.gitignore

@@ -2,3 +2,6 @@
 .DS_Store
 /.vscode
 __pycache__
+
+#PyCharm
+.idea/

AI_brain/go_any_direction.py

@@ -14,7 +14,7 @@ class State:
         return self.x == other.x and self.y == other.y
 
 
-class StateGraphSearchBFS:
+class GoAnyDirectionBFS:
     def __init__(self, world: World, start_state: State, goal_state: State):
         self.start_state = start_state
         self.goal_state = goal_state

AI_brain/rotate_and_go_bfs.py

@@ -0,0 +1,83 @@
+import queue
+
+from domain.world import World
+
+
+class State:
+    def __init__(self, x, y, direction=(1, 0)):
+        self.x = x
+        self.y = y
+        self.direction = direction
+
+    def __hash__(self):
+        return hash((self.x, self.y))
+
+    def __eq__(self, other):
+        return (self.x == other.x and self.y == other.y
+                and self.direction == other.direction)
+
+
+class Node:
+    def __init__(self, state: State):
+        self.state = state
+        self.parent = None
+        self.action = None
+
+
+def action_sequence(node: Node):
+    actions = []
+    while node.parent:
+        actions.append(node.action)
+        node = node.parent
+    actions.reverse()
+    return actions
+
+
+class RotateAndGoBFS:
+    def __init__(self, world: World, start_state: State, goal_state: State):
+        self.world = world
+        self.start_state = start_state
+        self.goal_state = goal_state
+        self.fringe = queue.Queue()
+        self.enqueued_states = set()
+        self.explored = set()
+        self.actions = []
+
+    def search(self):
+        self.fringe.put(Node(self.start_state))
+
+        while self.fringe:
+            elem = self.fringe.get()
+            if self.is_goal(elem.state):
+                self.actions = action_sequence(elem)
+                return True
+            self.explored.add(elem.state)
+
+            for (action, state) in self.successors(elem.state):
+                if state in self.explored or state in self.enqueued_states:
+                    continue
+                next_node = Node(state)
+                next_node.action = action
+                next_node.parent = elem
+                self.fringe.put(next_node)
+                self.enqueued_states.add(state)
+
+        return False
+
+    def successors(self, state: State):
+        new_successors = [
+            # rotate right
+            ("RR", State(state.x, state.y, (-state.direction[1], state.direction[0]))),
+            # rotate left
+            ("RL", State(state.x, state.y, (state.direction[1], -state.direction[0]))),
+        ]
+        if self.world.accepted_move(state.x + state.direction[0], state.y + state.direction[1]):
+            new_successors.append(
+                ("GO", State(state.x + state.direction[0], state.y + state.direction[1], state.direction)))
+        return new_successors
+
+    def is_goal(self, state: State) -> bool:
+        return (
+                state.x == self.goal_state.x
+                and state.y == self.goal_state.y
+        )

domain/entities/vacuum.py

@@ -5,6 +5,7 @@ from domain.world import World
 class Vacuum(Entity):
     def __init__(self, x: int, y: int):
         super().__init__(x, y, "VACUUM")
+        self.direction = (1, 0)
         self.battery = 100
         self.cleaning_detergent = 100
         self.container_filling = 0

main.py

@@ -11,7 +11,8 @@ from domain.entities.vacuum import Vacuum
 from domain.entities.docking_station import Doc_Station
 from domain.world import World
 from view.renderer import Renderer
-from AI_brain.movement import StateGraphSearchBFS, State
+# from AI_brain.movement import GoAnyDirectionBFS, State
+from AI_brain.rotate_and_go_bfs import RotateAndGoBFS, State
 
 
 config = configparser.ConfigParser()
@@ -48,36 +49,56 @@ class Main:
         start_state = State(self.world.vacuum.x, self.world.vacuum.y)
         end_state = State(self.world.doc_station.x, self.world.doc_station.y)
 
-        SGS_BFS = StateGraphSearchBFS(self.world, start_state, end_state)
+        # path_searcher = GoAnyDirectionBFS(self.world, start_state, end_state)
-        if not SGS_BFS.search():
+        path_searcher = RotateAndGoBFS(self.world, start_state, end_state)
+        if not path_searcher.search():
             print("No solution")
             exit(0)
 
-        SGS_BFS.actions.reverse()
+        path_searcher.actions.reverse()
         while self.running:
+            for event in pygame.event.get():
+                if event.type == pygame.QUIT:
+                    self.running = False
+
+            if len(path_searcher.actions) > 0:
+                action_direction = path_searcher.actions.pop()
+                # self.handle_action1(action_direction)
+                self.handle_action2(action_direction)
+
+            self.update()
             self.renderer.render(self.world)
             self.clock.tick(5)
-            if len(SGS_BFS.actions) > 0:
+
-                action_direction = SGS_BFS.actions.pop()
+        pygame.quit()
-                if action_direction == "UP":
+
+    def handle_action1(self, action):
+        if action == "UP":
             self.commands.append(
                 VacuumMoveCommand(self.world, self.world.vacuum, (0, -1))
             )
-                elif action_direction == "DOWN":
+        elif action == "DOWN":
             self.commands.append(
                 VacuumMoveCommand(self.world, self.world.vacuum, (0, 1))
             )
-                elif action_direction == "LEFT":
+        elif action == "LEFT":
             self.commands.append(
                 VacuumMoveCommand(self.world, self.world.vacuum, (-1, 0))
             )
-                elif action_direction == "RIGHT":
+        elif action == "RIGHT":
             self.commands.append(
                 VacuumMoveCommand(self.world, self.world.vacuum, (1, 0))
             )
-                self.update()
 
-        pygame.quit()
+    def handle_action2(self, action):
+        if action == "GO":
+            self.commands.append(
+                VacuumMoveCommand(self.world, self.world.vacuum, self.world.vacuum.direction)
+            )
+        elif action == "RR":
+            self.world.vacuum.direction = (-self.world.vacuum.direction[1], self.world.vacuum.direction[0])
+        elif action == "RL":
+            self.world.vacuum.direction = (self.world.vacuum.direction[1], -self.world.vacuum.direction[0])
 
     def process_input(self):
         for event in pygame.event.get():

view/renderer.py

@@ -159,6 +159,7 @@ class Renderer:
                 draw_pos[1] + self.tile_height,
             )
             self.screen.blit(text_surface, text_pos)
+            sprite = self.create_vacuum_sprite(entity)
         if "DOC_STATION" in entity.type:
             draw_pos = (
                 (entity.x - 0.1) * self.tile_width,
@@ -166,6 +167,16 @@ class Renderer:
             )
         self.screen.blit(sprite, draw_pos)
 
+    def create_vacuum_sprite(self, vacuum):
+        angles = {
+            (1, 0): 0,
+            (-1, 0): 180,
+            (0, 1): 270,
+            (0, -1): 90,
+        }
+        init_sprite = self.sprites.get(vacuum.type, None)
+        return pygame.transform.rotate(init_sprite, angles[vacuum.direction])
+
     def draw_sprite(self, x: int, y: int, sprite_name: str):
         self.screen.blit(
             self.sprites[sprite_name], (x * self.tile_width, y * self.tile_height)