feat: automate tractor to find path using A* while avoiding vegetable tiles

src/field.py

@@ -5,8 +5,9 @@ from tractor import Tractor
 class Field:
     def __init__(self):
         self.tiles = pygame.sprite.Group()
+        # TODO: enable resizing field grid from 16x16 to any size
         for x in range(256):
-            self.tiles.add(Tile(x, 'grass', self))
+            self.tiles.add(Tile(x, self))
         self.tractor = Tractor(self)
 
 

src/tile.py

@@ -7,7 +7,7 @@ from config import TILE_SIZE
 
 class Tile(pygame.sprite.Sprite):
 
-    def __init__(self, id, field, type):
+    def __init__(self, id, field):
         super().__init__()
         self.id = id
         x = id%16
@@ -15,9 +15,13 @@ class Tile(pygame.sprite.Sprite):
 
         self.field = field
 
-        vegetables = tractor_kb.query(pl.Expr("warzywo(Nazwa_warzywa)"))
+        # temporary solution to have vegetables act as obstacles
-        random_vegetable = vegetables[random.randint(0, len(vegetables)-1)]['Nazwa_warzywa']
+        if random.randint(1, 10) % 3 == 0:
-        self.set_type(random_vegetable)
+            vegetables = tractor_kb.query(pl.Expr("warzywo(Nazwa_warzywa)"))
+            random_vegetable = vegetables[random.randint(0, len(vegetables)-1)]['Nazwa_warzywa']
+            self.set_type(random_vegetable)
+        else:
+            self.set_type('grass')
 
         self.faza = 'posadzono'
 
@@ -30,9 +34,12 @@ class Tile(pygame.sprite.Sprite):
 
     def set_type(self, type):
         self.type = type
-        image_path = f"images/vegetables/{self.type}.png"
+        if self.type == 'grass':
-        if os.path.exists(image_path):
+            image_path = "images/grass.png"
-            self.image = pygame.image.load(image_path).convert()
         else:
-            self.image = pygame.image.load("images/grass.png").convert()
+            image_path = f"images/vegetables/{self.type}.png"
+            if not os.path.exists(image_path):
+                image_path = "images/question.jpg"
+        
+        self.image = pygame.image.load(image_path).convert()
         self.image = pygame.transform.scale(self.image, (TILE_SIZE, TILE_SIZE))

src/tractor.py

@@ -4,6 +4,8 @@ from kb import ile_podlac, multi_sasiedzi
 from tile import Tile
 from config import TILE_SIZE
 from collections import deque
+import heapq
+import random
 
 class Tractor(pygame.sprite.Sprite):
     def __init__(self, field):
@@ -15,43 +17,60 @@ class Tractor(pygame.sprite.Sprite):
         self.rect = self.image.get_rect()
 
         self.direction = 'east'
-
+        # TODO: enable tractor to start on other tile than (0,0)
-        x, y = 0, 0
+        self.start = (0, 0)
-        self.rect.topleft = (x, y)
+        self.final = (8, 14)
+        print('final target @', self.final[0], self.final[1])
+        self.rect.topleft = (0, 0)
 
         self.water = 50
 
+        came_from, total_cost = self.a_star()
+        path = self.reconstruct_path(came_from)
+        self.actions = self.recreate_actions(path)
+        self.action_index = 0
+
 
     def draw(self, surface):
         surface.blit(self.image, self.rect)
 
 
+    def get_coordinates(self):
+        x = self.rect.x // TILE_SIZE
+        y = self.rect.y // TILE_SIZE
+        return (x,y)
+
+
     def move(self):
         if self.direction == "north" and self.rect.y > 0:
             self.rect.y -= TILE_SIZE
-            self.log_info()
+            # self.log_info()
         elif self.direction == "south" and self.rect.y < 15 * TILE_SIZE:
             self.rect.y += TILE_SIZE
-            self.log_info()
+            # self.log_info()
         elif self.direction == "west" and self.rect.x > 0:
             self.rect.x -= TILE_SIZE
-            self.log_info()
+            # self.log_info()
         elif self.direction == "east" and self.rect.x < 15 * TILE_SIZE:
             self.rect.x += TILE_SIZE
-            self.log_info()
+            # self.log_info()
 
