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30878adedd
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30878adedd | ||
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a6f51420e1 | ||
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b0ac67a105 |
11
src/main.py
11
src/main.py
@ -1,7 +1,7 @@
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import pygame
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import pygame
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from field import Field
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from field import Field
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import os
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import os
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from config import TILE_SIZE, TICK_RATE
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from config import TILE_SIZE, TICK_RATE, FINAL_X, FINAL_Y
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if __name__ == "__main__":
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if __name__ == "__main__":
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pygame.init()
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pygame.init()
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@ -13,10 +13,19 @@ if __name__ == "__main__":
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field = Field()
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field = Field()
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running = True
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running = True
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while running:
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while running:
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for event in pygame.event.get():
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for event in pygame.event.get():
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if event.type == pygame.QUIT:
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if event.type == pygame.QUIT:
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running = False
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running = False
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if event.type == pygame.MOUSEBUTTONDOWN:
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x, y = pygame.mouse.get_pos()
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print(f"Mouse clicked at: ({x}, {y})")
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grid_x = x // TILE_SIZE
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grid_y = y // TILE_SIZE
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field.tractor.set_new_goal((grid_x, grid_y))
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field.tractor.update()
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field.tractor.update()
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screen.fill(WHITE)
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screen.fill(WHITE)
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@ -18,30 +18,33 @@ class Tractor(pygame.sprite.Sprite):
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def __init__(self, field):
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def __init__(self, field):
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super().__init__
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super().__init__
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self.field = field
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self.field = field
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self.water = 50
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self.image = pygame.image.load('images/tractor/east.png').convert_alpha()
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self.image = pygame.image.load('images/tractor/east.png').convert_alpha()
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self.image = pygame.transform.scale(self.image, (TILE_SIZE, TILE_SIZE))
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self.image = pygame.transform.scale(self.image, (TILE_SIZE, TILE_SIZE))
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self.rect = self.image.get_rect()
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self.rect = self.image.get_rect()
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self.direction = 'east'
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self.direction = STARTING_DIRECTION
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self.start = (0, 0)
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# TODO: enable tractor to start on other tile than (0,0)
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self.final = (0, 0)
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self.start = (START_X, START_Y)
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self.final = (FINAL_X, FINAL_Y)
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print('destination @', self.final[0], self.final[1])
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print('destination @', self.final[0], self.final[1])
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self.rect.topleft = (self.start[0] * TILE_SIZE, self.start[1] * TILE_SIZE)
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self.rect.topleft = (self.start[0] * TILE_SIZE, self.start[1] * TILE_SIZE)
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self.water = 50
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self.rect.topleft = (self.start[0] * TILE_SIZE, self.start[1] * TILE_SIZE)
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self.actions = []
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# A-STAR
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self.action_index = 0
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# came_from, total_cost = self.a_star()
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# path = self.reconstruct_path(came_from)
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# self.actions = self.recreate_actions(path)
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# self.action_index = 0
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# DECISION TREE:
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# DECISION TREE:
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self.label_encoders = {}
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self.label_encoders = {}
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self.load_decision_tree_model()
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self.load_decision_tree_model()
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def set_new_goal(self, goal):
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self.start = self.get_coordinates()
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self.final = goal
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came_from, total_cost = self.a_star()
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path = self.reconstruct_path(came_from)
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self.actions = self.recreate_actions(path)
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self.action_index = 0
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print(f"New goal set to: {self.final}")
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def load_decision_tree_model(self):
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def load_decision_tree_model(self):
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data = pd.read_csv('tree.csv')
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data = pd.read_csv('tree.csv')
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@ -94,13 +97,11 @@ class Tractor(pygame.sprite.Sprite):
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def draw(self, surface):
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def draw(self, surface):
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surface.blit(self.image, self.rect)
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surface.blit(self.image, self.rect)
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def get_coordinates(self):
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def get_coordinates(self):
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x = self.rect.x // TILE_SIZE
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x = self.rect.x // TILE_SIZE
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y = self.rect.y // TILE_SIZE
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y = self.rect.y // TILE_SIZE
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return (x,y)
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return (x,y)
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def move(self):
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def move(self):
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if self.direction == "north" and self.rect.y > 0:
