From bec25a4e4a5c8efb41fde106079fd24b772c6106 Mon Sep 17 00:00:00 2001
From: s464859 <@>
Date: Thu, 7 Apr 2022 16:43:11 +0200
Subject: [PATCH] naprawiony bfs

---
 classes/bfs.py | 16 ++++++++++------
 1 file changed, 10 insertions(+), 6 deletions(-)

diff --git a/classes/bfs.py b/classes/bfs.py
index d06cf0a..a02c4c3 100644
--- a/classes/bfs.py
+++ b/classes/bfs.py
@@ -14,16 +14,19 @@ class BFS:
     def successor(self, current_position):
         new_nodes = []
         neighbours_list = self.agent.sensor(current_position[0], current_position[1])
+        print(neighbours_list[0])
+        print(neighbours_list[1])
+        print(neighbours_list[2])
 
 
         if neighbours_list[1][0] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
-            new_nodes.append([1 + current_position[0] - 1, 0 + current_position[1] - 1])
+            new_nodes.append([current_position[0] - 1, current_position[1]])
         if neighbours_list[2][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
-            new_nodes.append([2 + current_position[0] - 1, 1 + current_position[1] - 1])
+            new_nodes.append([current_position[0], current_position[1] + 1])
         if neighbours_list[1][2] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
-            new_nodes.append([1 + current_position[0] - 1, 2 + current_position[1] -1])
+            new_nodes.append([current_position[0] + 1, current_position[1]])
         if neighbours_list[0][1] not in ['wall', 'cliff_south', 'cliff_east', 'cliff_north', 'cliff_west']:
-            new_nodes.append([0 + current_position[0] - 1, 1 + current_position[1] - 1])
+            new_nodes.append([current_position[0],current_position[1] - 1])
 
         return new_nodes
 
@@ -70,7 +73,7 @@ class BFS:
                  #break
                  while tmp_node[1].get_parent() is not None:
                      #print('sdfhdfg')
-                     #print(tmp_node[1].get_parent())
+                     #print(tmp_node[1].get_parent()[1].get_position())
                      final_action_list.append(tmp_node[1].get_action())
                      tmp_node = tmp_node[1].get_parent()
                  final_action_list.reverse()
@@ -81,11 +84,12 @@ class BFS:
             explored.append(tmp_node)
 
             neighbours_list_of_our_node = self.successor(tmp_node_position[:2])
-            # print(neighbours_list_of_our_node)
+            print(neighbours_list_of_our_node)
             for node_ in neighbours_list_of_our_node:
                 # jesli pozucja wezla nie jest w fringe i nie jest w explored
                 if [node_[0], node_[1]] not in visited_position and node_[0] >= 0 and node_[1] >=0:
                     counter += 1
+                    print([node_[0], node_[1]])
                     x = node.Node(tmp_node, None, [node_[0], node_[1]])  # action
                     heapq.heappush(fringe, (counter, x))
                     # time.sleep(0.5)