fixed tractor's trail and improved some visuals

source/area/tractor.py

@@ -148,29 +148,53 @@ class Tractor:
 
 
     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()
         
+     
+    def store_tile_image(self, tile):
+        return pygame.image.load(tile.image).convert_alpha()
+
+    def restore_tile_image(self, screen, tile):
+        image = pygame.image.load(tile.image).convert_alpha()
+        image = pygame.transform.scale(image, (TILE_SIZE, TILE_SIZE))
+        screen.blit(image, (tile.x, tile.y))
+        pygame.display.update()
+
+
+
 #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))
+    # trail = pygame.image.load("resources/images/background.jpg").convert_alpha()
+    # trail = pygame.transform.scale(trail, (TILE_SIZE, TILE_SIZE))
+    tile_images = {}
+    for tile in tiles:
+        tile_images[(tile.x, tile.y)] = tractor.store_tile_image(tile)
     
     pygame.display.update()
     for move in move_list:
-        WIN.blit(trail, (tractor.rect.x, tractor.rect.y, TILE_SIZE, TILE_SIZE))
+        # WIN.blit(trail, (tractor.rect.x, tractor.rect.y, TILE_SIZE, TILE_SIZE))
+        current_tile = None
+        for tile in tiles:
+            if tile.x == tractor.rect.x and tile.y == tractor.rect.y:
+                current_tile = tile
+                break
+        if current_tile:
+            tractor.restore_tile_image(WIN, current_tile)
+
         if move == "move":
             tractor.move()            
         elif move == "rotate_right":
             tractor.rotate_to_right()
         elif move == "rotate_left":
             tractor.rotate_to_left()
+
         tractor.draw_tractor(WIN)
         pygame.display.update()
         time.sleep(0.5)
 
+
 #displays results of the "work_on_field" function next to the field:
 def display_work_results(screen, text, position):
     font = pygame.font.Font(None, 30)

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 = []
 

source/bfs.py

@@ -159,6 +159,42 @@ 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):

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
@@ -26,13 +26,10 @@ pygame.display.set_caption('Intelligent tractor')
 
 def main():
     run = True
-
     window = drawWindow(WIN)
     pygame.display.update()
 
 
-
-
 #Tractor initialization:
     tractor = Tractor(0*TILE_SIZE, 0*TILE_SIZE, 2, None, None)
     tractor.rect.x += fieldX  
@@ -71,13 +68,11 @@ 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)
 
 
-
         # movement based on route-planning:
-
         tractor.draw_tractor(WIN)
         time.sleep(1)
         if moves != False:
@@ -216,6 +211,15 @@ def main():
 
         #update the initial state for the next target:
         istate = Istate(tile_x, tile_y, tractor.direction)
+
+        #old goalTile is displayed with a black border - to show that it was an old target:
+        tiles[tile_index].image = "resources/images/sampling_old_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()
+        tractor.draw_tractor(WIN)
+
         time.sleep(2)
         print("\n")