172 lines
4.6 KiB
Python
172 lines
4.6 KiB
Python
from area.constants import TILE_SIZE
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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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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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#State as a tuple (x,y,direction)
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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, tractor):
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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, tractor): #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, tractor):
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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" and not Tractor.is_obstacle(tractor, temp_move_east, elem.get_y()):
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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" and not Tractor.is_obstacle(tractor, temp_move_west, elem.get_y()):
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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" and not Tractor.is_obstacle(tractor,elem.get_x(), temp_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" and not Tractor.is_obstacle(tractor, elem.get_x(), temp_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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#returns list of actions
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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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