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if self.direction == "north" and self.rect.y > 0:
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self.rect.y -= TILE_SIZE
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self.rect.y -= TILE_SIZE
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@ -162,29 +163,16 @@ class Tractor(pygame.sprite.Sprite):
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self.move()
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self.move()
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else:
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else:
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self.move()
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self.move()
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def update(self):
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def decision_tree(self):
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# A STAR:
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# if self.action_index == len(self.actions):
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# return
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# action = self.actions[self.action_index]
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# match (action):
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# case ('move'):
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# self.move()
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# case ('left'):
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# self.rotate('left')
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# case ('right'):
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# self.rotate('right')
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# DECISION TREE:
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action = self.make_decision()
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action = self.make_decision()
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if (self.get_current_tile().type != 'grass' or self.get_current_tile().type == 'water'): action = 'move'
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if (self.get_current_tile().type != 'grass' or self.get_current_tile().type == 'water'): action = 'nothing'
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self.prev_action = action
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self.prev_action = action
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print("Decyzja podjęta przez drzewo decyzyjne: ", action)
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match (action):
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match (action):
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case ('move'):
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case ('nothing'):
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pass
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pass
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#self.move_rotating()
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#self.move_rotating()
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case ('harvest'):
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case ('harvest'):
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@ -241,8 +229,22 @@ class Tractor(pygame.sprite.Sprite):
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self.get_current_tile().set_type('szpinak')
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self.get_current_tile().set_type('szpinak')
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case ('plant(ziemniak)'):
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case ('plant(ziemniak)'):
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self.get_current_tile().set_type('ziemniak')
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self.get_current_tile().set_type('ziemniak')
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self.move_2()
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#self.action_index += 1
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def update(self):
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# A STAR:
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if self.action_index == len(self.actions):
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return
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action = self.actions[self.action_index]
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match (action):
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case ('move'):
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self.move()
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case ('left'):
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self.rotate('left')
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case ('right'):
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self.rotate('right')
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self.action_index += 1
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if self.get_current_tile().type == "grass":
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if self.get_current_tile().type == "grass":
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print("Co jest faktycznie: trawa")
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print("Co jest faktycznie: trawa")
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@ -252,9 +254,13 @@ class Tractor(pygame.sprite.Sprite):
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print("Rozpoznano: ", self.get_current_tile().prediction)
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print("Rozpoznano: ", self.get_current_tile().prediction)
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print("Co jest faktycznie: ", self.get_current_tile().type)
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print("Co jest faktycznie: ", self.get_current_tile().type)
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print("\n")
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print("\n")
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if self.get_coordinates() == self.final:
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self.decision_tree()
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return
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return
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def log_info(self):
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def log_info(self):
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# print on what tile type the tractor is on
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# print on what tile type the tractor is on
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x = self.rect.x // TILE_SIZE
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x = self.rect.x // TILE_SIZE
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@ -367,13 +373,12 @@ class Tractor(pygame.sprite.Sprite):
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if current == self.final:
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if current == self.final:
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break
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break
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# next_node: tuple[int, int]
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for next_node in self.neighboring_nodes(coordinates=current):
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for next_node in self.neighboring_nodes(coordinates=current):
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enter_cost = self.cost_of_entering_node(coordinates=next_node)
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enter_cost = self.cost_of_entering_node(coordinates=next_node)
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new_cost: int = cost_so_far[current] + enter_cost
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new_cost = cost_so_far[current] + enter_cost
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if next_node not in cost_so_far or new_cost < cost_so_far[next_node]:
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if next_node not in cost_so_far or new_cost < cost_so_far[next_node]:
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cost_so_far[next_node] = new_cost
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cost_so_far[next_node] = new_cost
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priority = new_cost + self.manhattan_cost(current)
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priority = new_cost + self.manhattan_cost(next_node)
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heapq.heappush(fringe, (priority, next_node))
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heapq.heappush(fringe, (priority, next_node))
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came_from[next_node] = current
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came_from[next_node] = current
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