From be6481745adb9b33aaceed58901f1cc3e247babc Mon Sep 17 00:00:00 2001
From: matixezor <matixezor10@interia.pl>
Date: Sat, 10 Apr 2021 12:12:06 +0200
Subject: [PATCH] implement successor and bfs

---
 src/BFS.py | 50 ++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 50 insertions(+)
 create mode 100644 src/BFS.py

diff --git a/src/BFS.py b/src/BFS.py
new file mode 100644
index 0000000..82de383
--- /dev/null
+++ b/src/BFS.py
@@ -0,0 +1,50 @@
+import queue
+from typing import Tuple, List
+
+from Node import Node
+from tile import Tile
+from const import DIRECTIONS_X, DIRECTIONS_Y
+
+
+def successor(x: int, y: int):
+    neighbours = []
+    for i in range(4):
+        neighbour_x = x + DIRECTIONS_X[i]
+        neighbour_y = y + DIRECTIONS_Y[i]
+
+        if 0 <= neighbour_x <= 9 and 0 <= neighbour_y <= 9:
+            neighbours.append((neighbour_x, neighbour_y))
+
+    return neighbours
+
+
+def breadth_first_search(field: List[Tile], start_x: int, start_y: int, goal: Tuple[int]):
+    # TODO
+    # 1. Implementacja akcji (zapisywanie tego co robot musi zrobić by przejść z jednego node do drugiego)
+    # 2. Wypisanie drogi razem z akcjami
+    explored = [(start_x, start_y)]
+    node_queue = queue.SimpleQueue()
+    node_queue.put(Node(start_x, start_y))
+
+    while not node_queue.empty():
+        node = node_queue.get()
+
+        if (node.x, node.y) == goal:
+            path = []
+            print(explored)
+            while node.parent:
+                path.append((node.x, node.y))
+                node = node.parent
+            print(path[::-1])
+            return True
+
+        for x, y in successor(node.x, node.y):
+            if field[y][x].number in (2, 3):
+                continue
+            elif (x, y) in explored:
+                continue
+            explored.append((x, y))
+            neighbour_node = Node(x, y, node)
+            node_queue.put(neighbour_node)
+
+    return False