agentActionType.py

@@ -4,4 +4,5 @@ class AgentActionType (Enum):
     MOVE_FORWARD = 0
     TURN_LEFT = 1
     TURN_RIGHT = 2
+    EMPTY_CAN = 3
     UNKNOWN = None

bfs.py

@@ -9,12 +9,10 @@ from turnCar import turn_left_orientation, turn_right_orientation
 class Succ:
     state: AgentState
     action: AgentActionType
-    ##cost: int
 
     def __init__(self, state: AgentState, action: AgentActionType) -> None:
         self.state = state
         self.action = action
-        ##self.cost = cost
 
 def find_path_to_nearest_can(startState: AgentState, grid: Dict[Tuple[int, int], GridCellType]) -> list[AgentActionType]:
     q: Queue[list[Succ]] = Queue()
@@ -90,18 +88,8 @@ def is_state_success(state: AgentState, grid: Dict[Tuple[int, int], GridCellType
     except:
         return False
 
-def get_cost_for_action(action: AgentActionType, cell_type: GridCellType) -> int:
-    if action == AgentActionType.TURN_LEFT or action == AgentActionType.TURN_RIGHT:
-        return 1
-    if cell_type == GridCellType.SPEED_BUMP:
-        if action == AgentActionType.MOVE_FORWARD:
-            return 10
-    if action == AgentActionType.MOVE_FORWARD:
-        return 3
-
-
 def is_state_valid(state: AgentState, grid: Dict[Tuple[int, int], GridCellType]) -> bool:
     try: 
-        return grid[state.position] == GridCellType.STREET_HORIZONTAL or grid[state.position] == GridCellType.STREET_VERTICAL or grid[state.position] == GridCellType.SPEED_BUMP
+        return grid[state.position] == GridCellType.STREET_HORIZONTAL or grid[state.position] == GridCellType.STREET_VERTICAL
     except:
         return False

city.py

@@ -1,18 +1,23 @@
 from typing import List
 from garbageCan import GarbageCan
-from speedBump import SpeedBump
 from street import Street
 from gameContext import GameContext
 
+class Node:
+    garbageCan: GarbageCan
+    id: int
+
+    def __init__(self, id: int, can: GarbageCan) -> None:
+        self.id 
+        self.can = can
+
 class City:
     nodes: List[GarbageCan]
-    bumps: List[SpeedBump]
     streets: List[Street]
 
     def __init__(self) -> None:
         self.nodes = []
         self.streets = []
-        self.bumps = []
 
     def add_node(self, node: GarbageCan) -> None:
         self.nodes.append(node)
@@ -20,13 +25,9 @@ class City:
     def add_street(self, street: Street) -> None:
         self.streets.append(street)
 
-    def add_bump(self, bump: SpeedBump) -> None:
-        self.streets.append(bump)
-
     def render_city(self, game_context: GameContext) -> None:
         self._render_streets(game_context)
         self._render_nodes(game_context)
-        self._render_bumps(game_context)
 
     def _render_streets(self, game_context: GameContext) -> None:
         for street in self.streets:
@@ -35,7 +36,3 @@ class City:
     def _render_nodes(self, game_context: GameContext) -> None:
         for node in self.nodes:
             node.render(game_context)
-            
-    def _render_bumps(self, game_context: GameContext) -> None:
-        for bump in self.bumps:
-            bump.render(game_context)

gridCellType.py

@@ -7,4 +7,3 @@ class GridCellType(Enum):
     GARBAGE_CAN = 3
     VISITED_GARBAGE_CAN = 4
     LANDFILL = 5
-    SPEED_BUMP = 6

movement.py

@@ -38,8 +38,6 @@ 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)
 

speedBump.py

@@ -1,13 +0,0 @@
-from typing import List, Tuple
-from gameContext import GameContext
-from gridCellType import GridCellType
-
-class SpeedBump:
-    position: Tuple[int, int]
-
-    def __init__(self, position: Tuple[int, int]) -> None:
-        self.position = position
-
-    def render(self, game_context: GameContext) -> None:
-        game_context.render_in_cell(self.position, "imgs/speed_bump.png")
-        game_context.grid[self.position] = GridCellType.SPEED_BUMP

startup.py

@@ -6,7 +6,6 @@ from typing import Tuple, List
 from street import Street, StreetType
 from garbageTruck import GarbageTruck
 from garbageCan import GarbageCan
-from speedBump import SpeedBump
 from landfill import Landfill
 
 
@@ -31,13 +30,10 @@ def create_city() -> City:
     city: City = City()
     streets = create_streets()
     trashcans = create_trashcans()
-    bumps = create_speed_bumps()
     for s in streets:
         city.add_street(s)
     for t in trashcans:
         city.add_node(t)
-    for b in bumps:
-        city.add_bump(b)
     return city
 
 def create_streets() -> List[Street]:
@@ -65,13 +61,6 @@ def create_trashcans() -> List[GarbageCan]:
     trashcans.append(GarbageCan((26, 4)))
     return trashcans
 
-def create_speed_bumps() -> List[SpeedBump]:
-    bumps = []
-    bumps.append(SpeedBump((10, 9)))
-    bumps.append(SpeedBump((12, 16)))
-    return bumps
-
-
 def _create_landfill(game_context: GameContext) -> None:
     landfil_position = (23,24)
     landfill = Landfill(landfil_position)