SZI2019SmieciarzWmi/Traversal/DFS.py

from utilities import movement,check_moves
from DataModels.House import House
from DataModels.Dump import Dump
from DataModels.Container import Container
from config import GRID_WIDTH, GRID_HEIGHT

def DFS(grid, available_movement, gc_moveset, mode,depth=0):

    possible_goals = []
    a = gc_moveset[-1][0]
    b = gc_moveset[-1][1]
    possible_goals.append([a+1,b])
    possible_goals.append([a-1,b])
    possible_goals.append([a,b+1])
    possible_goals.append([a,b-1])
    object_in_area = False
    for location in possible_goals:
        if GRID_WIDTH>location[0]>=0 and GRID_HEIGHT>location[1]>=0:
            cell = grid[location[0]][location[1]]
            if(type(cell) == mode and cell.unvisited):
                cell.unvisited = False
                object_in_area = True
                break

    x,y = gc_moveset[-1]
    if(object_in_area):
        gc_moveset.append("pick_garbage")
        return [cell,[x,y], gc_moveset]

    if len(available_movement) == 0 or depth>30:
        return
    for direction in available_movement:
        x_next, y_next = movement(grid,x,y)[0][direction]
        available_movement_next = check_moves(grid, x_next,y_next,direction)
        gc_moveset_next = gc_moveset.copy()
        gc_moveset_next.append([x_next,y_next])
        result = DFS(grid, available_movement_next, gc_moveset_next,mode, depth+1)
        if result!= None:
            return result