From 5d5cbb4e591bbc1e430168411135964de379ec53 Mon Sep 17 00:00:00 2001
From: Yakudami <yakudami@gmail.com>
Date: Tue, 28 Apr 2020 00:41:57 +0200
Subject: [PATCH] it's alive!

---
 agent.py | 59 ++++++++++++++++++++++++++++++++++++--------------------
 1 file changed, 38 insertions(+), 21 deletions(-)

diff --git a/agent.py b/agent.py
index df6b696..40a7f5b 100644
--- a/agent.py
+++ b/agent.py
@@ -20,7 +20,7 @@ class Agent:
 		self.warehouse = assigned_warehouse
 		self.is_loaded = False
 		self.transported_package = None
-		self.dest = Node(0, 0)
+		self.dest = Node(1, 1)
 		self.closed = list()
 		self.open = list()
 		self.path = list()
@@ -30,23 +30,23 @@ class Agent:
 		self.open.append(start_node)
 		while self.open:
 			current_node = self.open.pop()
+			print(current_node.x, current_node.y)
 			self.closed.append(current_node)
 			if current_node.x == self.dest.x and current_node.y == self.dest.y:
-				while current_node != start_node:
-					path.append(current_node)
+				while current_node.x != start_node.x and current_node.y != start_node.y:
+					self.path.append(current_node)
 					current_node = current_node.parent
 				return True
 			neighbour_list = self.get_neighbours(current_node)
 			for neighbour in neighbour_list:
-				if neighbour in self.closed:
-					continue
-				cost = current_node.g_cost + self.heur_cost_est(current_node, neighbour)
-				if cost < neighbour.g_cost or neighbour not in self.open:
-					neighbour.g_cost = cost
-					neighbour.h_cost = self.heur_cost_est(neighbour, self.dest)
-					neighbour.parent = current_node
-					if neighbour not in self.open:
-						self.open.append(neighbour);
+				if not self.check_if_closed(neighbour):
+					cost = current_node.g_cost + self.heur_cost_est(current_node, neighbour)
+					if (cost < neighbour.g_cost) or not self.check_if_open(neighbour):
+						neighbour.g_cost = cost
+						neighbour.h_cost = self.heur_cost_est(neighbour, self.dest)
+						neighbour.parent = current_node
+						if not self.check_if_open(neighbour):
+							self.open.append(neighbour);
 		return False
     			
 	def heur_cost_est(self, nodeA: Node, nodeB: Node):
@@ -55,17 +55,32 @@ class Agent:
 		if deltaX > deltaY:
 			return (14 * deltaY) + (10 * (deltaX - deltaY))
 		return (14 * deltaX) + (10 *(deltaY - deltaX))
+		
+	def check_if_open(self, nodeA: Node):
+		for node in self.open:
+			if node.x == nodeA.x and node.y == nodeA.y:
+				print("open")
+				return True
+		return False
+		
+	def check_if_closed(self, nodeA: Node):
+		for node in self.closed:
+			if node.x == nodeA.x and node.y == nodeA.y:
+				print("closed")
+				return True
+		return False
     	
 	def get_neighbours(self, node: Node):
-		neighbours = list()
-		#if self.check_if_can_move(Coordinates(node.x + 1, node.y)):
-		neighbours.append(Node(node.x + 1, node.y))
-		#if self.check_if_can_move(Coordinates(node.x - 1, node.y)):
-		neighbours.append(Node(node.x - 1, node.y))
-		#if self.check_if_can_move(Coordinates(node.x, node.y + 1)):
-		neighbours.append(Node(node.x, node.y + 1))
-		#if self.check_if_can_move(Coordinates(node.x, node.y - 1)):
-		neighbours.append(Node(node.x, node.y - 1))
+		neighbours = []
+		print(neighbours)
+		if self.check_if_can_move(Coordinates(node.x + 1, node.y)):
+			neighbours.append(Node(node.x + 1, node.y))
+		if self.check_if_can_move(Coordinates(node.x - 1, node.y)):
+			neighbours.append(Node(node.x - 1, node.y))
+		if self.check_if_can_move(Coordinates(node.x, node.y + 1)):
+			neighbours.append(Node(node.x, node.y + 1))
+		if self.check_if_can_move(Coordinates(node.x, node.y - 1)):
+			neighbours.append(Node(node.x, node.y - 1))
 		return neighbours
     	
 	def move(self):
@@ -78,6 +93,8 @@ class Agent:
 			self.y = next.y
 			
 	def check_if_can_move(self, next_coords: Coordinates):
+		if next_coords.x < 0 or next_coords.y < 0:
+			return False
 		next_tile = self.warehouse.tiles[next_coords.x][next_coords.y]
 		tile_passable = isinstance(next_tile, Tile) and next_tile.category.passable
 		tile_on_map = 0 <= next_coords.x < self.warehouse.width and 0 <= next_coords.y < self.warehouse.height