61 lines
1.5 KiB
Python
61 lines
1.5 KiB
Python
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from .obj.TemporaryState import TemporaryState
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class StateController:
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def __init__(self, istate):
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self.path = []
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self.explored = []
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self.fringe = []
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self.istate = istate
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def reset(self):
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self.path.clear()
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self.explored.clear()
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self.fringe.clear()
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def build_path(self, goal_state):
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self.path.append(goal_state)
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while self.path[-1].agent_role != "blank":
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self.path.append(self.path[-1].parent)
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return self.path
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def graphsearch(self, engine): # BFS
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print("Search path")
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self.reset()
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self.fringe.append(TemporaryState(self.istate))
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while self.fringe:
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self.explored.append(self.fringe.pop(0))
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if self.explored[-1].goal_test(engine):
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print("Goal!")
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goal_state = self.explored[-1]
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self.reset()
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return self.build_path(goal_state)
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self.succ(self.explored[-1].front(), engine)
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self.succ(self.explored[-1].left(), engine)
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self.succ(self.explored[-1].right(), engine)
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self.path = self.fringe
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engine.redraw()
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self.reset()
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print("Not found")
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return False
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def succ(self, state, engine):
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if state.collide_test():
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return
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elif any(e.compare(state) for e in self.explored):
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return
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elif any([o.collide_test(state) for o in engine.objects]):
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return
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self.fringe.append(state)
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