From 0e2d63fbbfc3e85a6634f86ddad6f07abaccf021 Mon Sep 17 00:00:00 2001
From: MarRac <marekraczkowski5@gmail.com>
Date: Sun, 9 Jun 2024 22:09:36 +0200
Subject: [PATCH] bug fix regarding obstacles

---
 source/__pycache__/astar.cpython-311.pyc | Bin 7064 -> 7056 bytes
 source/__pycache__/bfs.cpython-311.pyc   | Bin 8996 -> 11157 bytes
 source/astar.py                          |   4 +--
 source/bfs.py                            |  36 +++++++++++++++++++++++
 source/main.py                           |   4 +--
 5 files changed, 40 insertions(+), 4 deletions(-)

diff --git a/source/__pycache__/astar.cpython-311.pyc b/source/__pycache__/astar.cpython-311.pyc
index b7052350bcf7dcfe8c8cf01b29b4ee337fed3ab5..fe89410e1bcc478f1a6158eed3f2d3f88f574e80 100644
GIT binary patch
delta 690
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delta 731
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diff --git a/source/__pycache__/bfs.cpython-311.pyc b/source/__pycache__/bfs.cpython-311.pyc
index b236869bee7f063fa6e2fce0df8c67f5fab36c24..e106497334049152ab7bdc590e380b3c3636ccb1 100644
GIT binary patch
delta 495
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delta 86
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nTrzp9W(OnpWIHYQ$z57<T=_taj6hs`dh#Z%t&Dz?E3{<+A;uVk

diff --git a/source/astar.py b/source/astar.py
index 3754bab..943ab6f 100644
--- a/source/astar.py
+++ b/source/astar.py
@@ -91,7 +91,7 @@ def heuristic(current_x, current_y, end_x, end_y):
 # actions(string): move, rotate_to_left, rotate_to_right
 
 # main search function:
-def a_star(istate, succ, goaltest, tractor):
+def a_star(istate, succ_astar, goaltest):
     fringe = []
     explored = set()
     node = Node(0, istate.get_x(), istate.get_y(), istate.get_direction(), None, None, 0)
@@ -109,7 +109,7 @@ def a_star(istate, succ, goaltest, tractor):
 
         explored.add(elem)
 
-        for (action, state) in succ(temp, tractor):
+        for (action, state) in succ_astar(temp):
             fringe_tuple = []
             explored_tuple = []
 
diff --git a/source/bfs.py b/source/bfs.py
index eb6e0ee..2d645e7 100644
--- a/source/bfs.py
+++ b/source/bfs.py
@@ -158,7 +158,43 @@ def succ(elem, tractor):
 
     return actions_states
  
+ 
+ #its the copy of successor function for A* only - tractor can ride through stones if there is no other way:
+def succ_astar(elem):
+    actions_states = []
+    temp = copy.copy(elem.get_direction())
+    
+    if temp == 1:
+        temp = 4
+    else:
+        temp -= 1
+    actions_states.append(("rotate_left", (elem.get_x(), elem.get_y(), temp)))
 
+    temp = copy.copy(elem.get_direction())   
+    if temp == 4:
+        temp = 1
+    else:
+        temp += 1
+    actions_states.append(("rotate_right", (elem.get_x(), elem.get_y(), temp)))
+   
+    temp_move_east = elem.get_x() + TILE_SIZE
+    temp_move_west = elem.get_x() - TILE_SIZE
+    temp_move_north = elem.get_y() - TILE_SIZE
+    temp_move_south = elem.get_y() + TILE_SIZE
+
+    if Tractor.can_it_move_node(elem) == "move east":
+         actions_states.append(("move", (temp_move_east, elem.get_y(), elem.get_direction())))
+
+    elif Tractor.can_it_move_node(elem) == "move west":
+         actions_states.append(("move", (temp_move_west, elem.get_y(), elem.get_direction())))
+
+    elif Tractor.can_it_move_node(elem) == "move north":
+         actions_states.append(("move", (elem.get_x(), temp_move_north, elem.get_direction())))
+
+    elif Tractor.can_it_move_node(elem) == "move south":
+         actions_states.append(("move", (elem.get_x(), temp_move_south, elem.get_direction())))
+
+    return actions_states
 
 #returns list of actions      
 def get_moves(elem):
diff --git a/source/main.py b/source/main.py
index b08e7fb..4e80d2c 100644
--- a/source/main.py
+++ b/source/main.py
@@ -10,7 +10,7 @@ from area.field import tiles, fieldX, fieldY
 from area.field import get_tile_coordinates, get_tile_index
 from ground import Dirt
 from plant import Plant
-from bfs import graphsearch, Istate, succ
+from bfs import graphsearch, Istate, succ_astar, succ
 from astar import a_star
 from NN.neural_network import load_model, load_image, guess_image, display_image, display_result, clear_text_area
 from PIL import Image
@@ -71,7 +71,7 @@ def main():
         goaltest[1]=tile_y        
        
         #moves = (graphsearch(istate, succ, goaltest, tractor))     #<-------BFS
-        moves = (a_star(istate, succ, goaltest, tractor))
+        moves = (a_star(istate, succ_astar, goaltest))
         print(moves)