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board

@@ -56,17 +56,8 @@ def draw(square_num, objectArr, pathToTarget, num):
 
     circleX = objectArr[0].xPos * square + square + square / 2
     circleY = objectArr[0].yPos * square + square / 2
-  
-    a = (10 + circleX, 5 + circleY)
-    b = (20 + circleX, 5 + circleY)
-    c = (15 + circleX, 20 + circleY)
-
-
-    polygon = pygame.draw.polygon(screen, (0, 0, 255), (b, a, c))
-    print(polygon)
-
-    
 
+    pygame.draw.circle(screen, (0, 0, 255), (circleX + 15, circleY + 15), 8)
 
     circleX = objectArray[1].xPos * square + square * 2
     circleY = objectArr[1].yPos * square + square
@@ -110,7 +101,6 @@ def startQueue(agentX, agentY, fieldList, gridNum):
         result = checkGoal(fieldList, gridNum)
         if result:
             checkFlag = True
-        # print("NEXT CHECK GOAL")
     return result
 
 
@@ -120,9 +110,6 @@ def checkGoal(fieldList, gridNum):
     currentY = currentField.yPos
     currentX = currentField.xPos
     currentIndex = currentY * gridNum + currentX
-    # print("POPPED!!!")
-    # currentField.printXandY()
-    ##print(str(currentField.xPos) + " " + str(objectArray[1].xPos) + " " + str(currentField.yPos) + " " + str(objectArray[1].yPos))
 
     # SPRAWDZAMY CZY DANE POLE JEST POLEM W KTORYM ZNAJDUJE SIE NASZ CEL
     if currentField.xPos == objectArray[1].xPos and currentField.yPos == objectArray[1].yPos:
@@ -136,28 +123,19 @@ def checkGoal(fieldList, gridNum):
         if currentIndex + 15 <= 224 and fieldList[currentIndex + 15].visited == False and fieldList[currentIndex + 15].isBlock == False:
             fieldQueue.append(fieldList[currentIndex + 15])
             fieldList[currentIndex + 15].parent = fieldList[currentIndex]
-            # print("APPENDED DOWN!!!")
-            # fieldList[currentIndex + 15].printXandY()
         if currentIndex - 15 > -1 and fieldList[currentIndex - 15].visited == False and fieldList[currentIndex - 15].isBlock == False:
             fieldQueue.append(fieldList[currentIndex - 15])
             fieldList[currentIndex - 15].parent = fieldList[currentIndex]
-            # print("APPENDED UP!!!")
-            # fieldList[currentIndex - 15].printXandY()
         if (currentIndex + 1) % 15 != 0 and fieldList[currentIndex + 1].visited == False and fieldList[currentIndex + 1].isBlock == False:
             fieldQueue.append(fieldList[currentIndex + 1])
             fieldList[currentIndex + 1].parent = fieldList[currentIndex]
-            # print("APPENDED RIGHT!!!")
-            # fieldList[currentIndex + 1].printXandY()
         if (currentIndex - 1) % 15 != 14 and not currentIndex - 1 < 0 and fieldList[currentIndex - 1].visited == False and fieldList[currentIndex - 1].isBlock == False:
             fieldQueue.append(fieldList[currentIndex - 1])
             fieldList[currentIndex - 1].parent = fieldList[currentIndex]
-            # print("APPENDED LEFT!!!")
-            # fieldList[currentIndex - 1].printXandY()
 
 def generateStartEndPos():
     startX = random.randint(0, 14)
     startY = random.randint(0, 14)
-    print(startX)
     targetX = None
     targetY = None
 
@@ -167,23 +145,40 @@ def generateStartEndPos():
 
     return [startX, startY, targetX, targetY]
 
