractor_next_moves = graph_search_object.graphsearch(
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tractor_next_moves = graph_search_object.graphsearch(
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[self.tractor.x, self.tractor.y, self.tractor.angle], [random_x, random_y])
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[self.tractor.x, self.tractor.y, angles[self.tractor.angle]], [random_x, random_y])
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else:
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else:
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self.tractor.move(tractor_next_moves.pop(0)[0], self.cell_size, self.cell_number)
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self.tractor.move(tractor_next_moves.pop(0)[0], self.cell_size, self.cell_number)
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elif event.type == QUIT:
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elif event.type == QUIT:
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16
tractor.py
16
tractor.py
@ -31,22 +31,6 @@ class Tractor:
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def move(self, direction, cell_size, cell_number):
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def move(self, direction, cell_size, cell_number):
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# if direction == 'up':
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# if self.y != 0:
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# self.y -= cell_size
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# self.image = self.up
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# if direction == 'down':
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# if self.y != (cell_number-1)*cell_size:
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# self.y += cell_size
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# self.image = self.down
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# if direction == 'left':
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# if self.x != 0:
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# self.x -= cell_size
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# self.image = self.left
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# if direction == 'right':
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# if self.x != (cell_number-1)*cell_size:
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# self.x += cell_size
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# self.image = self.right
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if direction == 'move':
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if direction == 'move':
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if self.angle == 0 and self.y != 0:
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if self.angle == 0 and self.y != 0:
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self.y -= cell_size
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self.y -= cell_size
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