 
     def update(self):
-        keys = pygame.key.get_pressed()
+        if self.action_index == len(self.actions):
-        if keys[pygame.K_LEFT]:
+            return
-            self.rotate('left')    
+
-        if keys[pygame.K_RIGHT]:
+        action = self.actions[self.action_index]
-            self.rotate('right')
+        match (action):
-        if keys[pygame.K_UP]:
+            case ('move'):
-            self.move()
+                self.move()
-        if keys[pygame.K_r]:
+            case ('left'):
-            self.water = 50
+                self.rotate('left')
-            print(f"💧 replenished water level: {self.water} litres\n")
+            case ('right'):
+                self.rotate('right')
+        self.action_index += 1
+        
+        return
 
 
     def log_info(self):
@@ -71,12 +90,9 @@ class Tractor(pygame.sprite.Sprite):
             print(f"❗ {water_needed - self.water} more litres of water needed to water {current_tile.type}")
 
         # print out what are the neighbors of the current tile and their effect on growth
-        neighbors = self.get_neighbors_list()
+        neighbors = self.get_neighbors_types()
         modifier = multi_sasiedzi(current_tile.type, neighbors)[0]['Mul']
         print(f"🌱 the growth modifier for {current_tile.type} on this tile is ~{modifier:.2f} based on its neighbors: {', '.join(neighbors)}")
-
-        self.BFS((14,14))
-
         print() # empty line at end of log statement
 
 
@@ -87,7 +103,18 @@ class Tractor(pygame.sprite.Sprite):
         return current_tile
 
 
-    def get_neighbors_list(self):
+    def cost_of_entering_node(self, coordinates: tuple[int, int]) -> int:
+        x, y = coordinates
+        cost: int
+        match (self.field.tiles.sprites()[y * 16 + x].type):
+            case ('grass'):
+                cost = 1
+            case _:
+                cost = 100
+        return cost
+
+
+    def get_neighbors_types(self) -> list:
         x = self.rect.x // TILE_SIZE
         y = self.rect.y // TILE_SIZE
         neighbors = []
@@ -140,70 +167,114 @@ class Tractor(pygame.sprite.Sprite):
                 self.image = pygame.transform.scale(self.image, (TILE_SIZE, TILE_SIZE))
                 self.direction = 'north'
 
-    def turn_right(self, direction):
-        directions = ["east", "south", "west", "north"]
-        current_index = directions.index(direction)
-        new_index = (current_index + 1) % 4
-        return directions[new_index]
 
-    def turn_left(self, direction):
+# https://www.redblobgames.com/pathfinding/a-star/implementation.html
-        directions = ["east", "south", "west", "north"]
+    def a_star(self):
-        current_index = directions.index(direction)
+        fringe: list[tuple[int, tuple[int, int]]] = []
-        new_index = (current_index - 1) % 4
+        heapq.heappush(fringe, (0, self.start))
-        return directions[new_index]
+        came_from: dict[tuple[int, int], Optional[tuple[int, int]]] = {}
+        cost_so_far: dict[tuple[int, int], int] = {}
+        came_from[self.start] = None
+        cost_so_far[self.start] = 0
 
