bfs.py

@@ -1,128 +1,100 @@
 from agentState import AgentState
-from typing import Dict, Tuple, List
+from typing import Dict, Tuple, List, Set
 from city import City
 from gridCellType import GridCellType
 from agentActionType import AgentActionType
 from agentOrientation import AgentOrientation
-from queue import Queue, PriorityQueue
+from queue import PriorityQueue
 from turnCar import turn_left_orientation, turn_right_orientation
+import heapq
 
 
-class Successor:
+class Succ:
+    state: AgentState
+    action: AgentActionType
+    cost: int
 
-    def __init__(self, state: AgentState, action: AgentActionType, cost: int, predicted_cost: int) -> None:
+    def __init__(self, state: AgentState, action: AgentActionType, cost: int) -> None:
         self.state = state
         self.action = action
         self.cost = cost
-        self.predicted_cost = cost
 
 
-class SuccessorList:
-    succ_list: list[Successor]
+def find_path_to_nearest_can(startState: AgentState, grid: Dict[Tuple[int, int], GridCellType], city: City) -> list[AgentActionType]:
+    pq: PriorityQueue[Tuple[int, List[Succ]]] = PriorityQueue()
+    visited: set[AgentState] = set()
+    startStates: list[Succ] = [Succ(startState, AgentActionType.UNKNOWN, 0)]
+    pq.put((0, startStates))
 
-    def __init__(self, succ_list: list[Successor]) -> None:
-        self.succ_list = succ_list
-
-    def __gt__(self, other):
-        return self.succ_list[-1].predicted_cost > other.succ_list[-1].predicted_cost
-
-    def __lt__(self, other):
-        return self.succ_list[-1].predicted_cost < other.succ_list[-1].predicted_cost
-
-
-def find_path_to_nearest_can(startState: AgentState, grid: Dict[Tuple[int, int], GridCellType], city: City) -> List[
-    AgentActionType]:
-    visited: List[AgentState] = []
-    queue: PriorityQueue[SuccessorList] = PriorityQueue()
-    queue.put(SuccessorList([Successor(startState, AgentActionType.UNKNOWN, 0, _heuristics(startState.position, city))]))
-
-    while not queue.empty():
-        current = queue.get()
-        previous = current.succ_list[-1]
-        visited.append(previous.state)
-
-        if is_state_success(previous.state, grid):
-            return extract_actions(current)
-
-        successors = get_successors(previous, grid, city)
-        for s in successors:
-            already_visited = False
-            for v in visited:
-                if v.position == s.state.position and v.orientation == s.state.orientation:
-                    already_visited = True
-                    break
-            if already_visited:
+    while not pq.empty():
+        _, currently_checked = pq.get()
+        last_state = currently_checked[-1].state
+        if last_state in visited:
             continue
-            if is_state_valid(s.state, grid):
-                new_list = current.succ_list.copy()
+        visited.add(last_state)
+
+        if is_state_success(last_state, grid):
+            return extract_actions(currently_checked)
+
+        successors = succ(last_state)
+        for s in successors:
+            if s.state in visited:
+                continue
+            if not is_state_valid(s.state, grid):
+                continue
+
+            g_cost = currently_checked[-1].cost + get_cost_for_action(s.action, grid.get(s.state.position, GridCellType.STREET_HORIZONTAL))
+            h_cost = _heuristics(s.state.position, city)
+            f_cost = g_cost + h_cost
+            new_list = currently_checked.copy()
             new_list.append(s)
-                queue.put(SuccessorList(new_list))
+            pq.put((f_cost, new_list))
 
     return []
 
 
-def extract_actions(successors: SuccessorList) -> list[AgentActionType]:
+def extract_actions(successors: list[Succ]) -> list[AgentActionType]:
     output: list[AgentActionType] = []
-    for s in successors.succ_list:
+    for s in successors:
         if s.action != AgentActionType.UNKNOWN:
             output.append(s.action)
     return output
 
