Zaimplementowanie A*

main.py

@@ -174,13 +174,29 @@ def main_fields_tests():
         pygame.display.flip()
 # endregion
 
+cost_map = {}
+def generate_cost_map():
+    adult_animal_cost = 10
+    baby_animal_cost = 5
+    for animal in Animals:
+        if animal.adult:
+            cost_map[(animal.x + 1, animal.y + 1)] = baby_animal_cost
+            cost_map[(animal.x + 1, animal.y)] = baby_animal_cost
+            cost_map[(animal.x, animal.y + 1)] = baby_animal_cost
+            cost_map[(animal.x, animal.y)] = adult_animal_cost
+        else:
+            cost_map[(animal.x, animal.y)] = baby_animal_cost
+
+    # Inne pola z różnym kosztem
+    # cost_map[(x, y)] = cost_value
+            
+
 # region Main Code
 def main():
     initial_state = (0,0,'S')
     agent = Agent(initial_state, 'images/agent1.png', GRID_SIZE)
     
     obstacles = generate_obstacles()
-    
     actions = []
     clock = pygame.time.Clock()
     
@@ -199,6 +215,7 @@ def main():
         draw_gates()
         if not spawned:
             spawn_all_animals()
+            generate_cost_map()
             for animal in Animals:
                 animal._feed = 2 # Ustawienie aby zwierzę było głodne
             spawned = True
@@ -213,13 +230,21 @@ def main():
             pygame.time.wait(200)
         else:
             animal = random.choice(Animals)
-            actions = graphsearch(agent.istate, (animal.x, animal.y), GRID_WIDTH, GRID_HEIGHT, obstacles)
+            goal = (animal.x, animal.y)
+ 
+            # --- Zaznaczenie celu ---
+            pygame.draw.rect(screen, (255, 0, 0), (animal.x * GRID_SIZE, animal.y * GRID_SIZE, GRID_SIZE, GRID_SIZE))
+            pygame.display.flip()
+            pygame.time.delay(2000) 
+            # ------------------------
+
+            actions = graphsearch(agent.istate, goal, GRID_WIDTH, GRID_HEIGHT, obstacles, cost_map)
 # endregion
 
 if __name__ == "__main__":
-    debug_mode = False  # Jeśli True to pokazuje dostępne pola
+    DEBUG_MODE = False  # Jeśli True to pokazuje dostępne pola
 
-    if debug_mode:
+    if DEBUG_MODE:
         main_fields_tests()
     else:
         main()

state_space_search.py

@@ -1,3 +1,7 @@
+from queue import PriorityQueue
+
+DEFAULT_COST_VALUE = 1
+
 def is_border(x, y, max_x, max_y):
     return 0 <= x < max_x and 0 <= y < max_y
 
@@ -25,32 +29,52 @@ def succ(current_state, max_x, max_y, obstacles):
 
     return successors
 
-def graphsearch(istate, goal, max_x, max_y, obstacles):
-    fringe = [{"state": istate, "parent": None, "action": None}]
+def graphsearch(istate, goal, max_x, max_y, obstacles, cost_map):
+    fringe = PriorityQueue()
     explored = set()
 
-    while fringe:
-        elem = fringe.pop(0)
-        state = elem["state"]
+    fringe.put((0, (istate, None , None)))
+
+    while not fringe.empty():
+        _, node = fringe.get()
+        state, _, _ = node
 
         if goaltest(state, goal):
-            return build_action_sequence(elem)
+            return build_action_sequence(node)
 
         explored.add(state)
 
         successors = succ(state, max_x, max_y, obstacles)
 
         for new_state, action in successors:
-            if new_state not in fringe and new_state not in explored:
-                fringe.append({"state": new_state, "parent": elem, "action": action})
+            new_node = (new_state, node, action)
 
+            p_new_state = current_cost(node, cost_map) + heuristic(state, goal)
+
+            if not is_state_in_queue(new_state, fringe) and new_state not in explored:
+                fringe.put((p_new_state, new_node))
+
+            elif is_state_in_queue(new_state, fringe):
+                for i, (p_existing_state, (existing_state, _, _)) in enumerate(fringe.queue):
+                    if existing_state == new_state and p_existing_state > p_new_state:
+                        fringe.queue[i] = (p_new_state, new_node)
+                    else:
+                        break
+
+    return False
+
+def is_state_in_queue(state, queue):
+    for _, (s, _, _) in queue.queue:
+        if s == state:
+            return True
     return False    
 
 def build_action_sequence(node):
     actions = []
-    while node["parent"]:
-        actions.append(node["action"])
-        node = node["parent"]
+    while node[1] is not None:  # Dopóki nie dojdziemy do korzenia
+        _, parent, action = node
+        actions.append(action)
+        node = parent
     actions.reverse()
     return actions
 
@@ -58,3 +82,19 @@ def goaltest(state, goal):
     x, y, _ = state
     goal_x, goal_y = goal
     return (x,y) == (goal_x, goal_y)
+
+def current_cost(node, cost_map):
+    cost = 0
+    while node[1] is not None:  # Dopóki nie dojdziemy do korzenia
+        _, parent, action = node
+        # Dodaj koszt pola z mapy kosztów tylko jeśli akcja to "Forward"
+        if action == 'Go Forward':
+            state, _, _ = node
+            cost += cost_map.get(state[:2], DEFAULT_COST_VALUE)  # Pobiera koszt przejścia przez dane pole, a jeśli koszt nie jest zdefiniowany to bierze wartość domyślną
+        node = parent  # Przejdź do rodzica
+    return cost
+
+def heuristic(state, goal):
+    x, y, _ = state
+    goal_x, goal_y = goal
+    return abs(x - goal_x) + abs(y - goal_y)  # Odległość Manhattana do celu