-    def generate_succesors(self, state):
-        x, y, direction = state
-        successors = []
-
-        if direction == "east" and x < 15:
-            successors.append(((x + 1, y, direction), "forward"))
-        elif direction == "west" and x > 0:
-            successors.append(((x - 1, y, direction), "forward"))
-        elif direction == "north" and y > 0:
-            successors.append(((x, y - 1, direction), "forward"))
-        elif direction == "south" and y < 15:
-            successors.append(((x, y + 1, direction), "forward"))
-
-        if direction == "east" and y > 0:
-            successors.append(((x, y, self.turn_left(direction)), "left"))
-        elif direction == "west" and y < 15:
-            successors.append(((x, y, self.turn_left(direction)), "left"))
-        elif direction == "north" and x > 0:
-            successors.append(((x, y, self.turn_left(direction)), "left"))
-        elif direction == "south" and x < 15:
-            successors.append(((x, y, self.turn_left(direction)), "left"))
-
-        if direction == "east" and y < 15:
-            successors.append(((x, y, self.turn_right(direction)), "right"))
-        elif direction == "west" and y > 0:
-            successors.append(((x, y, self.turn_right(direction)), "right"))
-        elif direction == "north" and x < 15:
-            successors.append(((x, y, self.turn_right(direction)), "right"))
-        elif direction == "south" and x > 0:
-            successors.append(((x, y, self.turn_right(direction)), "right"))
-
-        return successors
-
-
-    def BFS(self, end):
-        x = self.rect.x // TILE_SIZE
-        y = self.rect.y // TILE_SIZE
-        start = (x, y, self.direction)
-        
-        fringe = deque()
-        path = []
-        fringe.append(start)
         while fringe:
-            if (fringe[0])[0] == end[0] and (fringe[0])[1] == end[1]:
+            current: tuple[int, int] = heapq.heappop(fringe)[1]
-                return path
+
-            successors = self.generate_succesors(fringe[0])
+            if current == self.final:
-            print(fringe[0])
+                break
-            print(successors, '<-----tutaj następniki')
+
-            break
+            # next_node: tuple[int, int]
-            
+            for next_node in self.neighboring_nodes(coordinates=current):
+                enter_cost = self.cost_of_entering_node(coordinates=next_node)
+                new_cost: int = cost_so_far[current] + enter_cost
+                if next_node not in cost_so_far or new_cost < cost_so_far[next_node]:
+                    cost_so_far[next_node] = new_cost
+                    priority = new_cost + self.manhattan_cost(current)
+                    heapq.heappush(fringe, (priority, next_node))
+                    came_from[next_node] = current
+
+        return came_from, cost_so_far
 
 
-            
+    def manhattan_cost(self, coordinates: tuple[int, int]) -> int:
+        current_x, current_y = coordinates
+        final_x, final_y = self.final
+        return abs(current_x - final_x) + abs(current_y - final_y)
 
 
+    def neighboring_nodes(self, coordinates: tuple[int, int]):
+        x, y = coordinates
+        neighbors = []
+
+        # nodes appended clockwise: up, right, bottom, left
+        if y < 15:
+            neighbors.append((x, y+1))
+        if x < 15:
+            neighbors.append((x+1, y))
+        if y > 0:
+            neighbors.append((x, y-1))
+        if x > 0:
+            neighbors.append((x-1, y))
+
+        return neighbors
+
+
+    def reconstruct_path(self, came_from: dict[tuple[int, int], tuple[int, int]]) -> list[tuple[int, int]]:
+        current: tuple[int, int] = self.final
+        path: list[tuple[int, int]] = []
+        if self.final not in came_from: # no path was found
+            return []
+        while current != self.start:
+            path.append(current)
+            current = came_from[current]
+        path.append(self.start)
+        path.reverse()
+        return path
+
+
+    def recreate_actions(self, path: list[tuple[int, int]]) -> list[str]:
+        actions: list[str] = []
+        agent_direction = self.direction
+        
+        for i in range(len(path) - 1):
+            x, y = path[i]
+            next_x, next_y = path[i+1]
+
+            # find out which way the tractor should be facing to move onto next_node tile
+            proper_direction: str
+            if x > next_x:
+                proper_direction = 'west'
+            elif x < next_x:
+                proper_direction = 'east'
+            elif y > next_y:
+                proper_direction = 'north'
+            else: # y < next_y
+                proper_direction = 'south'
+
+            # find the fastest way to rotate to correct direction 
+            if agent_direction != proper_direction:
+                match (agent_direction, proper_direction):
+                    case ('north', 'east'):
+                        actions.append('right')
+                    case ('north', 'west'):
+                        actions.append('left')
+                    case ('east', 'south'):
+                        actions.append('right')
+                    case ('east', 'north'):
+                        actions.append('left')
+                    case ('south', 'west'):
+                        actions.append('right')
+                    case ('south', 'east'):
+                        actions.append('left')
+                    case ('west', 'north'):
+                        actions.append('right')
+                    case ('west', 'south'):
+                        actions.append('left')
+                    case _:
+                        actions.append('right')
+                        actions.append('right')
+
+            agent_direction = proper_direction
+            actions.append('move')
+
+        return actions