added rocks as obstacles and spawning obstacles on the board

source/area/field.py

@@ -1,8 +1,10 @@
 #   create a field here : 1: add tiles, 2: place them
 import pygame
+import random
 
 from area.constants import WIDTH,HEIGHT,FIELD_WIDTH,FIELD_HEIGHT,TILE_SIZE,GREY,ROWS,COLS
 from tile import Tile
+from ground import Dirt
 
 tiles = []
 
@@ -22,6 +24,9 @@ def createTiles():
     for y in range(0, COLS):
         for x in range(0, ROWS):
             tile = Tile(x*TILE_SIZE, y*TILE_SIZE)
+            dirt = Dirt(random.randint(1, 100), random.randint(1, 100))
+            dirt.pests_and_weeds()
+            tile.ground = dirt          
             tile.randomizeContent()
             tiles.append(tile)
     positionFieldElements()

source/area/tractor.py

@@ -1,6 +1,6 @@
 from crop_protection_product import CropProtectionProduct
 from area.constants import TILE_SIZE, DIRECTION_EAST, DIRECTION_SOUTH, DIRECTION_WEST, DIRECTION_NORTH, FIELD_WIDTH, FIELD_HEIGHT, WIDTH, HEIGHT
-from area.field import fieldX, fieldY
+from area.field import fieldX, fieldY, tiles
 import pygame
 import time
 
@@ -18,7 +18,7 @@ class Tractor:
     metazachlor = CropProtectionProduct("weeds", "vegetable")
 # etc
 
-    def __init__(self, x, y, direction):
+    def __init__(self, x, y, direction, tractor_start, tractor_end):
         self.x = x
         self.y = y
 
@@ -27,6 +27,9 @@ class Tractor:
         self.direction = direction
         self.image = pygame.image.load('resources/images/tractor_right.png').convert_alpha()
 
+        self.tractor_start = tractor_start  #important for bfs - prevents from spawning obstacles on these positions
+        self.tractor_end = tractor_end      #
+
         if (self.direction==1):
             self.image = pygame.image.load('resources/images/tractor_up.png').convert_alpha()
         elif (self.direction==3):
@@ -107,7 +110,7 @@ class Tractor:
             self.direction -= 1
         self.image = pygame.transform.rotate(self.image, 90)
 
-    #sprawdza czy mozna sie dalej poruszyc, czy nie wyjdziemy poza mape - do funkcji succ w bfs
+    #checks if we can move further and if we won't get out of boundaries - for bfs:
     def can_it_move_node(node):
         if node.get_direction() == DIRECTION_EAST and node.get_x() + TILE_SIZE < 830:  #last tile on the west has y:797
             return "move east"
@@ -120,13 +123,24 @@ class Tractor:
         else:
             return False
         
+
+    #checks if there's an obstacle on the given coordinates (important for bfs):
+    def is_obstacle(self, x, y):
+        for tile in tiles:
+            if tile.x == x and tile.y == y:
+                ground = tile.ground
+                if ground.obstacle and self.tractor_start != (x, y) and self.tractor_end != (x,y):
+                    return True
+        return False
+
+
     def draw_tractor(self, win):
 
         imageTractor = pygame.transform.scale(self.image, (TILE_SIZE, TILE_SIZE))
         win.blit(imageTractor, (self.rect.x, self.rect.y))
         pygame.display.flip()
         
-
+#translates move_list generated by bfs into the actual movement:
 def do_actions(tractor, WIN, move_list):
     trail = pygame.image.load("resources/images/background.jpg").convert_alpha()
     trail = pygame.transform.scale(trail, (TILE_SIZE, TILE_SIZE))
@@ -143,3 +157,5 @@ def do_actions(tractor, WIN, move_list):
         tractor.draw_tractor(WIN)
         pygame.display.update()
         time.sleep(1)
+
+

source/bfs.py

@@ -94,7 +94,7 @@ def goal_test(elem, goalstate):
 #actions(string): move, rotate_to_left, rotate_to_right
 
 #main search function:
-def graphsearch(istate, succ, goaltest):
+def graphsearch(istate, succ, goaltest, tractor):
 
     fringe = []
     explored = []
@@ -113,7 +113,7 @@ def graphsearch(istate, succ, goaltest):
             
         explored.append(elem)
 
-        for (action, state) in succ(temp): #dla wszystkich mozliwych stanow i akcjach otrzymanych dla danego wierzcholka
+        for (action, state) in succ(temp, tractor): #dla wszystkich mozliwych stanow i akcjach otrzymanych dla danego wierzcholka
             fringe_tuple = []
             explored_tuple = []
 
