Made BFS algorithm. #13
8
Node.py
Normal file
8
Node.py
Normal file
@ -0,0 +1,8 @@
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class Node:
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state = None #[{stan}]
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parent = None #[Node]
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action = None #[Forward/Right/Left]
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def __init__(self, state):
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self.state = state
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83
Tractor.py
83
Tractor.py
@ -4,6 +4,88 @@ import random
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import displayControler as dCon
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import Slot
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import Osprzet
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import Node
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def goalTest(hIndex):
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for i in list(hIndex.values()):
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if i == 0:
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return False
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return True
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def succ(state):
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resp = []
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hIndex = state["hydradeIndex"].copy()
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if state["direction"] == "N":
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if state["y"] > 0:
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if hIndex[state["x"], state["y"]-1] == 0:
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hIndex[state["x"], state["y"] - 1] = 1
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resp.append(["forward", {'x': state["x"], 'y': state["y"]-1, 'direction': state["direction"], 'hydradeIndex': hIndex}])
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resp.append(["right", {'x': state["x"], 'y': state["y"], 'direction': "E", 'hydradeIndex': state["hydradeIndex"].copy()}])
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resp.append(["left", {'x': state["x"], 'y': state["y"], 'direction': "W", 'hydradeIndex': state["hydradeIndex"].copy()}])
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elif state["direction"] == "S":
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if state["y"] < dCon.NUM_Y-1:
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if hIndex[state["x"], state["y"]+1] == 0:
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hIndex[state["x"], state["y"] + 1] = 1
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resp.append(["forward", {'x': state["x"], 'y': state["y"]+1, 'direction': state["direction"], 'hydradeIndex': hIndex}])
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resp.append(["right", {'x': state["x"], 'y': state["y"], 'direction': "W", 'hydradeIndex': state["hydradeIndex"].copy()}])
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resp.append(["left", {'x': state["x"], 'y': state["y"], 'direction': "E", 'hydradeIndex': state["hydradeIndex"].copy()}])
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elif state["direction"] == "E":
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if state["x"] < dCon.NUM_X-1:
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if hIndex[state["x"]+1, state["y"]] == 0:
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hIndex[state["x"] + 1, state["y"]] = 1
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resp.append(["forward", {'x': state["x"]+1, 'y': state["y"], 'direction': state["direction"], 'hydradeIndex': hIndex}])
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resp.append(["right", {'x': state["x"], 'y': state["y"], 'direction': "S", 'hydradeIndex': state["hydradeIndex"].copy()}])
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resp.append(["left", {'x': state["x"], 'y': state["y"], 'direction': "N", 'hydradeIndex': state["hydradeIndex"].copy()}])
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else: #state["direction"] == "W"
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if state["x"] > 0:
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if hIndex[state["x"]-1, state["y"]] == 0:
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hIndex[state["x"] - 1, state["y"]] = 1
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resp.append(["forward", {'x': state["x"]-1, 'y': state["y"], 'direction': state["direction"], 'hydradeIndex': hIndex}])
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resp.append(["right", {'x': state["x"], 'y': state["y"], 'direction': "N", 'hydradeIndex': state["hydradeIndex"].copy()}])
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resp.append(["left", {'x': state["x"], 'y': state["y"], 'direction': "S", 'hydradeIndex': state["hydradeIndex"].copy()}])
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return resp
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def check(tab, state):
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for i in tab:
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if i.state == state:
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return False
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return True
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def BFS(istate):
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fringe = []
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explored = []
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x = Node.Node(istate)
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fringe.append(x)
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while True:
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if fringe == []:
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return False
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elem = fringe.pop(0)
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if goalTest(elem.state["hydradeIndex"]):
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return elem #TODO ciąg akcji zbudowany z wykorzystaniem pól parent i action
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explored.append(elem)
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for resp in succ(elem.state):
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if check(fringe, resp[1]) and check(explored, resp[1]):
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x = Node.Node(resp[1])
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x.parent = elem
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x.action = resp[0]
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fringe.append(x)
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class Tractor:
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DIRECTION_NORTH = 'N'
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@ -101,3 +183,4 @@ class Tractor:
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print("- Typ:", akcja.typ)
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else:
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print("Brak akcji przypisanych do tego sprzętu.")
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