SZI2019SmieciarzWmi/Traversal/BFS.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
from collections import deque

def BFS(grid, available_movement, gc_moveset, mode):
    queue = deque()
    visited_nodes=[]
    for x in range(GRID_WIDTH):
        visited_nodes.append([])
        for y in range(GRID_HEIGHT):
            visited_nodes[-1].append(0)
    visited_nodes[gc_moveset[-1][0]][gc_moveset[-1][1]] = 1
    queue.append([available_movement, gc_moveset, visited_nodes])


    while queue:
        possible_goals = []
        state = queue.popleft()
        avalible_movement_state = state[0]
        gc_moveset_state = state[1]
        visited_nodes_state = state[2]
        a = gc_moveset_state[-1][0]
        b = gc_moveset_state[-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_state[-1]
        if(object_in_area):
            gc_moveset_state.append("pick_garbage")
            return (cell,[x,y], gc_moveset_state)

        for direction in avalible_movement_state:
            x_next, y_next = movement(grid,x,y)[0][direction]
            if visited_nodes_state[x_next][y_next]==0:
                available_movement_next = check_moves(grid, x_next,y_next,direction)
                gc_moveset_next = gc_moveset_state.copy()
                gc_moveset_next.append([x_next,y_next])
                visited_nodes_state[x_next][y_next]=1
                queue.append([available_movement_next, gc_moveset_next,visited_nodes_state])