+
+
+def drawFull(index):
+    c = (255, 255, 255)
+    screen.fill(c)
+
+    for node in pathToTarget:
+        if node == pathToTarget[0] or node == pathToTarget[-1]:
+            continue
+        if pathToTarget.index(node) <= index:
+            continue
+        green = (0, 255, 0)
+        pygame.draw.circle(screen, green, ((node.xPos + 1)
+                               * 500 / 15 + 30, (node.yPos + 1) * 500 / 15), 5)
+        draw(15, objectArray, pathToTarget, 1)
+
+    for node in fields:
+        if node.isBlock == True:
+            black = (0, 0, 0)
+            pygame.draw.rect(screen, black, pygame.Rect((node.xPos + 1) * 500 / 15 + 30, (node.yPos + 1) * 500 / 15 - 10, 10, 10))
+
+    kb_listen(objectArray, 15)
+    pygame.display.update() 
+
 if __name__ == '__main__':
-    pygame.init()  # inicjalizacja modułów, na razie niepotrzebna
+    pygame.init()
 
     width = 600
     height = 530
     screen = pygame.display.set_mode(
-        (width, height))  # ustalanie rozmiarów okna
+        (width, height))
 
-    # OBLICZANIE RANDOMOWYCH POL START I END
     [sX, sY, eX, eY] = generateStartEndPos()
 
-    print(sX)
-    print(sY)
-    print(sX)
-    print(eY)
-
-    # GENEROWANIE WSZYSTKICH POL - FIELDS
     fields = []
     for y in range(15):
         for x in range(15):
@@ -191,14 +186,11 @@ if __name__ == '__main__':
                 newField = Field(x, y, True)
             else:
                 newField = Field(x, y, False)
-            # newField.printXandY()
             fields.append(newField)
 
     agent = Object("AGENT", sX, sY)
     target = Object("TARGET", eX, eY)
 
-    # if fields[agent.getX - 1 * 
-
     objectArray.append(agent)
     objectArray.append(target)
 
@@ -226,25 +218,37 @@ if __name__ == '__main__':
     for node in pathToTarget:
         node.printXandY()
 
-    while 1:
+    print("PRINTING ACTIONS TO TAKE TO GET TO THE TARGET ============================")
-        # tymczasowy kolor tła - do usunięcia, jak już będzie zdjęcie
+    for node in pathToTarget:
-        c = (255, 255, 255)
+        currentNode = node
-        screen.fill(c)
+        parentNode = node.parent
+        direction = None
+
+        index = pathToTarget.index(node)
+
+        if parentNode == None:
+            continue
+
+        if currentNode.xPos != parentNode.xPos:
+            if currentNode.xPos > parentNode.xPos:
+                direction = "E"
+                objectArray[0].xPos = objectArray[0].xPos + 1
+            else:
+                direction = "W"
+                objectArray[0].xPos = objectArray[0].xPos - 1
+        else:
+            if currentNode.yPos > parentNode.yPos:
+                direction = "S"
+                objectArray[0].yPos = objectArray[0].yPos + 1
+            else:
+                direction = "N"
+                objectArray[0].yPos = objectArray[0].yPos - 1
+        time.sleep(1)
+        print("NEXT DIRECTION: " + direction)
+
         draw(15, objectArray, pathToTarget, 1)
+        pygame.display.update()
+        print(index)
+        drawFull(index)
+    quit()
 
-        # TUTAJ RYSUJEMY SCIEZKE
-        for node in pathToTarget:
-            if node == pathToTarget[0] or node == pathToTarget[-1]:
-                continue
-            green = (0, 255, 0)
-            pygame.draw.circle(screen, green, ((node.xPos + 1)
-                               * 500 / 15 + 30, (node.yPos + 1) * 500 / 15), 5)
-
-        for node in fields:
-            ## DRAWING BLOCKS
-            if node.isBlock == True:
-                black = (0, 0, 0)
-                pygame.draw.rect(screen, black, pygame.Rect((node.xPos + 1) * 500 / 15 + 30, (node.yPos + 1) * 500 / 15 - 10, 10, 10))
-
-        kb_listen(objectArray, 15)
-        pygame.display.update()  # by krata pojawiła się w okienku - update powierzchni