astar_search.py

@@ -1,8 +1,9 @@
 class Node:
-    def __init__(self, state, parent='', action=''):
+    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):
@@ -30,11 +31,27 @@ class Search:
                 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):
+    def astarsearch(self, istate, goaltest, stones, flowers):
         
         #to be expanded
-        def cost(x, y):
+        def cost_old(x, y):
             if (x, y) in stones:
                 return 10
             else:
@@ -45,7 +62,12 @@ class Search:
         y = istate[1]
         angle = istate[2]
 
-        fringe = [(Node([x, y, angle]), cost(x, y))]  # queue (moves/states to check)
+        # 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:
@@ -72,8 +94,11 @@ class Search:
 
             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 = cost(state_x, state_y)
+                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:

main.py

@@ -102,7 +102,7 @@ class Game:
                         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.tractor.x, self.tractor.y, angles[self.tractor.angle]], [random_x, random_y], self.blocks.stones, self.flower_body)
                     else:
                         self.tractor.move(tractor_next_moves.pop(0)[0], self.cell_size, self.cell_number)
                 elif event.type == QUIT: