bfs

wozek.py

@@ -2,6 +2,14 @@ import pygame
 import sys
 import random
 import os
+import time
+
+class Node():
+    def __init__(self,position,rotation,action,parent):
+        self.position=position
+        self.rotation=rotation
+        self.action=action
+        self.parent=parent
 
 # Initialize Pygame
 pygame.init()
@@ -32,7 +40,8 @@ forklift_image_full = None
 freight_images_full = None
 
 # Game variables
-forklift_pos = [7, 3]  # Adjusted starting position of the forklift
+forklift_pos = [7, 0]
+rotation='E'# Adjusted starting position of the forklift
 carrying_freight = False
 carried_freight = None
 freight_positions = {}  # Dictionary to keep track of freight positions and types
@@ -40,7 +49,16 @@ freight_positions = {}  # Dictionary to keep track of freight positions and type
 # Load images
 def load_images():
     global forklift_image_full, freight_images_full
-    forklift_image_full = load_image('forklift.png', (TILE_SIZE, TILE_SIZE))
+    global rotation
+    if rotation=='E':
+        forklift_image_full = load_image('forkliftE.png', (TILE_SIZE, TILE_SIZE))
+    elif rotation=='W':
+        forklift_image_full = load_image('forkliftW.png', (TILE_SIZE, TILE_SIZE))
+    elif rotation=='N':
+        forklift_image_full = load_image('forkliftN.png', (TILE_SIZE, TILE_SIZE))
+    elif rotation=='S':
+        forklift_image_full = load_image('forkliftS.png', (TILE_SIZE, TILE_SIZE))
+    #forklift_image_full = load_image('forklift.png', (TILE_SIZE, TILE_SIZE))
     freight_images_full = {
         'clothes': load_image('clothes.png', (TILE_SIZE, TILE_SIZE)),
         'fruit': load_image('fruit.png', (TILE_SIZE, TILE_SIZE)),
@@ -74,6 +92,7 @@ def draw_truck_bed_and_racks():
         for x in range(GRID_WIDTH):
             pygame.draw.rect(screen, (165, 42, 42), (x * TILE_SIZE, y * TILE_SIZE, TILE_SIZE, TILE_SIZE))
 
+
 def draw_forklift_and_freight():
     x, y = forklift_pos
     if carrying_freight:
@@ -91,12 +110,35 @@ def draw_freight():
         screen.blit(freight_images_full[freight_type], (x * TILE_SIZE, y * TILE_SIZE))
 
 # Game mechanics
-def move_forklift(dx, dy):
+def move_forklift():
     global forklift_pos
-    new_pos = [forklift_pos[0] + dx, forklift_pos[1] + dy]
+    if(rotation=='E'):
+        new_pos=[forklift_pos[0]+1,forklift_pos[1]]
+    elif(rotation=='W'):
+        new_pos=[forklift_pos[0]-1,forklift_pos[1]]
+    elif(rotation=='N'):
+        new_pos=[forklift_pos[0],forklift_pos[1]+1]
+    elif (rotation == 'S'):
+        new_pos = [forklift_pos[0], forklift_pos[1] - 1]
+    #new_pos = [forklift_pos[0] + dx, forklift_pos[1] + dy]
     if 0 <= new_pos[0] < GRID_WIDTH and 0 <= new_pos[1] < GRID_HEIGHT:
         forklift_pos = new_pos
+def rotate_forklift(x):
+    global rotation
+    rot=['N','E','S','W']
+    rots=rot.index(rotation)
+    if x=='R':
+        if rots==0:
+            x=rot[3]
+        else:
+            x=rot[rots-1]
 
+    elif x=='L':
+        if rots==3:
+            x=rot[0]
+        else:
+            x=rot[rots+1]
+    rotation=x
 def handle_freight():
     global carrying_freight, carried_freight, freight_positions
     pos_tuple = tuple(forklift_pos)
@@ -110,9 +152,145 @@ def handle_freight():
             carried_freight = freight_positions.pop(pos_tuple)
             carrying_freight = True
 
+#searching for successors
+def succ(current_node):
+    current_rotation=current_node.rotation
+    x=current_node.position[0]
+    y=current_node.position[1]
+    successors=[]
+    if(current_rotation=="N"):
+        if(y<7):
+            pos=[]
+            pos.append(x)
+
+            pos.append(y+1)
+            action='FW'
+            successor=Node(pos,current_rotation,action,current_node)
+            successors.append(successor)
+        if(x>0):
+            pos = []
+            pos.append(x)
+            pos.append(y)
+            new_rotation='W'
+            action='L'
+            successor = Node(pos, new_rotation,action,current_node)
+            successors.append(successor)
+        if(x<15):
+            pos = []
+            pos.append(x)
+            pos.append(y)
+            new_rotation='E'
+            action='R'
+            successor = Node(pos, new_rotation,action,current_node)
+            successors.append(successor)
+
+
+    elif (current_rotation == "S"):
+        if (y > 0):
+            pos = []
+            pos.append(x)
+            pos.append(y - 1)
+            action = 'FW'
+            successor = Node(pos, current_rotation,action,current_node)
+            successors.append(successor)
+        if (x > 0):
+            pos = []
+            pos.append(x)
+            pos.append(y)
+            new_rotation = 'E'
+            action='L'
+            successor = Node(pos, new_rotation,action,current_node)
+            successors.append(successor)
+        if (x < 15):
+            pos = []
+            pos.append(x)
+            pos.append(y)
+            new_rotation = 'W'
+            action = 'R'
+            successor = Node(pos, new_rotation,action,current_node)
+            successors.append(successor)
+
+    elif (current_rotation == "E"):
+        if (x <15):
+            pos = []
+            pos.append(x+1)
+            pos.append(y)
+            action = 'FW'
+            successor = Node(pos, current_rotation,action,current_node)
+            successors.append(successor)
+        if (y <7):
+            pos = []
+            pos.append(x)
+            pos.append(y)
+            new_rotation = 'N'
+            action='R'
+            successor = Node(pos, new_rotation,action,current_node)
+            successors.append(successor)
+        if (y >0):
+            pos = []
+            pos.append(x)
+            pos.append(y)
+            new_rotation = 'S'
+            action = 'L'
+            successor = Node(pos, new_rotation,action,current_node)
+            successors.append(successor)
+
+    elif (current_rotation == "W"):
+        if (x > 0):
+            pos = []
+            pos.append(x+1)
+            pos.append(y)
+            action = 'FW'
+            successor = Node(pos, current_rotation,action,current_node)
+            successors.append(successor)
+        if (y > 0):
+            pos = []
+            pos.append(x)
+            pos.append(y)
+            new_rotation = 'S'
+            action='R'
+            successor = Node(pos, new_rotation,action,current_node)
+            successors.append(successor)
+        if (y < 7):
+            pos = []
+            pos.append(x)
+            pos.append(y)
+            new_rotation = 'N'
+            action = 'L'
+            successor = Node(pos, new_rotation,action,current_node)
+            successors.append(successor)
+
+    return successors
+
+#bfs
+def bfs(isstate,final):
+    fringe=[]
+    fringe.append(isstate)
+    path=[]
+    explored=[]
+    while(True):
+        if(len(fringe)==0):
+            return False
+        node=fringe.pop(0)
+        if(node.position[0]==final.position[0] and node.position[1]==final.position[1]):
+            while(node.parent!=None):
+                path.append(node)
+                node=node.parent
+            return path
+        explored.append(node)
+        successors=succ(node)
+        for successor in successors:
+            fringe.append(successor)
+
 # Main game loop
 def game_loop():
     init_game()
+    current=Node(forklift_pos,rotation,'start',None)
+    final=Node([10,6],'N','final',None)
+    path=bfs(current,final)
+    path.reverse()
+    for node in path:
+        print(node.action)
     running = True
     while running:
         for event in pygame.event.get():
@@ -120,13 +298,13 @@ def game_loop():
                 running = False
             elif event.type == pygame.KEYDOWN:
                 if event.key == pygame.K_LEFT:
-                    move_forklift(-1, 0)
+                    rotate_forklift('L')
+                    load_images()
                 elif event.key == pygame.K_RIGHT:
-                    move_forklift(1, 0)
+                    rotate_forklift('R')
+                    load_images()
                 elif event.key == pygame.K_UP:
-                    move_forklift(0, -1)
+                    move_forklift()
-                elif event.key == pygame.K_DOWN:
-                    move_forklift(0, 1)
                 elif event.key == pygame.K_SPACE:
                     handle_freight()
                 elif event.key == pygame.K_r: