From c21203fb72a64f4d5e3bbfd15a44b0fdf3d980f3 Mon Sep 17 00:00:00 2001
From: Cezary Adamczak <cezada@st.amu.edu.pl>
Date: Mon, 21 Jun 2021 14:14:44 +0200
Subject: [PATCH] Zaktualizuj 'node.py'

---
 node.py | 56 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 56 insertions(+)

diff --git a/node.py b/node.py
index 3c1ee8b..0747927 100644
--- a/node.py
+++ b/node.py
@@ -137,10 +137,12 @@ class Node:
             closedList.append(currentNode)
 
             if currentNode.field[currentNode.position[0]][currentNode.position[1]].planted and \
+                currentNode.field[currentNode.position[0]][currentNode.position[1]].field_type == "soil" and \
                     currentNode.field[currentNode.position[0]][currentNode.position[1]].hydration < 2:
                 path = []
                 for _ in range(currentNode.field[currentNode.position[0]][currentNode.position[1]].hydration, 4):
                     path.append("hydrate")
+                path.append("fertilize")
                 current = currentNode
                 while current is not None:
                     path.append(current.action)
@@ -174,3 +176,57 @@ class Node:
                     continue
 
                 heapq.heappush(openList, child)
+
+    def findPathToPlantSpot(self, goals):
+        startNode = Node(self.field, self.position, self.rotation)
+
+        openList = []
+        closedList = []
+
+        startNode.parent = None
+
+        heapq.heappush(openList, startNode)
+
+        while len(openList) > 0:
+            currentNode = heapq.heappop(openList)
+
+            closedList.append(currentNode)
+
+            if not currentNode.field[currentNode.position[0]][currentNode.position[1]].planted and \
+                    goals[currentNode.position[0]][currentNode.position[1]] != "":
+                path = []
+                path.append("plant")
+                current = currentNode
+                while current is not None:
+                    path.append(current.action)
+                    current = current.parent
+                return path[::-1]
+
+            children = succesor(currentNode)
+
+            perm = 0
+            for child in children:
+                for closedChild in closedList:
+                    if child.position == closedChild.position and child.rotation == closedChild.rotation and child.action == closedChild.action:
+                        perm = 1
+                        break
+                if perm == 1:
+                    perm = 0
+                    continue
+                child.parent = currentNode
+                child.startCost = currentNode.startCost + child.field[child.position[0]][child.position[1]].moveCost
+                child.heuristic = abs(startNode.position[0] - child.position[0]) + abs(
+                    startNode.position[1] - child.position[1])
+                child.totalCost = child.startCost + child.heuristic
+
+                for openNode in openList:
+                    if child.position == openNode.position and child.rotation == openNode.rotation and child.action == openNode.action and child.startCost >= openNode.startCost:
+                        perm = 1
+                        break
+
+                if perm == 1:
+                    perm = 0
+                    continue
+
+                heapq.heappush(openList, child)
+