 
-def get_successors(succ: Successor, grid: Dict[Tuple[int, int], GridCellType], city: City) -> List[Successor]:
-    result: List[Successor] = []
-
-    turn_left_cost = 1 + succ.cost
-    turn_left_state = AgentState(succ.state.position, turn_left_orientation(succ.state.orientation))
-    turn_left_heuristics = _heuristics(succ.state.position, city)
-    result.append(
-        Successor(turn_left_state, AgentActionType.TURN_LEFT, turn_left_cost, turn_left_cost + turn_left_heuristics))
-
-    turn_right_cost = 1 + succ.cost
-    turn_right_state = AgentState(succ.state.position, turn_right_orientation(succ.state.orientation))
-    turn_right_heuristics = _heuristics(succ.state.position, city)
-    result.append(
-        Successor(turn_right_state, AgentActionType.TURN_RIGHT, turn_right_cost,
-                  turn_right_cost + turn_right_heuristics))
-
-    state_succ = move_forward_succ(succ, city, grid)
+def succ(state: AgentState) -> list[Succ]:
+    result: list[Succ] = []
+    result.append(Succ(AgentState(state.position, turn_left_orientation(state.orientation)), AgentActionType.TURN_LEFT, 0))
+    result.append(Succ(AgentState(state.position, turn_right_orientation(state.orientation)), AgentActionType.TURN_RIGHT, 0))
+    state_succ = move_forward_succ(state)
     if state_succ is not None:
-        result.append(state_succ)
-
+        result.append(Succ(state_succ.state, AgentActionType.MOVE_FORWARD, state_succ.cost))
     return result
 
 
-def move_forward_succ(succ: Successor, city: City, grid: Dict[Tuple[int, int], GridCellType]) -> Successor:
-    position = get_next_cell(succ.state)
+def move_forward_succ(state: AgentState) -> Succ:
+    position = get_next_cell(state)
     if position is None:
         return None
-
-    cost = get_cost_for_action(AgentActionType.MOVE_FORWARD, grid[position]) + succ.cost
-    predicted_cost = cost + _heuristics(position, city)
-    new_state = AgentState(position, succ.state.orientation)
-    return Successor(new_state, AgentActionType.MOVE_FORWARD, cost, predicted_cost)
+    return Succ(AgentState(position, state.orientation), AgentActionType.MOVE_FORWARD,
+                get_cost_for_action(AgentActionType.MOVE_FORWARD, GridCellType.STREET_HORIZONTAL))
 
 
 def get_next_cell(state: AgentState) -> Tuple[int, int]:
-    x, y = state.position
-    orientation = state.orientation
-
-    if orientation == AgentOrientation.UP:
-        if y - 1 < 1:
+    if state.orientation == AgentOrientation.UP:
+        if state.position[1] - 1 < 1:
             return None
-        return x, y - 1
-    elif orientation == AgentOrientation.DOWN:
-        if y + 1 > 27:
+        return (state.position[0], state.position[1] - 1)
+    if state.orientation == AgentOrientation.DOWN:
+        if state.position[1] + 1 > 27:
             return None
-        return x, y + 1
-    elif orientation == AgentOrientation.LEFT:
-        if x - 1 < 1:
+        return (state.position[0], state.position[1] + 1)
+    if state.orientation == AgentOrientation.LEFT:
+        if state.position[0] - 1 < 1:
             return None
-        return x - 1, y
-    elif x + 1 > 27:
+        return (state.position[0] - 1, state.position[1])
+    if state.position[0] + 1 > 27:
         return None
-    else:
-        return x + 1, y
+    return (state.position[0] + 1, state.position[1])
 
 
 def is_state_success(state: AgentState, grid: Dict[Tuple[int, int], GridCellType]) -> bool:
@@ -134,9 +106,10 @@ def is_state_success(state: AgentState, grid: Dict[Tuple[int, int], GridCellType
 
 
 def get_cost_for_action(action: AgentActionType, cell_type: GridCellType) -> int:
-    if action in [AgentActionType.TURN_LEFT, AgentActionType.TURN_RIGHT]:
+    if action == AgentActionType.TURN_LEFT or action == AgentActionType.TURN_RIGHT:
         return 1
-    if cell_type == GridCellType.SPEED_BUMP and action == AgentActionType.MOVE_FORWARD:
+    if cell_type == GridCellType.SPEED_BUMP:
+        if action == AgentActionType.MOVE_FORWARD:
             return 10
     if action == AgentActionType.MOVE_FORWARD:
         return 3
@@ -150,7 +123,7 @@ def is_state_valid(state: AgentState, grid: Dict[Tuple[int, int], GridCellType])
         return False
 
