From 7df7885cbff5a2d0e04df105064bcce8f2372108 Mon Sep 17 00:00:00 2001
From: Dawid Pylak <dawpylak@gmail.com>
Date: Thu, 7 Apr 2022 13:06:25 +0200
Subject: [PATCH] fixed bfs algorythm 2

---
 src/utils/bfs.py | 32 +++++++++++++++++---------------
 1 file changed, 17 insertions(+), 15 deletions(-)

diff --git a/src/utils/bfs.py b/src/utils/bfs.py
index 06083c5..05e1e93 100644
--- a/src/utils/bfs.py
+++ b/src/utils/bfs.py
@@ -5,6 +5,7 @@ class Node:
     def __init__(self, current_x, current_y, agent_direction, action=None, parent=None):
         self.current_x = current_x
         self.current_y = current_y
+        self.state = tuple([self.current_x, self.current_y])
         self.action = action
         self.parent = parent
         self.agent_direction = agent_direction
@@ -39,7 +40,7 @@ class Node:
 
             neighbours.append((actions, (x - 1, y), C.LEFT))
 
-        if y > 0:  # upper neighbour
+        if y < 9:  # upper neighbour
             if self.agent_direction == C.RIGHT:
                 actions = [C.ROTATE_LEFT, C.MOVE]
             elif self.agent_direction == C.LEFT:
@@ -49,9 +50,9 @@ class Node:
             elif self.agent_direction == C.DOWN:
                 actions = [C.ROTATE_LEFT, C.ROTATE_LEFT, C.MOVE]
 
-            neighbours.append((actions, (x, y - 1), C.UP))
+            neighbours.append((actions, (x, y + 1), C.UP))
 
-        if y < 9:  # down neighbour
+        if y > 0:  # down neighbour
             if self.agent_direction == C.RIGHT:
                 actions = [C.ROTATE_RIGHT, C.MOVE]
             elif self.agent_direction == C.LEFT:
@@ -61,10 +62,12 @@ class Node:
             elif self.agent_direction == C.DOWN:
                 actions = C.MOVE
 
-            neighbours.append((actions, (x, y + 1), C.DOWN))
-
+            neighbours.append((actions, (x, y - 1), C.DOWN))
         return neighbours
 
+    def __str__(self):
+        return self.state + ' ' + self.parent
+
 
 class BFSSearcher:
 
@@ -73,30 +76,27 @@ class BFSSearcher:
         self.explored_states = []
         self.path = []
 
-    def search(self, first_state: tuple, goal, agent_direction):
+    def search(self, first_state: tuple, goal: tuple, agent_direction: list):
         self.fringe.append(Node(first_state[0], first_state[1], agent_direction))
 
         while True:
             if not self.fringe:
                 return False
-            element = self.fringe.pop(0)
+            element: Node = self.fringe.pop(0)
 
             if element.state == goal:
                 return self.__state_eq_goal_action(element)
 
             self.explored_states.append(element)
-
-            for action, state, direction in element.succesor():
+            for action, state, direction in element.successor():
                 fringe_states = []
                 explored_states = []
                 for node in self.fringe:
                     fringe_states.append(node.state)
                 for node in self.explored_states:
-                    explored_states.append(node)
-                if state not in fringe_states and state not in explored_states:
-                    x = Node(state[0], state[1], direction)
-                    x.parent = element
-                    x.action = action
+                    explored_states.append(node.state)
+                if (state not in fringe_states) and (state not in explored_states):
+                    x = Node(state[0], state[1], direction, action, element)
                     self.fringe.append(x)
 
     def __state_eq_goal_action(self, current_element: Node):
@@ -107,5 +107,7 @@ class BFSSearcher:
                     self.path.append(action)
             else:
                 self.path.append(current_element.action)
+            current_element = current_element.parent
 
-        return self.path.reverse()
+        self.path.reverse()
+        return self.path