Route_planning_bfs #2
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source/__pycache__/bfs.cpython-311.pyc
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source/__pycache__/bfs.cpython-311.pyc
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@ -1,5 +1,5 @@
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from crop_protection_product import CropProtectionProduct
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from area.constants import TILE_SIZE, DIRECTION_EAST, DIRECTION_SOUTH, DIRECTION_WEST, DIRECTION_NORTH, GREY
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from area.constants import TILE_SIZE, DIRECTION_EAST, DIRECTION_SOUTH, DIRECTION_WEST, DIRECTION_NORTH, FIELD_WIDTH, FIELD_HEIGHT
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from area.field import fieldX,fieldY
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import pygame
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@ -23,8 +23,6 @@ class Tractor:
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self.rect = pygame.Rect(x, y, TILE_SIZE, TILE_SIZE)
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# self.previous_x = x
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# self.previous_y = y
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self.direction = direction
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self.image = pygame.image.load('resources/images/tractor_right.png').convert_alpha()
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@ -112,7 +110,19 @@ class Tractor:
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self.direction -= 1
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self.image = pygame.transform.rotate(self.image, 90)
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#sprawdza czy mozna sie dalej poruszyc, czy nie wyjdziemy poza mape - do funkcji succ w bfs
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def can_it_move_node(node):
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if node.get_direction() == DIRECTION_EAST and node.get_x() + TILE_SIZE < FIELD_WIDTH:
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return "move east"
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elif node.get_direction() == DIRECTION_WEST and node.get_x() - TILE_SIZE >=0:
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return "move west"
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elif node.get_direction() == DIRECTION_NORTH and node.get_y() - TILE_SIZE >=0:
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return "move north"
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elif node.get_direction() == DIRECTION_SOUTH and node.get_y() + TILE_SIZE < FIELD_HEIGHT:
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return "move south"
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else:
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return False
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def draw_tractor(self, win):
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imageTractor = pygame.transform.scale(self.image, (TILE_SIZE, TILE_SIZE))
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179
source/bfs.py
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179
source/bfs.py
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@ -0,0 +1,179 @@
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from queue import Queue
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from area.constants import DIRECTION_EAST, DIRECTION_WEST, DIRECTION_NORTH, DIRECTION_SOUTH, TILE_SIZE
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from area.field import get_tile_coordinates, tiles, fieldX, fieldY
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import copy
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from area.tractor import Tractor
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class Istate:
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def __init__(self, x, y, direction ):
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self.x = x
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self.y = y
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self.direction = direction
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def get_x(self):
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return self.x
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def set_x(self, _x):
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self.x = _x
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def get_y(self):
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return self.y
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def set_y(self, _y):
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self.y = _y
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def get_direction(self):
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return self.direction
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def set_direction(self, _direction):
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self.parent = _direction
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class Node:
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def __init__(self, x, y, direction, parent, action):
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self.x = x
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self.y = y
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self.direction = direction
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self.action = action
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self.parent = parent
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#getters and setters:
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def get_parent(self):
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return self.parent
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def set_parent(self, _parent):
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self.parent = _parent
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def get_action(self):
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return self.action
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def set_action(self, _action):
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self.parent = _action
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def get_x(self):
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return self.x
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def set_x(self, _x):
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self.x = _x
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def get_y(self):
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return self.y
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def set_y(self, _y):
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self.y = _y
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def get_direction(self):
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return self.direction
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def set_direction(self, _direction):
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self.parent = _direction
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def copy(self):
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return copy.copy(self)
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#State:
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def get_state(self):
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x = self.get_x()
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y = self.get_y()
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direct = self.get_direction()
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state = (x, y, direct)
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return state #returns state as a tuple (x,y,direction)
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def goal_test(elem, goalstate):
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if elem.get_x() == goalstate[0] and elem.get_y() == goalstate[1]:
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return True
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else:
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return False
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#actions(string): move, rotate_to_left, rotate_to_right
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#main search function:
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def graphsearch(istate, succ, goaltest):
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fringe = []
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explored = []
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node = Node(istate.get_x(), istate.get_y(), istate.get_direction(), None, None)
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fringe.append(node)
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while True:
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if not fringe:
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return False
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elem = fringe.pop(0)
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temp = copy.copy(elem)
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if goal_test(elem, goaltest) is True: #jesli True zwroc ciag akcji
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return get_moves(elem)
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explored.append(elem)
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for (action, state) in succ(temp): #dla wszystkich mozliwych stanow i akcjach otrzymanych dla danego wierzcholka
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fringe_tuple = []
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explored_tuple = []
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for node in fringe:
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fringe_tuple.append((node.get_x(), node.get_y(), node.get_direction()))
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for node in explored:
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explored_tuple.append((node.get_x(), node.get_y(), node.get_direction()))
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if state not in fringe_tuple and state not in explored_tuple:
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x = Node(state[0], state[1], state[2], elem, action)
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fringe.append(x)
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#funkcja nastepnika - jakie akcje sa mozlwie na danym polu i jaki bedzie stan po wykonaniu tych akcji
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def succ(elem):
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actions_states = []
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temp = copy.copy(elem.get_direction())
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if temp == 1:
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temp = 4
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else:
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temp -= 1
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actions_states.append(("rotate_left", (elem.get_x(), elem.get_y(), temp)))
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temp = copy.copy(elem.get_direction())
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if temp == 4:
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temp = 1
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else:
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temp += 1
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actions_states.append(("rotate_right", (elem.get_x(), elem.get_y(), temp)))
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temp_move_east = elem.get_x() + TILE_SIZE
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temp_move_west = elem.get_x() - TILE_SIZE
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temp_move_north = elem.get_y() - TILE_SIZE
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temp_move_south = elem.get_y() + TILE_SIZE
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if Tractor.can_it_move_node(elem) == "move east":
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actions_states.append(("move", (temp_move_east, elem.get_y(), elem.get_direction())))
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elif Tractor.can_it_move_node(elem) == "move west":
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actions_states.append(("move", (temp_move_west, elem.get_y(), elem.get_direction())))
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elif Tractor.can_it_move_node(elem) == "move north":
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actions_states.append(("move", (elem.get_x(), temp_move_north, elem.get_direction())))
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elif Tractor.can_it_move_node(elem) == "move south":
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actions_states.append(("move", (elem.get_x(), temp_move_south, elem.get_direction())))
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return actions_states
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def get_moves(elem):
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move_list = []
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while (elem.get_parent() != None):
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move_list.append(elem.get_action())
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elem = elem.get_parent()
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move_list.reverse()
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return move_list
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#Testy
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