added BFS for generating movement list

This commit is contained in:
MarRac 2024-04-14 14:28:40 +02:00
parent 03a1b0c906
commit ffc699494a
4 changed files with 193 additions and 4 deletions

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@ -1,5 +1,5 @@
from crop_protection_product import CropProtectionProduct
from area.constants import TILE_SIZE, DIRECTION_EAST, DIRECTION_SOUTH, DIRECTION_WEST, DIRECTION_NORTH, GREY
from area.constants import TILE_SIZE, DIRECTION_EAST, DIRECTION_SOUTH, DIRECTION_WEST, DIRECTION_NORTH, FIELD_WIDTH, FIELD_HEIGHT
from area.field import fieldX,fieldY
import pygame
@ -23,8 +23,6 @@ class Tractor:
self.rect = pygame.Rect(x, y, TILE_SIZE, TILE_SIZE)
# self.previous_x = x
# self.previous_y = y
self.direction = direction
self.image = pygame.image.load('resources/images/tractor_right.png').convert_alpha()
@ -112,7 +110,19 @@ 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
def can_it_move_node(node):
if node.get_direction() == DIRECTION_EAST and node.get_x() + TILE_SIZE < FIELD_WIDTH:
return "move east"
elif node.get_direction() == DIRECTION_WEST and node.get_x() - TILE_SIZE >=0:
return "move west"
elif node.get_direction() == DIRECTION_NORTH and node.get_y() - TILE_SIZE >=0:
return "move north"
elif node.get_direction() == DIRECTION_SOUTH and node.get_y() + TILE_SIZE < FIELD_HEIGHT:
return "move south"
else:
return False
def draw_tractor(self, win):
imageTractor = pygame.transform.scale(self.image, (TILE_SIZE, TILE_SIZE))

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source/bfs.py Normal file
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from queue import Queue
from area.constants import DIRECTION_EAST, DIRECTION_WEST, DIRECTION_NORTH, DIRECTION_SOUTH, TILE_SIZE
from area.field import get_tile_coordinates, tiles, fieldX, fieldY
import copy
from area.tractor import Tractor
class Istate:
def __init__(self, x, y, direction ):
self.x = x
self.y = y
self.direction = direction
def get_x(self):
return self.x
def set_x(self, _x):
self.x = _x
def get_y(self):
return self.y
def set_y(self, _y):
self.y = _y
def get_direction(self):
return self.direction
def set_direction(self, _direction):
self.parent = _direction
class Node:
def __init__(self, x, y, direction, parent, action):
self.x = x
self.y = y
self.direction = direction
self.action = action
self.parent = parent
#getters and setters:
def get_parent(self):
return self.parent
def set_parent(self, _parent):
self.parent = _parent
def get_action(self):
return self.action
def set_action(self, _action):
self.parent = _action
def get_x(self):
return self.x
def set_x(self, _x):
self.x = _x
def get_y(self):
return self.y
def set_y(self, _y):
self.y = _y
def get_direction(self):
return self.direction
def set_direction(self, _direction):
self.parent = _direction
def copy(self):
return copy.copy(self)
#State:
def get_state(self):
x = self.get_x()
y = self.get_y()
direct = self.get_direction()
state = (x, y, direct)
return state #returns state as a tuple (x,y,direction)
def goal_test(elem, goalstate):
if elem.get_x() == goalstate[0] and elem.get_y() == goalstate[1]:
return True
else:
return False
#actions(string): move, rotate_to_left, rotate_to_right
#main search function:
def graphsearch(istate, succ, goaltest):
fringe = []
explored = []
node = Node(istate.get_x(), istate.get_y(), istate.get_direction(), None, None)
fringe.append(node)
while True:
if not fringe:
return False
elem = fringe.pop(0)
temp = copy.copy(elem)
if goal_test(elem, goaltest) is True: #jesli True zwroc ciag akcji
return get_moves(elem)
explored.append(elem)
for (action, state) in succ(temp): #dla wszystkich mozliwych stanow i akcjach otrzymanych dla danego wierzcholka
fringe_tuple = []
explored_tuple = []
for node in fringe:
fringe_tuple.append((node.get_x(), node.get_y(), node.get_direction()))
for node in explored:
explored_tuple.append((node.get_x(), node.get_y(), node.get_direction()))
if state not in fringe_tuple and state not in explored_tuple:
x = Node(state[0], state[1], state[2], elem, action)
fringe.append(x)
#funkcja nastepnika - jakie akcje sa mozlwie na danym polu i jaki bedzie stan po wykonaniu tych akcji
def succ(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
def get_moves(elem):
move_list = []
while (elem.get_parent() != None):
move_list.append(elem.get_action())
elem = elem.get_parent()
move_list.reverse()
return move_list
#Testy