bfs.py

@@ -1,6 +1,6 @@
 from succ import succ as successors
 
-def bfs(istate, goalx, goaly):
+def bfs(istate, goalx, goaly, passedFields):
     fringe = [istate]
     explored = []
     steps = []
@@ -13,7 +13,7 @@ def bfs(istate, goalx, goaly):
                     steps.insert(0, state)
                 return steps
         
-        element = successors(state)
+        element = successors(state, passedFields)
         explored.append((state.xpos, state.ypos, state.orientation))
         for value in element :
             val = (value.xpos, value.ypos, value.orientation)

main.py

@@ -34,7 +34,9 @@ def randomize_map():        # tworzenie mapy z losowymi polami
     field_array_2 = []
     for i in range(16):
         for j in range(16):
-            field_array_2.append(random.choice(fields_list))
+            randomChoiceOfBlock = random.choice(fields_list)
+            priorityOfBlock = fields_list.index(randomChoiceOfBlock)
+            field_array_2.append([randomChoiceOfBlock,priorityOfBlock])
         field_array_1.append(field_array_2)
         field_array_2 = []
     return field_array_1
@@ -43,7 +45,7 @@ def randomize_map():        # tworzenie mapy z losowymi polami
 def draw_window(agent, fields):
     for i in range(16):
         for j in range(16):
-            window.blit(fields[i][j], (i * 50, j * 50))
+            window.blit(fields[i][j][0], (i * 50, j * 50))
     window.blit(AGENT, (agent.rect.x, agent.rect.y))      # wyswietlanie agenta
     pygame.display.update()
 
@@ -58,7 +60,6 @@ def draw_window(agent, fields):
 #    if keys_pressed[pygame.K_DOWN] and agent.y < 750:
 #        agent.y += 50
 
-
 def main():
     clock = pygame.time.Clock()
     run = True
@@ -71,13 +72,13 @@ def main():
                 run = False
         #keys_pressed = pygame.key.get_pressed()
         draw_window(agent, fields)
-        steps = bfs(State(None, None, 0, 0, 'E'), 450, 600)
+        steps = bfs(State(None, None, 0, 0, 'E'), 100, 50, fields)
         for interm in steps:
             if interm.action == 'LEFT':
                 agent.turn_left()
-            if interm.action == 'RIGHT':
+            elif interm.action == 'RIGHT':
                 agent.turn_right()
-            if interm.action == 'FORWARD':
+            elif interm.action == 'FORWARD':
                 agent.forward()
             draw_window(agent, fields)
             time.sleep(0.5)

state.py

@@ -4,4 +4,5 @@ class State:
         self.xpos = xpos
         self.ypos = ypos
         self.orientation = orientation
-        self.action = action
+        self.action = action
+        # self.priority = priority

succ.py

@@ -1,7 +1,7 @@
 from state import State
 FIELDWIDTH, FIELDCOUNT = 50, 16
 
-def succ(st: State):
+def succ(st: State, passedFields):
     successors = []
 
     if st.orientation == 'N':