bfs działający

agent.py

@@ -230,6 +230,3 @@ class Agent(pygame.sprite.Sprite):
         self.game.SCREEN.blit(lvlDisplay, (370,780))
  
 
-      
-        # brakuje schematu przeszukiwania
-        

main.py

@@ -63,7 +63,7 @@ class Game:
             if event.type == pygame.MOUSEBUTTONDOWN:
                 mouse_presses = pygame.mouse.get_pressed()
                 if mouse_presses[0]:
-                    self.search_in_breadth_first_approach()
+                    self.bfs()
 
     def map(self): # tworzenie mapy
         self.clock.tick(FRAMERATE)
@@ -82,63 +82,60 @@ class Game:
         self.update()
         self.map()
 
+    # BFS ALGORITHM
+
     open_queue = []
     close_queue = []
     wall_cells = []
     enemy_cells = []
 
-    def search_in_breadth_first_approach(self):
+    def bfs(self):
-        print("x is: ", self.agent.x, "y is: ", self.agent.y)
+        print("x: ", self.agent.x, "y: ", self.agent.y)
     
         self.open_queue.append(self.get_cell_number(self.agent.x,self.agent.y))
-        goal_cell = self.get_cell_number(self.flower.x,self.flower.y)
+        # tutaj dodaje się cel agenta
+        goal_cell = self.get_cell_number(448,128)
 
         path = []
         processing = True
         find_path = False
-        while processing: # main loop
+        while processing: # główna pętla
             for event in pygame.event.get():
                 if event.type == pygame.QUIT:
                     exit()
     
             if len(self.open_queue) > 0 :
-                current_node_cell = self.open_queue.pop(0) # remove and get first element of open_queue
+                current_node_cell = self.open_queue.pop(0)
             
-                # check if this cell allready processed
                 if(current_node_cell in self.close_queue):
                     continue
 
-                print("current cell number is: ", current_node_cell)
+                print("Aktualna kratka: ", current_node_cell)
-                print("goal cell/s is/are at: ", goal_cell)
+                print("Cel znajduje się na kratce: ", goal_cell)
 
-                # cheking for goal
                 if (current_node_cell == goal_cell):
-                    # add the goal cell to close queue too, this is helpfull to find the path
                     self.close_queue.append(current_node_cell)
                     found_goal_cell = current_node_cell
-                    print("goal found, now find the path from close_queue, close_queue is:", self.close_queue)
+                    print("Znaleziono cel, szukanie drogi z odwiedzonych węzłów, kolejka odwiedzonych:", self.close_queue)
                     processing = False
                     find_path = True
-                    self.clock.tick(2) # stay some time here without closing the windoew
+                    self.clock.tick(2)
                 else:
-                    # goal not found, continue processing
+                    child_node_cells = self.get_child_nodes(current_node_cell)
-                    child_node_cells = self.get_child_nodes(current_node_cell) # find possible child cells nodes to process
+                    self.close_queue.append(current_node_cell) 
-                    self.close_queue.append(current_node_cell) # putting the processed node to closed queue
+                    print("Sąsiedzi: ", child_node_cells)
-
-                    # add child nodes to open queue only if they are already not in both open_queue and close_queue
-                    print("childe nodes: ", 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) # add children to END OF THE OPEN QUEUE (BFS)
+                            self.open_queue.append(child_node)
-                    print("open queue: ", self.open_queue, "open_queue length: ", len(self.open_queue), "\n")            
+                    print("Kolejka: ", self.open_queue, "\n")            
             else:
-                print("no nodes to processe, open_queue length: ", len(self.open_queue), ", open queue: ",self. open_queue)
+                print("Brak nowych węzłów, kolejka: ",self. open_queue)
-                print("closed queue (processed nodes) : ", self.close_queue)
+                print("Odwiedzone : ", self.close_queue)
                 return self.close_queue
     
         dead_end_nodes = []
         while find_path:
-            path.append(self.close_queue[0]) # put the agent starting cell to path.
+            path.append(self.close_queue[0])
 
             for i in range(len(self.close_queue) -1):
                 from_cell = path[-1]
@@ -147,22 +144,20 @@ class Game:
                 if to_cell in dead_end_nodes:
                     continue
 
-                if self.verify_to_cell_is_navigatable_from_from_cell(from_cell, to_cell):
+                if self.verify_move(from_cell, to_cell):
                     path.append(to_cell)
         
             if path[-1] == found_goal_cell:
                 find_path = False
             else:
-                # a dead end has occured, start finding path avoiding this dead end cell
                 dead_end_nodes.append(path[-1])
-                path = [] # to start again
+                path = [] 
 
-        print("path: ", path)
+        print("Droga: ", path)
         self.move_agent(path)
 
 
-
+    def get_cell_number(self,x, y): #zamienia koordynaty na numer kratki
-    def get_cell_number(self,x, y):
         cell_number = None
         cell_number =(x // TILE_SIZE) + (NUM_ROWS * (( y// TILE_SIZE)))
         return cell_number
@@ -187,83 +182,88 @@ class Game:
     
         return children
     
+    
     def get_up_cell(self,cell_number):
-        cell_row_number = cell_number // NUM_ROWS # current row number of agent
+        cell_row_number = cell_number // NUM_ROWS 
-        if (cell_row_number - 1 < 0):  # above /up row number of agent
+        if (cell_row_number - 1 < 0):
             return None
         else:
             return (cell_number - NUM_ROWS)
         
