graphserach v0.6.2

FindPath.py

@@ -1,4 +1,18 @@
 from constants import *
+from queue import Queue
+
+
+class Node:
+    def __init__(self, parent: (int, int), index: (int, int)):
+        self.__index = index
+        self.__parent = parent
+
+    def get_index(self):
+        return self.__index
+
+    def get_parent(self):
+        return self.__parent
+
 
 def whichStateLookingFor(tractor, TillageUnit):
     searching_field = "toPlow"
@@ -25,10 +39,9 @@ def nearestLookingField(board, tractor, TillageUnit):
                 end_horizontal_index = field.horizontal_index
                 end_vertical_index = field.vertical_index
                 break
-
     return end_horizontal_index, end_vertical_index
 
-def graphsearch(tractor, board, TillageUnit):
+def graphsearch(tractor, board, TillageUnit, fringe: Queue, explored):
     start_horizontal_index = tractor.horizontal_index
     start_vertical_index = tractor.vertical_index
     start_state = (start_horizontal_index, start_vertical_index)
@@ -36,3 +49,29 @@ def graphsearch(tractor, board, TillageUnit):
     print(start_state)
     print(end_state)
 
+    fringe.put(start_state)
+
+    while True:
+        if fringe.empty():
+            return False
+
+        elem = fringe.get()
+
+        if goaltest(elem, end_state):
+            #TODO
+            return #droga ktora musi pokonac traktor
+
+        explored.append(elem)
+
+
+
+
+def goaltest(elem, end_state):
+    if elem == end_state:
+        return True
+    else:
+        return False
+
+def succ():
+    #TODO
+    return

main.py

@@ -9,6 +9,7 @@ from TractorLoad import TillageUnit
 from animations import animationsOn, animationsOff
 from constants import *
 from manualSteering import manualSteeringDriver
+from queue import Queue
 
 pygame.init()
 
@@ -58,7 +59,7 @@ while working:
 
     clock.tick(FPS)
 
-graphsearch(tractor, board, TillageUnit)
+graphsearch(tractor, board, TillageUnit, Queue(), list())
 
 pygame.quit()
 quit()