 
-def _heuristics(position: Tuple[int, int], city: City):
+def _heuristics(position: Tuple[int, int], city: City) -> int:
     min_distance: int = 300
     found_nonvisited: bool = False
     for can in city.cans:
@@ -163,3 +136,5 @@ def _heuristics(position: Tuple[int, int], city: City):
     if found_nonvisited:
         return min_distance
     return -1
+
+

city.py

@@ -12,12 +12,12 @@ class City:
     cans_dict: Dict[Tuple[int, int], GarbageCan] = {}
 
     def __init__(self) -> None:
-        self.cans = []
+        self.nodes = []
         self.streets = []
         self.bumps = []
 
     def add_can(self, can: GarbageCan) -> None:
-        self.cans.append(can)
+        self.nodes.append(can)
         self.cans_dict[can.position] = can
 
     def add_street(self, street: Street) -> None:
@@ -36,7 +36,7 @@ class City:
             street.render(game_context)
 
     def _render_nodes(self, game_context: GameContext) -> None:
-        for node in self.cans:
+        for node in self.nodes:
             node.render(game_context)
 
     def _render_bumps(self, game_context: GameContext) -> None:

main.py

@@ -1,4 +1,6 @@
 import pygame
+
+from city import City
 from gameEventHandler import handle_game_event 
 from gameContext import GameContext
 from startup import startup
@@ -17,8 +19,11 @@ game_context = GameContext()
 game_context.dust_car_pil = dust_car_pil
 game_context.dust_car_pygame = pygame.image.frombuffer(dust_car_pil.tobytes(), dust_car_pil.size, 'RGB')
 game_context.canvas = canvas
+
+city = City()
+
 startup(game_context)
-collect_garbage(game_context)
+collect_garbage(game_context, city)
 
 exit = False
 

movement.py

@@ -9,18 +9,18 @@ from agentOrientation import AgentOrientation
 import pygame
 from bfs import find_path_to_nearest_can
 from agentState import AgentState
+from city import City
 
 
-def collect_garbage(game_context: GameContext) -> None:
+def collect_garbage(game_context: GameContext, city: City) -> None:
     while True:
         start_agent_state = AgentState(game_context.dust_car.position, game_context.dust_car.orientation)
-        path = find_path_to_nearest_can(start_agent_state, game_context.grid, game_context.city)
-        if path == None or len(path) == 0:
+        path = find_path_to_nearest_can(start_agent_state, game_context.grid, city)
+        if path is None or len(path) == 0:
             break
         move_dust_car(path, game_context)
         next_position = calculate_next_position(game_context.dust_car)
         game_context.grid[next_position] = GridCellType.VISITED_GARBAGE_CAN
-        game_context.city.cans_dict[next_position].is_visited = True
     pass
 
 
@@ -41,10 +41,8 @@ def move_dust_car(actions: list[AgentActionType], game_context: GameContext) ->
                 game_context.render_in_cell(street_position, "imgs/street_horizontal.png")
             elif game_context.grid[street_position] == GridCellType.STREET_VERTICAL:
                 game_context.render_in_cell(street_position, "imgs/street_vertical.png")
-            elif game_context.grid[street_position] == GridCellType.SPEED_BUMP:
-                game_context.render_in_cell(street_position, "imgs/speed_bump.png")
         pygame.display.update()
-        time.sleep(0.15)
+        time.sleep(0.5)
 
 
 def calculate_next_position(car: GarbageTruck) -> Tuple[int, int]: