astar fix
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11d091de6a
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0c5532ac0d
187
astar.py
187
astar.py
@ -3,120 +3,104 @@ from board import Board
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from constant import width, height, rows, cols
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from tractor import Tractor
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import heapq
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import math
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fps = 2
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WIN = pygame.display.set_mode((width, height))
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pygame.display.set_caption('Inteligenty Traktor')
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class Node:
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def __init__(self, x, y):
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self.x = x
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self.y = y
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self.f = 0
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self.g = 0
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self.h = 0
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self.cost = 1
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self.visited = False
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self.closed = False
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self.parent = None
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def __init__(self, state, parent=None, action=None, cost=0):
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self.state = state # Stan reprezentowany przez węzeł
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self.parent = parent # Węzeł rodzica
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self.action = action # Akcja prowadząca do tego stanu
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self.cost = cost # Koszt przejścia do tego stanu
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self.f = 0 # Wartość funkcji priorytetowej
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self.tie_breaker = 0 # Wartość używana do rozwiązywania konfliktów priorytetów
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def __lt__(self, other):
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# Porównanie węzłów w celu ustalenia kolejności w kolejce priorytetowej
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if self.f == other.f:
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return self.tie_breaker > other.tie_breaker # Większy tie_breaker ma wyższy priorytet
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return self.f < other.f
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def neighbors(self, grid):
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ret = []
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x, y = self.x, self.y
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if x > 0 and grid[x - 1][y]:
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ret.append(grid[x - 1][y])
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if x < len(grid) - 1 and grid[x + 1][y]:
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ret.append(grid[x + 1][y])
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if y > 0 and grid[x][y - 1]:
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ret.append(grid[x][y - 1])
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if y < len(grid[0]) - 1 and grid[x][y + 1]:
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ret.append(grid[x][y + 1])
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return ret
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def init(grid):
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for x in range(len(grid)):
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for y in range(len(grid[x])):
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node = grid[x][y]
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node.f = 0
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node.g = 0
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node.h = 0
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node.cost = 1
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node.visited = False
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node.closed = False
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node.parent = None
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def heap():
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return []
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def search(grid, start, end, board, heuristic=None):
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init(grid)
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if heuristic is None:
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heuristic = manhattan
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open_heap = heap()
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heapq.heappush(open_heap, start)
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while open_heap:
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current_node = heapq.heappop(open_heap)
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if (current_node.x, current_node.y) == (end.x, end.y):
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ret = []
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while current_node.parent:
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ret.append(current_node)
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current_node = current_node.parent
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ret.append(start)
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ret_path = ret[::-1]
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for node in ret_path:
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print(f"({node.x}, {node.y}): {node.g}")
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print("Znaleziono ścieżkę [(x,y)jako(kolumna,wiersz)] o koszcie:", ret_path[-1].g)
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return ret_path, start
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current_node.closed = True
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for neighbor in current_node.neighbors(grid):
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if neighbor.closed:
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continue
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g_score = current_node.g + board.get_cost(neighbor.x, neighbor.y)
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been_visited = neighbor.visited
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if not been_visited or g_score < neighbor.g:
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neighbor.visited = True
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neighbor.parent = current_node
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neighbor.h = neighbor.h or heuristic((neighbor.x, neighbor.y), (end.x, end.y))
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neighbor.g = g_score
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neighbor.f = neighbor.g + neighbor.h
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if not been_visited:
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heapq.heappush(open_heap, neighbor)
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print("Nie znaleziono ścieżki.")
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return None
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# Jesli pare wezlow ma taie same f, to tilebreaker ustawia
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# prorytety akcje right i down maja wyzszy priorytet
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def manhattan(pos0, pos1):
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# Heurystyka odległości Manhattan
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d1 = abs(pos1[0] - pos0[0])
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d2 = abs(pos1[1] - pos0[1])
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return d1 + d2
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def nastepnik(state, board):
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# Funkcja generująca możliwe następne stany (akcje)
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x, y = state
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successors = []
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actions = [('right', (x+1, y), 1), ('down', (x, y+1), 1), ('up', (x, y-1), 0), ('left', (x-1, y), 0)]
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for action, next_state, tie_breaker in actions:
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if 0 <= next_state[0] < cols and 0 <= next_state[1] < rows:
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cost = board.get_cost(next_state[0], next_state[1])
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successors.append((action, next_state, cost, tie_breaker))
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return successors
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def goal_test(state, goal):
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# Czy dany stan jest stanem docelowym
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return state == goal
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def graphsearch(istate, goal, board, heuristic=manhattan):
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# Algorytm przeszukiwania grafu
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fringe = [] # Kolejka priorytetowa przechowująca węzły do odwiedzenia
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explored = set() # Zbiór odwiedzonych stanów
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start_node = Node(istate)
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start_node.f = heuristic(istate, goal) # Obliczenie wartości heurystycznej dla stanu początkowego
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start_node.tie_breaker = 0 # Ustawienie tie_breaker dla węzła startowego,
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heapq.heappush(fringe, start_node)
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while fringe:
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elem = heapq.heappop(fringe)
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if goal_test(elem.state, goal):
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path = []
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total_cost = elem.cost # Zapisanie całkowitego kosztu
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while elem:
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path.append((elem.state, elem.action))
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elem = elem.parent
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return path[::-1], total_cost # Zwrócenie ścieżki i kosztu
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explored.add(elem.state)
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for action_index, (action, state, cost, tie_breaker) in enumerate(nastepnik(elem.state, board)):
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x = Node(state, parent=elem, action=action, cost=elem.cost + cost)
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x.f = x.cost + heuristic(state, goal) # Obliczenie wartości funkcji priorytetowej
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x.tie_breaker = elem.tie_breaker * 4 + action_index # Obliczanie tie_breaker na podstawie akcji
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if state not in explored and not any(node.state == state for node in fringe):
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heapq.heappush(fringe, x)
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else:
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for i, node in enumerate(fringe):
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if node.state == state and (node.f > x.f or (node.f == x.f and node.tie_breaker < x.tie_breaker)):
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fringe[i] = x
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heapq.heapify(fringe)
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break
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print("Nie znaleziono ścieżki.")
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return None, 0 # Zwrócenie ścieżki jako None i kosztu jako 0 w przypadku braku ścieżki
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def main():
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run = True
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clock = pygame.time.Clock()
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board = Board()
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board.load_images()
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start_row, start_col = 0,0
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end_row, end_col = 9,9
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tractor = Tractor(start_row, start_col)
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board.set_grass(start_row, start_col)
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board.set_grass(end_row, end_col)
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grid = [[Node(x, y) for y in range(rows)] for x in range(cols)]
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start = grid[start_row][start_col]
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end = grid[end_row][end_col]
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path, start_node = search(grid, start, end, board)
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start_state = (9, 9) # Stan początkowy
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goal_state = (0, 0) # Stan docelowy
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tractor = Tractor(start_state[1], start_state[0])
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board.set_grass(start_state[0], start_state[1]) # Ustawienie startowego pola jako trawę
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board.set_grass(goal_state[0], goal_state[1]) # Ustawienie docelowego pola jako trawę
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path, total_cost = graphsearch(start_state, goal_state, board)
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while run:
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clock.tick(fps)
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@ -129,39 +113,38 @@ def main():
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run = False
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continue
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next_node = path.pop(0) if path else start_node
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dx = next_node.x - tractor.col
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dy = next_node.y - tractor.row
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tractor.row, tractor.col = next_node.y, next_node.x
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next_state, action = path.pop(0) if path else (start_state, None)
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print(next_state) # Wypisanie następnego stanu
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tractor.row, tractor.col = next_state[1], next_state[0]
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if dx > 0:
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if action == "right":
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tractor.direction = "right"
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elif dx < 0:
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elif action == "left":
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tractor.direction = "left"
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elif dy > 0:
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elif action == "down":
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tractor.direction = "down"
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elif dy < 0:
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elif action == "up":
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tractor.direction = "up"
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# Aktualizacja planszy na podstawie położenia traktora
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if board.is_weed(tractor.col, tractor.row):
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board.set_grass(tractor.col, tractor.row)
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elif board.is_dirt(tractor.col, tractor.row):
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board.set_soil(tractor.col, tractor.row)
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elif board.is_soil(tractor.col, tractor.row):
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board.set_carrot(tractor.col, tractor.row)
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board.draw_cubes(WIN)
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tractor.draw(WIN)
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pygame.display.update()
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print(f"Całkowity koszt trasy: {total_cost}")
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while True:
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for event in pygame.event.get():
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if event.type == pygame.QUIT:
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pygame.quit()
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return
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main()
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