bfs na następnikach

bfs.py

@@ -1,83 +1,42 @@
-import pygame
 from config import *
+import queue
 class Bfs():
 
     def __init__(self,game):
 
         self.game = game
-        
-        self.open_queue = []
-        self.close_queue = []
         self.wall_cells = []
         self.enemy_cells = []
     def heuristic(a,b):
         return abs(a[0]-b[0])+abs(a[1]-b[1])
     def bfs(self,goal_cell):
         print("x: ", self.game.agent.x, "y: ", self.game.agent.y)
-        cost_road=0
+        visited = set()
-        self.open_queue.append(self.get_cell_number(self.game.agent.x,self.game.agent.y))
+        q = queue.Queue()
-        # tutaj dodaje się cel agenta
+        start_position = self.get_cell_number(self.game.agent.x,self.game.agent.y)
-        #goal_cell = self.get_cell_number(self.game.flower.x,self.game.flower.y)
+        q.put(start_position)
+        parent = {}
 
-        path = []
+        while not q.empty(): # główna pętla
-        processing = True
+            current_pos = q.get()
-        find_path = False
+            visited.add(current_pos)
-        while processing: # główna pętla
+
-            for event in pygame.event.get():
+            if current_pos == goal_cell:
-                if event.type == pygame.QUIT:
+                print("Osiągnięto cel, konstruowanie drogi")
-                    exit()
+                path = []
-    
+                while current_pos != start_position:
-            if len(self.open_queue) > 0 :
+                    path.append(current_pos)
-                current_node_cell = self.open_queue.pop(0)
+                    current_pos = parent[current_pos]
+                path.append(start_position)
+                return path[::-1]
             
-                if(current_node_cell in self.close_queue):
+            for successor in self.succesors(current_pos):
-                    continue
+                if successor not in visited:
+                    q.put(successor)
+                    parent[successor] = current_pos
 
-                print("Aktualna kratka: ", current_node_cell)
+        print("Nieznaleziono drogi")
-                print("Cel znajduje sie na kratce: ", goal_cell)
+        return None
-
-                if (current_node_cell == goal_cell):
-                    self.close_queue.append(current_node_cell)
-                    found_goal_cell = current_node_cell
-                    print("Znaleziono cel, szukanie drogi z odwiedzonych wezlow, kolejka odwiedzonych:", self.close_queue)
-                    processing = False
-                    find_path = True
-                    self.game.clock.tick(2)
-                else:
-                    child_node_cells = self.get_child_nodes(current_node_cell)
-                    self.close_queue.append(current_node_cell) 
-                    print("Sasiedzi: ", child_node_cells)
-                    for child_node in child_node_cells:
-                        if child_node not in self.open_queue and child_node not in self.close_queue:
-                            self.open_queue.append(child_node)
-                    print("Kolejka: ", self.open_queue, "\n")            
-            else:
-                print("Brak nowych wezlow, kolejka: ",self. open_queue)
-                print("Odwiedzone : ", self.close_queue)
-                return self.close_queue
-    
-        dead_end_nodes = []
-        while find_path:
-            path.append(self.close_queue[0])
-
-            for i in range(len(self.close_queue) -1):
-                from_cell = path[-1]
-                to_cell = self.close_queue[i+1]
-
-                if to_cell in dead_end_nodes:
-                    continue
-
-                if self.verify_move(from_cell, to_cell):
-                    path.append(to_cell)
-        
-            if path[-1] == found_goal_cell:
-                find_path = False
-            else:
-                dead_end_nodes.append(path[-1])
-                path = [] 
-
-        print("Droga: ", path)
-        self.move_agent(path)
 
 
     def get_cell_number(self,x, y): #zamienia koordynaty na numer kratki
@@ -85,7 +44,7 @@ class Bfs():
         cell_number =(x // TILE_SIZE) + (NUM_ROWS * (( y// TILE_SIZE)))
         return cell_number
     
-    def get_child_nodes(self,cell_number):
+    def get_possible_moves(self,cell_number):
         children = []
         up = self.get_up_cell(cell_number)
         if up is not None and up not in self.wall_cells and up not in self.enemy_cells:
@@ -151,40 +110,6 @@ class Bfs():
             return True
     
         return False
-    
-    def move_agent(self,path):
-        print("PATH:::::",path)
-        for cell_to_move in path:
-            x, y = self.get_coordinates(cell_to_move)
-            print("Ruch do kratki : ", cell_to_move, " z x: ", x, ", y: ", y, ",  agent.x: ", self.game.agent.rect.x, ", agent.y: ", self.game.agent.rect.y)
-            if(self.get_cell_number(self.game.agent.x,self.game.agent.y)!=cell_to_move):
-                if x > self.game.agent.rect.x:
-                    self.game.agent.direction = 0
-                elif y > self.game.agent.rect.y:
-                    self.game.agent.direction = 1
-                elif x < self.game.agent.rect.x:
-                    self.game.agent.direction = 2
-                elif y < self.game.agent.rect.y:
-                    self.game.agent.direction = 3
-                if self.game.agent.direction==0:
-                    print("DIRECTION: "+self.game.agent.AGENT_IMAGES[self.game.agent.direction])
-                    self.game.agent.x_change += TILE_SIZE
-                elif self.game.agent.direction==1:
-                    print("DIRECTION: "+self.game.agent.AGENT_IMAGES[self.game.agent.direction])
-                    self.game.agent.y_change += TILE_SIZE
-                elif self.game.agent.direction==2:
-                    print("DIRECTION: "+self.game.agent.AGENT_IMAGES[self.game.agent.direction])
-                    self.game.agent.x_change -= TILE_SIZE
-                elif self.game.agent.direction==3:
-                    print("DIRECTION: "+self.game.agent.AGENT_IMAGES[self.game.agent.direction])
-                    self.game.agent.y_change -= TILE_SIZE
-
-            self.game.agent.rotate()
-            self.game.update()
-            self.game.map()
-
-            print("Polozenie agenta: agent.x: ", self.game.agent.rect.x, ", agent.y: ", self.game.agent.rect.y)
-            self.game.clock.tick(2)
 
     def get_coordinates(self,cell_to_move): #zamienia numer kratki na koordynaty
         cell_row_number = cell_to_move // NUM_ROWS 
@@ -193,3 +118,12 @@ class Bfs():
         y = cell_row_number * TILE_SIZE
         x = cell_column_number * TILE_SIZE
         return x, y
+    
+    def succesors(self,current_pos):
+        possible_moves = self.get_possible_moves(current_pos)
+        valid_moves = []
+        for move in possible_moves:
+            if self.verify_move(current_pos,move) == True:
+                valid_moves.append(move)
+        return valid_moves
+