source/area/tractor.py

@@ -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()
 
@@ -112,6 +110,18 @@ 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):
 

source/bfs.py

@@ -0,0 +1,179 @@
+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