Working version

DataModels/GC.py

@@ -108,6 +108,12 @@ class GC(Cell):
             if(output != None):
                 [x,y],result,houses_list = output[0], output[1], output[2]
                 self.moves.extend(result[1:])
+        for i in range(len(dump_list)):
+            available_movement = check_moves(environment, x, y)
+            output = BestFS(environment, available_movement, [[x,y]], dump_list)
+            if(output != None):
+                [x,y],result,dump_list = output[0], output[1], output[2]
+                self.moves.extend(result[1:])
         self.moves.reverse()
 
     def make_actions_from_list(self,environment):

Traversal/BestFS.py

@@ -18,10 +18,6 @@ def BestFS(grid, available_movement, gc_moveset, object_list, depth = 0):
     
     x, y = gc_moveset[-1][0], gc_moveset[-1][1]
 
-    #if depth exceeded, return
-    if(depth > 15 or len(available_movement) == 0):
-        return 
-
     #calculate distance to the nearest object
     min_distance_goal = CalculateDistance([x,y], object_list)
     print(depth,min_distance_goal)
@@ -33,6 +29,10 @@ def BestFS(grid, available_movement, gc_moveset, object_list, depth = 0):
         object_list.remove([cell,min_distance_goal[0]])
         return([x, y], gc_moveset, object_list)    
 
+    #if depth exceeded, return
+    if(depth > 15 or len(available_movement) == 0):
+        return 
+
     #set preffered directions based on the closest object
     preffered_directions = []
     discouraged_directions = []
@@ -67,6 +67,8 @@ def BestFS(grid, available_movement, gc_moveset, object_list, depth = 0):
     print("After sorting: "+str(available_movement))
 
     for direction in available_movement:
+        print("HH")
+        print(depth,direction)
         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()