from succ import succ as successors

def bfs(istate, goalx, goaly):
    fringe = [istate]
    explored = []
    steps = []
    while(fringe):
        state = fringe.pop(0)
        if state.xpos == goalx and state.ypos == goaly: 
                steps.insert(0, state)
                while(state.parent != None):
                    state = state.parent
                    steps.insert(0, state)
                return steps
        
        element = successors(state)
        explored.append((state.xpos, state.ypos, state.orientation))
        for value in element :
            val = (value.xpos, value.ypos, value.orientation)
            if val not in explored:
                fringe.append(value)
    return False