astar_search.py

@@ -1,110 +0,0 @@
-class Node:
-    def __init__(self, state, parent='', action='', distance=0):
-        self.state = state
-        self.parent = parent
-        self.action = action
-        self.distance = distance
-
-class Search:
-    def __init__(self, cell_size, cell_number):
-        self.cell_size = cell_size
-        self.cell_number = cell_number
-
-    def succ(self, state):
-        x = state[0]
-        y = state[1]
-        angle = state[2]
-        match(angle):
-            case 'UP':
-                possible = [['left', x, y, 'LEFT'], ['right', x, y, 'RIGHT']]
-                if y != 0: possible.append(['move', x, y - self.cell_size, 'UP'])
-                return possible
-            case 'RIGHT':
-                possible = [['left', x, y, 'UP'], ['right', x, y, 'DOWN']]
-                if x != self.cell_size*(self.cell_number-1): possible.append(['move', x + self.cell_size, y, 'RIGHT'])
-                return possible
-            case 'DOWN':
-                possible = [['left', x, y, 'RIGHT'], ['right', x, y, 'LEFT']]
-                if y != self.cell_size*(self.cell_number-1): possible.append(['move', x, y + self.cell_size, 'DOWN'])
-                return possible
-            case 'LEFT':
-                possible = [['left', x, y, 'DOWN'], ['right', x, y, 'UP']]
-                if x != 0: possible.append(['move', x - self.cell_size, y, 'LEFT'])
-                return possible
-
-    def cost(self, node, stones, goal, flowers):
-        # cost = node.distance
-        cost = 0
-        # cost += 10 if stones[node.state[0], node.state[1]] == 1 else 1
-        cost += 1000000 if (node.state[0], node.state[1]) in stones else 1
-        cost += 30 if (node.state[0], node.state[1]) in flowers else 1
-
-        if node.parent:
-            node = node.parent
-            cost += node.distance  # should return only elem.action in prod
-        return cost
-
-    def heuristic(self, node, goal):
-        return abs(node.state[0] - goal[0]) + abs(node.state[1] - goal[1])
-
-    #bandaid to know about stones
-    def astarsearch(self, istate, goaltest, stones, flowers):
-        
-        #to be expanded
-        def cost_old(x, y):
-            if (x, y) in stones:
-                return 10
-            else:
-                return 1
-
-        
-        x = istate[0]
-        y = istate[1]
-        angle = istate[2]
-
-        # fringe = [(Node([x, y, angle]), cost_old(x, y))]  # queue (moves/states to check)
-        fringe = [(Node([x, y, angle]))]  # queue (moves/states to check)
-        fringe[0].distance = self.cost(fringe[0], stones, goaltest, flowers)
-        fringe.append((Node([x, y, angle]), self.cost(fringe[0], stones, goaltest, flowers)))
-        fringe.pop(0)
-
-        explored = []
-
-        while True:
-            if len(fringe) == 0:
-                return False
-
-            fringe.sort(key=lambda x: x[1])
-            elem = fringe.pop(0)[0]
-
-            # if goal_test(elem.state):
-            #     return
-            # print(elem.state[0], elem.state[1], elem.state[2])
-            if elem.state[0] == goaltest[0] and elem.state[1] == goaltest[1]:  # checks if we reached the given point
-                steps = []
-                while elem.parent: 
-                    steps.append([elem.action, elem.state[0], elem.state[1]])  # should return only elem.action in prod
-                    elem = elem.parent
-
-                steps.reverse()
-                print(steps)  # only for dev
-                return steps
-
-            explored.append(elem.state)
-
-            for (action, state_x, state_y, state_angle) in self.succ(elem.state):
-                x = Node([state_x, state_y, state_angle], elem, action)
-                x.parent = elem
-
-                priority = self.cost(elem, stones, goaltest, flowers) + self.heuristic(elem, goaltest)
-                elem.distance = priority
-                # priority = cost_old(x, y) + self.heuristic(elem, goaltest)
-                fringe_states = [node.state for (node, p) in fringe]
-
-                if x.state not in fringe_states and x.state not in explored:
-                    fringe.append((x, priority))
-                elif x.state in fringe_states:
-                    for i in range(len(fringe)):
-                        if fringe[i][0].state == x.state:
-                            if fringe[i][1] > priority:
-                                fringe[i] = (x, priority)

blocks.py

@@ -5,7 +5,6 @@ import soil
 
 
 class Blocks:
-
     def __init__(self, parent_screen,cell_size):
         self.parent_screen = parent_screen
         self.flower_image = pygame.image.load(r'resources/flower.png').convert_alpha()
@@ -29,9 +28,6 @@ class Blocks:
 
         self.soil = soil.Soil()
 
-        self.stones = set()
-        #bandaid to let astar know about stones
-
     def locate_blocks(self, blocks_number, cell_number, body):
         for i in range(blocks_number):
             self.x = random.randint(0, cell_number-1)
@@ -51,8 +47,6 @@ class Blocks:
                 self.parent_screen.blit(self.alive_leaf_image, (x, y))
             if color == 'stone':
                 self.parent_screen.blit(self.stone_image, (x, y))
-                #bandaid to let astar know about stones
-                self.stones.add((x, y))
             if color == 'flower':
                 self.parent_screen.blit(self.flower_image, (x, y))
             if color == 'fawn_seed':

main.py

@@ -4,7 +4,7 @@ import random
 import land
 import tractor
 import blocks
-import astar_search
+import graph_search
 from pygame.locals import *
 
 
@@ -69,7 +69,7 @@ class Game:
         move_tractor_event = pygame.USEREVENT + 1
         pygame.time.set_timer(move_tractor_event, 1000)  # tractor moves every 1000 ms
         tractor_next_moves = []
-        astar_search_object = astar_search.Search(self.cell_size, self.cell_number)
+        graph_search_object = graph_search.Search(self.cell_size, self.cell_number)
 
         while running:
             clock.tick(60)  # manual fps control not to overwork the computer
@@ -100,9 +100,8 @@ class Game:
                         print("Generated target: ",random_x, random_y)
                         # below line should be later moved into tractor.py
                         angles = {0: 'UP', 90: 'RIGHT', 270: 'LEFT', 180: 'DOWN'}
-                        #bandaid to know about stones
-                        tractor_next_moves = astar_search_object.astarsearch(
-                            [self.tractor.x, self.tractor.y, angles[self.tractor.angle]], [random_x, random_y], self.blocks.stones, self.flower_body)
+                        tractor_next_moves = graph_search_object.graphsearch(
+                            [self.tractor.x, self.tractor.y, angles[self.tractor.angle]], [random_x, random_y])
                     else:
                         self.tractor.move(tractor_next_moves.pop(0)[0], self.cell_size, self.cell_number)
                 elif event.type == QUIT: