Merge pull request 'bfs_implementation' (#10) from bfs_implementation into main

Reviewed-on: s473634/TurboTraktor#10

main.py

@@ -1,10 +1,11 @@
 import pygame
 import sys
 import random
-from settings import screen_height, screen_width, SIZE, SPECIES, block_size, tile, road_coords
+from settings import screen_height, screen_width, SIZE, SPECIES, block_size, tile, road_coords, directions
 from src.map import drawRoads, seedForFirstTime
 from src.Tractor import Tractor
 from src.Plant import Plant
+from src.bfs import BFS
 
 # pygame initialization
 pygame.init()
@@ -21,20 +22,29 @@ background.fill((90,50,20))
 background = drawRoads(background)
 
 for line in range(26):
-            pygame.draw.line(background, (0, 0, 0), (0, line * 36), (SIZE[0], line * 36))
-            pygame.draw.line(background, (0, 0, 0), (line * 36, 0), (line * 36, SIZE[1]))
+            pygame.draw.line(background, (0, 0, 0), (0, line * block_size), (screen_width, line * block_size))
+            pygame.draw.line(background, (0, 0, 0), (line * block_size, 0), (line * block_size, screen_height))
 
 #TRACTOR
-tractor = Tractor('oil','manual', 'fuel', 'fertilizer1')
+tractor = Tractor('oil','manual', 'fuel', 'fertilizer1', 20)
 tractor_group = pygame.sprite.Group()
-tractor.rect.x = 0
-tractor.rect.y = 0
 tractor_group.add(tractor)
 
 #PLANTS
 plant_group = pygame.sprite.Group()
 plant_group = seedForFirstTime()
 
+#
+tractor_move = pygame.USEREVENT + 1
+pygame.time.set_timer(tractor_move, 800)
+moves = []
+goal_bfs = BFS()
+destination = (random.randrange(0, 936, 36), random.randrange(0, 900, 36))
+print("Destination: ", destination)
+moves = goal_bfs.search(
+    [tractor.rect.x, tractor.rect.y, directions[tractor.rotation]], destination)
+
+
 if __name__ == "__main__":
     running = True
 
@@ -49,11 +59,16 @@ if __name__ == "__main__":
                     tractor.collect(plant_group)
                 if event.key == pygame.K_ESCAPE:
                     running = False
-                 
-        Tractor.movement(tractor)
+            if event.type == tractor_move:
+                if len(moves) != 0:
+                    step = moves.pop()
+                    tractor.movement(step[0])
+                    
+
+        Tractor.movement_using_keys(tractor)
         screen.blit(background,(0,0))
         plant_group.draw(screen)
-        tractor_group.draw(screen)
+        tractor_group.draw((screen))
         tractor_group.update()
         pygame.display.flip()
         clock.tick(60)

settings.py

@@ -12,4 +12,6 @@ road_coords = [0, 5, 10, 15, 20, 25]
 field_width = 4
 field_height = 4
 field_size = field_width*field_height
-fields_amount = 25
+fields_amount = 26
+
+directions = {0: 'UP', 90: 'RIGHT', 180: 'DOWN', 270: 'LEFT'}

src/Plant.py

@@ -1,4 +1,5 @@
 import pygame
+from settings import block_size
 
 class Plant(pygame.sprite.Sprite):
     def __init__(self,species,is_ill,pos_x,pos_y):
@@ -43,7 +44,7 @@ class Plant(pygame.sprite.Sprite):
             self.pic_path="assets/Wheat.png"
 
         self.image = pygame.image.load(self.pic_path) #zmienic
-        self.image = pygame.transform.scale(self.image,(36,36))
+        self.image = pygame.transform.scale(self.image,(block_size, block_size))
         self.rect = self.image.get_rect()
         self.rect.center = [pos_x,pos_y]
         

src/Tractor.py

@@ -1,60 +1,103 @@
 import pygame
-
-
+from settings import block_size, tile
 
 class Tractor(pygame.sprite.Sprite):
-    def __init__(self,engine,transmission,fuel,fertilizer):
+    def __init__(self, engine, transmission, fuel, fertilizer, capacity):
         super().__init__()
-        self.image=pygame.image.load("assets/tractor/tractor.png")
-        self.image=pygame.transform.scale(self.image,(36,36))
-        self.UP = pygame.transform.rotate(self.image, 0)
-        self.DOWN = pygame.transform.rotate(self.image, 180)
-        self.LEFT = pygame.transform.rotate(self.image, 90)
-        self.RIGHT = pygame.transform.rotate(self.image, -90)
-        self.rect = self.image.get_rect()
+        self.image = pygame.image.load("assets/tractor/tractor.png")
+        self.image = pygame.transform.scale(self.image, tile)
+        self.rect = self.image.get_rect()  
+        
+        self.up = pygame.transform.rotate(self.image, 0)
+        self.down = pygame.transform.rotate(self.image, 180)
+        self.left = pygame.transform.rotate(self.image, 90)
+        self.right = pygame.transform.rotate(self.image, -90)
+        
+        self.rect.x = 0
+        self.rect.y = 0
+        self.direction = 'F'
+        self.rotation = 90
 
-        self.engine=engine
-        self.transmission=transmission
-        self.fuel=fuel
-        self.fertilizer=fertilizer
+        self.collected = 0
+        self.capacity = capacity
+        self.engine = engine
+        self.transmission = transmission
+        self.fuel = fuel
+        self.fertilizer = fertilizer
 
-    def movement(self):
+    def movement_using_keys(self):
         keys = pygame.key.get_pressed()
         
-        if keys[pygame.K_LEFT] and self.rect.x>0:
-                self.image = self.LEFT
-                self.rect.x -= 36 
-        if keys[pygame.K_RIGHT] and self.rect.x<900:
-                self.image = self.RIGHT
-                self.rect.x += 36
-        if keys[pygame.K_UP] and self.rect.y>0:
-                self.image = self.UP
-                self.rect.y -= 36
-        if keys[pygame.K_DOWN] and self.rect.y<900:
-                self.image = self.DOWN
-                self.rect.y += 36
-                
-    def collect(self,plant_group):
-        self.plant_group=plant_group
-        print("collected plant")
-        pygame.sprite.spritecollide(self,self.plant_group,True)
-        #  collected=collected+1
-        #  print("plants in trunk "+collected)
+        if keys[pygame.K_LEFT]:
+            self.movement('L')
+        if keys[pygame.K_RIGHT]:
+            self.movement('R')
+        if keys[pygame.K_UP]:
+            self.movement('F')
         
-    def water_plant(self,plant_group):
-        self.plant_group=plant_group
+        #waits between moves to avoid moving to fast
+        pygame.time.wait(100) 
+    
+    def move_forward(self):
+        if self.rect.y > 0 and self.rotation == 0:
+            self.rect.y -= block_size
+        if self.rect.x < 900 and self.rotation == 90:
+            self.rect.x += block_size
+        if self.rect.y < 900 and self.rotation == 180:
+            self.rect.y += block_size
+        if self.rect.x > 0 and self.rotation == 270:
+            self.rect.x -= block_size
+    
+    def move_left(self):
+        self.rotation -= 90
+        if self.rotation < 0:
+            self.rotation = 270
+            
+    def move_right(self):
+        self.rotation += 90
+        if self.rotation >= 360:
+            self.rotation = 0
+            
+    def check_rotation(self):
+        if self.rotation == 0:
+            self.image = self.up
+        elif self.rotation == 90:
+            self.image = self.right
+        elif self.rotation == 180:
+            self.image = self.down
+        elif self.rotation == 270:
+            self.image = self.left
+            
+    def movement(self, direction):
+        if direction == 'F':
+            self.move_forward()
+        elif direction == 'L':
+            self.move_left()
+        elif direction == 'R':
+            self.move_right()
+            
+        self.check_rotation()
+                
+    def collect(self, plant_group):
+        if self.collected <= self.capacity:
+            self.plant_group=plant_group
+            # print("collected plant")
+            pygame.sprite.spritecollide(self, self.plant_group, True)
+            self.collected += 1
+             #  print("plants in trunk "+collected)
+        
+    def water_plant(self, plant_group):
+        self.plant_group = plant_group
         print("watered plant")
-    # def update(self):
-    #     self.rect.center=pygame.mouse.get_pos()
     
     def fertilize(self, plant_group):
-        self.plant_group=plant_group
+        self.plant_group = plant_group
         print("fertilize")
         
     def plant(self, plant_group):
-        self.plant_group=plant_group
+        self.plant_group = plant_group
         print("new plant")
         
-    def find_nearest_plant(self,plant_group):
-        self.plant_group=plant_group
+    def find_nearest_plant(self, plant_group):
+        self.plant_group = plant_group
         

src/bfs.py

@@ -0,0 +1,75 @@
+from settings import block_size, screen_width, directions
+import copy
+
+
+class Node:
+    def __init__(self, state, parent=None, action=None):
+        self.state = state
+        self.parent = parent
+        self.action = action
+
+class BFS:
+    def __init__(self):
+        self.fringe = [] 
+        self.explored = [] 
+    
+    def successor(self, state):
+        pos_x, pos_y, rotation = state
+        options = []
+        
+        if rotation == directions[0]:
+            states = [(pos_x, pos_y - block_size, directions[0]), (pos_x, pos_y, directions[270]), (pos_x, pos_y, directions[90])]
+            actions = ['F', 'L', 'R']
+        elif rotation == directions[90]:
+            states = [(pos_x + block_size, pos_y, directions[90]), (pos_x, pos_y, directions[0]), (pos_x, pos_y, directions[180])]
+            actions = ['F', 'L', 'R']
+        elif rotation == directions[180]:
+            states = [(pos_x, pos_y + block_size, directions[180]), (pos_x, pos_y, directions[90]), (pos_x, pos_y, directions[270])]
+            actions = ['F', 'L', 'R']
+        elif rotation == directions[270]:
+            states = [(pos_x - block_size, pos_y, directions[270]), (pos_x, pos_y, directions[0]), (pos_x, pos_y, directions[180])]
+            actions = ['F', 'L', 'R']
+            
+        for s, a in zip(states, actions):
+            if self.valid_state(s):
+                options.append((a, s))
+        
+        return options
+    
+    def valid_state(self, state):
+        pos_x, pos_y, rotation = state
+        if pos_x < 0 or pos_x >= screen_width or pos_y < 0 or pos_y >= screen_width:
+            return False
+        return True
+        
+    def goal_path(self, elem):
+        path = []
+                
+        while elem.parent: 
+            path.append([elem.action, elem.state[0], elem.state[1]])
+            elem = elem.parent
+
+        path = path[::-1]
+        return path
+
+    def search(self, istate, goaltest):
+        x, y, rotation = istate
+        start_node = Node((x, y, rotation))
+
+        self.fringe.append(start_node)
+
+        while True:
+            if len(self.fringe) == 0:
+                return False
+
+            elem = self.fringe.pop(0)
+
+            if elem.state[0] == goaltest[0] and elem.state[1] == goaltest[1]:
+                return self.goal_path(elem)
+
+            self.explored.append(elem.state)
+
+            for (action, state) in self.successor(elem.state):
+                if state not in self.explored:
+                    x = Node(state, elem, action)
+                    self.fringe.append(x)