SI_projekt_smieciarka/bfs.py

from house import is_house
import pygame


class Node:
    def __init__(self, pos, direction, parent=None, action=None):
        self.pos = pos
        self.direction = direction
        self.parent = parent
        self.action = action

    def __eq__(self, other):
        if isinstance(other, Node):
            return self.pos[0] == other.pos[0] and self.pos[1] == other.pos[1] and self.direction == other.direction
        return False


def successor(pos, direction, houses):
    neighbours = []
    axis = 0 if direction in [0, 2] else 1
    move = 1 if direction in [0, 1] else -1

    neighbours.append([pos, (direction - 1) % 4, pygame.K_a])
    neighbours.append([pos, (direction + 1) % 4, pygame.K_d])

    if not axis:  # x
        new_pos = [pos[0] + (move * 40), pos[1]]
        if not is_house(new_pos, houses):
            neighbours.append([new_pos, direction, pygame.K_w])

    else:  # y
        new_pos = [pos[0], pos[1] + (move * 40)]
        if not is_house(new_pos, houses):
            neighbours.append([new_pos, direction, pygame.K_w])
    return neighbours


def bfs(pos, direction, end_pos, houses):
    visited = []
    queue = []
    actions = []
    queue.append(Node(pos, direction))

    while queue:
        curr_node = queue.pop(0)

        if not is_house(curr_node.pos, houses) and curr_node.pos == end_pos:
            while curr_node.parent:
                print(curr_node.pos, end_pos)
                actions.append(curr_node.action)
                curr_node = curr_node.parent
            return actions

        visited.append(curr_node)
        for n_pos, n_direction, action in successor(curr_node.pos, curr_node.direction, houses):
            neighbour_node = Node(n_pos, n_direction, curr_node, action)
            if neighbour_node not in visited and neighbour_node not in queue:
                queue.append(neighbour_node)
    return actions