From 1d9a07a7ceb25c5afba354cccd3e1e88ec3b25ec Mon Sep 17 00:00:00 2001
From: s452645 <bargro6@st.amu.edu.pl>
Date: Wed, 14 Apr 2021 23:45:34 +0200
Subject: [PATCH] created bfs.py scaffolding

---
 project_constants.py             | 20 ++++++++
 searching_algorithms/__init__.py |  0
 searching_algorithms/bfs.py      | 86 ++++++++++++++++++++++++++++++++
 3 files changed, 106 insertions(+)
 create mode 100644 searching_algorithms/__init__.py
 create mode 100644 searching_algorithms/bfs.py

diff --git a/project_constants.py b/project_constants.py
index 828a2f7..655de4d 100644
--- a/project_constants.py
+++ b/project_constants.py
@@ -1,5 +1,6 @@
 import pygame
 import os
+from enum import Enum
 
 # VARIABLE STARTS WITH ... IF IT'S
 # V         a value like a string or an int
@@ -29,6 +30,25 @@ SCREEN = pygame.display.set_mode(
     )
 )
 
+
+# =============== #
+# ==== ENUMS ==== #
+# =============== #
+
+
+class Direction(Enum):
+    UP = 1
+    LEFT = 2
+    RIGHT = 3
+    DOWN = 4
+
+
+class Action(Enum):
+    ROTATE_LEFT = 1
+    ROTATE_RIGHT = 2
+    GO = 3
+
+
 # =============== #
 # === STRUCTS === #
 # =============== #
diff --git a/searching_algorithms/__init__.py b/searching_algorithms/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/searching_algorithms/bfs.py b/searching_algorithms/bfs.py
new file mode 100644
index 0000000..a81897f
--- /dev/null
+++ b/searching_algorithms/bfs.py
@@ -0,0 +1,86 @@
+from __future__ import annotations
+from typing import List, Set
+
+from project_constants import Direction, Action
+
+# temporary goal for testing
+GOAL = (10, 10)
+
+
+class State:
+    def __init__(self, row, column, direction: Direction):
+        self.row = row
+        self.column = column
+        self.direction = direction
+
+
+class Node:
+    def __init__(self, state: State, parent: Node = None, action: Action = None):
+        self.state = state
+        self.parent = parent
+        self.action = action
+
+
+def goal_test(state: State):
+    if (state.row, state.column) == GOAL:
+        return True
+    return False
+
+
+# TODO: depends od Agent Class (rotate/go implementation)
+def get_successors(state: State):
+    successors = list()
+
+    # state_left = get Agent State after rotate_left()
+    # successors.add("rotate_left", state_left)
+
+    # state_right = get Agent State after rotate_right()
+    # successors.add("rotate_right", state_right)
+
+    # target = get Agent position after go()
+    # if is_valid_move(target):
+    # state_go = Agent State after go()
+    # successors.add("go", state_go)
+
+    return successors
+
+
+def graphsearch(fringe: List[Node], explored: Set[Node], initial_state: State):
+
+    fringe.append(Node(initial_state))
+
+    while True:
+        # fringe empty -> solution not found
+        if not len(fringe):
+            return False
+
+        element = fringe.pop(0)
+
+        # solution found, prepare and return actions sequence
+        if goal_test(element.state):
+            actions_sequence = list()
+            parent = element.parent
+
+            while parent is not None:
+                # root's action will be None, don't add it
+                if parent.action is not None:
+                    actions_sequence.append(parent.action)
+                parent = parent.parent
+
+            return actions_sequence.reverse()
+
+        explored.add(element)
+
+        for successor in get_successors(element.state):
+            # either me or the pseudocode is dumb
+            # somebody has to verify it
+            fringe_states = [el.state for el in fringe]
+            explored_states = [el.state for el in explored]
+
+            if successor.state not in fringe_states and \
+                    successor.state not in explored_states:
+
+                new_node = Node(state=successor.state,
+                                parent=element,
+                                action=successor.action)
+                fringe.append(new_node)