graph_search.py

@@ -6,31 +6,33 @@ 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
 
-    #this method needs to check the size of the plane - for now, it assumes 15x15, like in main.py
     def succ(self, state):
         x = state[0]
         y = state[1]
         angle = state[2]
-        if angle == 0: # up
-            if y != 0: #this can stay as 0, negative values are not tolerated
+        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]]
                 else:
                     return [['left', x, y, 270], ['right', x, y, 90]]
-        if angle == 90: # right
-            if x != 700: #this needs to be changed to relative once size of plane is read by succ (parse in Search constructor?)
+            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]]
                 else:
                     return [['left', x, y, 0], ['right', x, y, 180]]
-        if angle == 180: # down
-            if y != 700: #this needs to be changed to relative once size of plane is read by succ (parse in Search constructor?)
+            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]]
                 else:
                     return [['left', x, y, 90], ['right', x, y, 270]]
-        if angle == 270: # left
-            if x != 0: #this can stay as 0, negative values are not tolerated
+            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]]
@@ -67,8 +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])

main.py

@@ -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 = []
-        graph_search_object = graph_search.Search(self.cell_size)
+        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