     def get_right_cell(self,cell_number):
-        cell_column_number = cell_number % NUM_ROWS # current column number of agent
+        cell_column_number = cell_number % NUM_ROWS 
         if (cell_column_number + 1 >= NUM_ROWS): 
-            # current cell is at the right edge, so no rigth child / right cell available
             return None
         else:
-            return (cell_number + 1) # else return next cell number
+            return (cell_number + 1)
         
     def get_down_cell(self,cell_number):
-        cell_row_number = cell_number // NUM_ROWS # current row number of agent
+        cell_row_number = cell_number // NUM_ROWS
-        if (cell_row_number + 1 >= NUM_ROWS):  # down / next row number of agent
+        if (cell_row_number + 1 >= NUM_ROWS): 
             return None
         else:
             return (cell_number + NUM_ROWS)
         
     def get_left_cell(self,cell_number):
-        cell_column_number = cell_number % NUM_ROWS # current column number of agent
+        cell_column_number = cell_number % NUM_ROWS 
         if (cell_column_number - 1 < 0): 
-            # current cell is at the left edge, so no left child / right cell available
             return None
         else:
-            return (cell_number - 1) # else return previous cell number
+            return (cell_number - 1) 
         
-    def verify_to_cell_is_navigatable_from_from_cell(self,from_cell, to_cell):
+    def verify_move(self,from_cell, to_cell): #sprawdzenie czy ruch jest poprawny czyt. czy następna kratka to przeszkoda lub mob
-        if (to_cell in self.wall_cells or to_cell in self.enemy_cells): # if to_cell is a wall cell, return False
+        if (to_cell in self.wall_cells or to_cell in self.enemy_cells):
             return False
 
-        if(from_cell + 1 == to_cell): # check to_cell is the right cell
+        if(from_cell + 1 == to_cell):
             return True
 
-        if(from_cell - 1 == to_cell): # check to_cell is the left cell
+        if(from_cell - 1 == to_cell):
             return True
     
-        if(from_cell - NUM_ROWS == to_cell): # check to_cell is the top / up cell
+        if(from_cell - NUM_ROWS == to_cell):
             return True
 
-        if(from_cell + NUM_ROWS == to_cell): # check to_cell is the down / bottom cell
+        if(from_cell + NUM_ROWS == to_cell):
             return True
     
-        return False # Else not navigatable, return False
+        return False
-
+    
-
-    # trzeba poprawić poruszanie się agenta, sam bfs działa dobrze raczej    
     def move_agent(self,path):
         for cell_to_move in path:
-            x, y = self.get_top_left_cordinates_given_cell_number(cell_to_move)
+            x, y = self.get_coordinates(cell_to_move)
-            print("moving to cell : ", cell_to_move, " of cordinates x: ", x, ", y: ", y, ",  line_width: ", TILE_SIZE)
+            print("Ruch do kratki : ", cell_to_move, " z x: ", x, ", y: ", y, ",  agent.x: ", self.agent.rect.x, ", agent.y: ", self.agent.rect.y)
-            if x > self.agent.x and y == self.agent.y:
+            if(self.get_cell_number(self.agent.x,self.agent.y)!=cell_to_move):
-                self.agent.direction = 0
+                if x > self.agent.rect.x:
-            if x == self.agent.x and y > self.agent.y:
+                    self.agent.direction = 0
-                self.agent.direction = 1
+                elif y > self.agent.rect.y:
-            if x < self.agent.x and y == self.agent.y:
+                    self.agent.direction = 1
-                self.agent.direction = 2
+                elif x < self.agent.rect.x:
-            if x == self.agent.x and y < self.agent.y:
+                    self.agent.direction = 2
-                self.agent.direction = 3
+                elif y < self.agent.rect.y:
-            if self.agent.direction==0:
+                    self.agent.direction = 3
-                self.agent.x += TILE_SIZE
+                if self.agent.direction==0:
-            if self.agent.direction==1:
+                    print("DIRECTION: "+self.agent.AGENT_IMAGES[self.agent.direction])
-                self.agent.y += TILE_SIZE
+                    self.agent.x_change += TILE_SIZE
-            if self.agent.direction==2:
+                elif self.agent.direction==1:
-                self.agent.x -= TILE_SIZE
+                    print("DIRECTION: "+self.agent.AGENT_IMAGES[self.agent.direction])
-            if self.agent.direction==3:
+                    self.agent.y_change += TILE_SIZE
-                self.agent.y -= TILE_SIZE
+                elif self.agent.direction==2:
+                    print("DIRECTION: "+self.agent.AGENT_IMAGES[self.agent.direction])
+                    self.agent.x_change -= TILE_SIZE
+                elif self.agent.direction==3:
+                    print("DIRECTION: "+self.agent.AGENT_IMAGES[self.agent.direction])
+                    self.agent.y_change -= TILE_SIZE
 
-            print("moved agent attributes: agent.x: ", self.agent.x, ", agent.y: ", self.agent.y)
+            self.update()
+            self.map()
+
+            print("Położenie agenta: agent.x: ", self.agent.rect.x, ", agent.y: ", self.agent.rect.y)
             self.clock.tick(2)
 
-    def get_top_left_cordinates_given_cell_number(self,cell_to_move):
+    def get_coordinates(self,cell_to_move): #zamienia numer kratki na koordynaty
-        cell_row_number = cell_to_move // NUM_ROWS # cell row number
+        cell_row_number = cell_to_move // NUM_ROWS 
-        cell_column_number = cell_to_move % NUM_ROWS # cell column number
+        cell_column_number = cell_to_move % NUM_ROWS 
 
         y = cell_row_number * TILE_SIZE
         x = cell_column_number * TILE_SIZE