@@ -129,7 +129,7 @@ def graphsearch(istate, succ, goaltest):
 
 
 #funkcja nastepnika - jakie akcje sa mozlwie na danym polu i jaki bedzie stan po wykonaniu tych akcji
-def succ(elem):
+def succ(elem, tractor):
     actions_states = []
     temp = copy.copy(elem.get_direction())
     
@@ -151,14 +151,18 @@ def succ(elem):
     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":
+    if Tractor.can_it_move_node(elem) == "move east" and not Tractor.is_obstacle(tractor, temp_move_east, elem.get_y()):
          actions_states.append(("move", (temp_move_east, elem.get_y(), elem.get_direction())))
-    elif Tractor.can_it_move_node(elem) == "move west":
+
+    elif Tractor.can_it_move_node(elem) == "move west" and not Tractor.is_obstacle(tractor, temp_move_west, elem.get_y()):
          actions_states.append(("move", (temp_move_west, elem.get_y(), elem.get_direction())))
-    elif Tractor.can_it_move_node(elem) == "move north":
+
+    elif Tractor.can_it_move_node(elem) == "move north" and not Tractor.is_obstacle(tractor,elem.get_x(), temp_move_north):
          actions_states.append(("move", (elem.get_x(), temp_move_north, elem.get_direction())))
-    elif Tractor.can_it_move_node(elem) == "move south":
+
+    elif Tractor.can_it_move_node(elem) == "move south" and not Tractor.is_obstacle(tractor, elem.get_x(), temp_move_south):
          actions_states.append(("move", (elem.get_x(), temp_move_south, elem.get_direction())))
+
     return actions_states
  
 

source/ground.py

@@ -20,7 +20,7 @@ class Dirt:
         elif i == 4:
             self.weed = True
             self.pest = True
-        elif i == 5 or i == 6 or i == 7:
+        elif i == 5:
             self.obstacle = True
 
 # add init, getters,setters

source/main.py

@@ -19,21 +19,38 @@ def main():
     window = drawWindow(WIN)
     pygame.display.update()
 
-#getting coordinates of a certain tile - test:
+#getting coordinates of our "goal tile":
-    tile_index=399
+    tile_index=245
     tile_x, tile_y = get_tile_coordinates(tile_index)
     if tile_x is not None and tile_y is not None:
         print(f"Coordinates of tile {tile_index} are: ({tile_x}, {tile_y})")
     else: print("Such tile does not exist")
 
+    #mark the goal tile:
+    tiles[tile_index].image = "resources/images/sampling_goal.png"
+    image = pygame.image.load(tiles[tile_index].image).convert()
+    image = pygame.transform.scale(image, (TILE_SIZE, TILE_SIZE))
+    WIN.blit(image, (tiles[tile_index].x, tiles[tile_index].y))
+    pygame.display.flip()
+
+
 #graphsearch activation:
     istate = Istate(170, 100, 2)
     goaltest = []
     goaltest.append(tile_x)
     goaltest.append(tile_y)
-    moves = (graphsearch(istate, succ, goaltest))
+
+    tractor = Tractor(0*TILE_SIZE, 0*TILE_SIZE, 2, None, None)
+    tractor.rect.x += fieldX  
+    tractor.rect.y += fieldY 
+    tractor.tractor_start = ((istate.get_x(), istate.get_y()))
+    tractor.tractor_end = ((goaltest[0], goaltest[1]))
+
+    moves = (graphsearch(istate, succ, goaltest, tractor))
     print(moves)
 
+
+
 #main loop:    
     while run:
         for event in pygame.event.get():
@@ -49,16 +66,14 @@ def main():
         tile1.ground=d1
         
         #movement based on route-planning test:
-        tractor = Tractor(0*TILE_SIZE, 0*TILE_SIZE, 2)
+
-        tractor.rect.x += fieldX  
-        tractor.rect.y += fieldY 
         tractor.draw_tractor(WIN)
         time.sleep(1)
         if moves != False:
             do_actions(tractor, WIN, moves)
 
         tractor.work_on_field(tile1, d1, p1)
-        time.sleep(2)
+        time.sleep(15)
         print("\n")
 
 

source/tile.py

@@ -43,5 +43,9 @@ class Tile:
         else:
             self.image = "resources/images/dirt.png"
             self.photo = "resources/images/background.jpg" 
+        ground = self.ground
+        if ground.obstacle:
+            self.image = "resources/images/rock_dirt.png"
+
 
 # DISCLAMER check column and choose plant type ("potato","wheat" etc.)