graph_search.py

@@ -6,22 +6,36 @@ class Node:
 
 
 class Search:
-    def __init__(self, cell_size):
+    def __init__(self, cell_size, cell_number):
         self.cell_size = cell_size
+        self.cell_number = cell_number
 
-    # WARNING! IT EXCEEDS THE PLANE!!!
+    def succ(self, state):
-    def succ(self, state):  # successor function
         x = state[0]
         y = state[1]
         angle = state[2]
-        if angle == 0:
+        angles = {0: 'UP', 90: 'RIGHT', 270: 'LEFT', 180: 'DOWN'}
+        match(angles[angle]):
+            case 'UP':
+                if y != 0:
                     return [['move', x, y - self.cell_size, 0], ['left', x, y, 270], ['right', x, y, 90]]
-        if angle == 90:
+                else:
+                    return [['left', x, y, 270], ['right', x, y, 90]]
+            case 'RIGHT':
+                if x != self.cell_size*(self.cell_number-1):
                     return [['move', x + self.cell_size, y, 90], ['left', x, y, 0], ['right', x, y, 180]]
-        if angle == 180:
+                else:
+                    return [['left', x, y, 0], ['right', x, y, 180]]
+            case 'DOWN':
+                if y != self.cell_size*(self.cell_number-1):
                     return [['move', x, y + self.cell_size, 180], ['left', x, y, 90], ['right', x, y, 270]]
-        if angle == 270:
+                else:
+                    return [['left', x, y, 90], ['right', x, y, 270]]
+            case 'LEFT':
+                if x != 0:
                     return [['move', x - self.cell_size, y, 270], ['left', x, y, 180], ['right', x, y, 0]]
+                else:
+                    return [['left', x, y, 180], ['right', x, y, 0]]
 
     def graphsearch(self, istate, goaltest):
         x = istate[0]
@@ -55,8 +69,6 @@ class Search:
             explored.append(elem.state)
 
             for (action, state_x, state_y, state_angle) in self.succ(elem.state):
-                if state_x < 0 or state_y < 0:  # check if any of the values are negative
-                    continue
                 if [state_x, state_y, state_angle] not in fringe_state and \
                         [state_x, state_y, state_angle] not in explored:
                     x = Node([state_x, state_y, state_angle])
@@ -64,7 +76,3 @@ class Search:
                     x.action = action
                     fringe.append(x)
                     fringe_state.append(x.state)
-
-
-se = Search(50)
-se.graphsearch(istate=[50, 50, 0], goaltest=[150, 250])

main.py

@@ -1,12 +1,11 @@
 import os
-
 import pygame
 import random
 import land
 import tractor
 import blocks
+import graph_search
 from pygame.locals import *
-from datetime import datetime
 
 
 class Game:
@@ -66,12 +65,14 @@ class Game:
         # print(self.potato.get_soil_info().get_irrigation())
         running = True
         clock = pygame.time.Clock()
-        # last_time = datetime.now()
+
+        move_tractor_event = pygame.USEREVENT + 1
+        pygame.time.set_timer(move_tractor_event, 1000)  # tractor moves every 1000 ms
+        tractor_next_moves = []
+        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
-            # time_now = datetime.now()
-
             for event in pygame.event.get():
                 if event.type == KEYDOWN:
                     if pygame.key.get_pressed()[K_ESCAPE]:
@@ -92,8 +93,15 @@ class Game:
                     if pygame.key.get_pressed()[K_q]:
                         self.tractor.harvest(self.fawn_seed_body, self.fawn_wheat_body, self.cell_size)
                         self.tractor.put_seed(self.fawn_soil_body, self.fawn_seed_body, self.cell_size)
-
+                if event.type == move_tractor_event:
-                        
+                    if len(tractor_next_moves) == 0:
+                        random_x = random.randrange(0, self.cell_number * self.cell_size, 50)
+                        random_y = random.randrange(0, self.cell_number * self.cell_size, 50)
+                        print("Generated target: ",random_x, random_y)
+                        tractor_next_moves = graph_search_object.graphsearch(
+                            [self.tractor.x, self.tractor.y, 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:
                     running = False