From 2a3e6b006a48cb1eb6b108a4974fbce8a546ca1f Mon Sep 17 00:00:00 2001
From: s473561 <wikgrz12@st.amu.edu.pl>
Date: Thu, 20 Apr 2023 23:16:34 +0200
Subject: [PATCH] modified the bfs search - prints path

---
 __pycache__/etykieta.cpython-311.pyc      | Bin 0 -> 1302 bytes
 __pycache__/main.cpython-311.pyc          | Bin 0 -> 4403 bytes
 __pycache__/paczka.cpython-311.pyc        | Bin 0 -> 2703 bytes
 __pycache__/regal.cpython-311.pyc         | Bin 0 -> 3257 bytes
 __pycache__/wozek.cpython-311.pyc         | Bin 0 -> 3444 bytes
 __pycache__/wyszukiwanie.cpython-311.pyc  | Bin 0 -> 4363 bytes
 __pycache__/wyszukiwanie1.cpython-311.pyc | Bin 0 -> 4324 bytes
 main.py                                   | 109 ++++++++++------------
 wozek.py                                  |   5 +-
 wyszukiwanie.py                           |  32 ++++---
 10 files changed, 72 insertions(+), 74 deletions(-)
 create mode 100644 __pycache__/etykieta.cpython-311.pyc
 create mode 100644 __pycache__/main.cpython-311.pyc
 create mode 100644 __pycache__/paczka.cpython-311.pyc
 create mode 100644 __pycache__/regal.cpython-311.pyc
 create mode 100644 __pycache__/wozek.cpython-311.pyc
 create mode 100644 __pycache__/wyszukiwanie.cpython-311.pyc
 create mode 100644 __pycache__/wyszukiwanie1.cpython-311.pyc

diff --git a/__pycache__/etykieta.cpython-311.pyc b/__pycache__/etykieta.cpython-311.pyc
new file mode 100644
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diff --git a/main.py b/main.py
index f5e571c..ba6e036 100644
--- a/main.py
+++ b/main.py
@@ -3,7 +3,8 @@ import pygame
 import regal
 import paczka
 from wozek import Wozek
-import wyszukiwanie
+from wyszukiwanie import wyszukiwanie_bfs, Stan, SearchSpace
+
 
 pygame.init()
 screen = pygame.display.set_mode((980, 980))
@@ -22,75 +23,65 @@ def main():
                 sys.exit(0)
             if event.type == pygame.KEYDOWN and event.key == pygame.K_ESCAPE:
                 sys.exit(0)
+    
+        grid = SearchSpace()
+        # create start and goal states
+        start_state = Stan(x=0, y=0, kierunek=0)  # for example
+        goal_state = Stan(x=0, y=1, kierunek=0)  # for example
 
-            if event.type == pygame.MOUSEBUTTONDOWN:
-                # lewy przycisk myszy
-                if event.button == 1:
-                    x = pygame.mouse.get_pos()[0]
-                    y = pygame.mouse.get_pos()[1]
+        # perform BFS search
+        path = wyszukiwanie_bfs(start_state, goal_state, grid)
 
-                    docelowy_stan = wyszukiwanie.Stan(x, y, 0)
-                    # print(f'{docelowy_stan.x} + {docelowy_stan.y}')
-                    wyszukiwanie.wyszukiwanie_bfs(wozek.obecnyStan, docelowy_stan)
+        # print the path, if found
+        if path:
+            for p in path:
+                print(p.x, p.y)
+            print("Path found:", path)
+        else:
+            print("No path found.")
 
-            if event.type == pygame.KEYDOWN:
-                if event.key == pygame.K_DOWN:
-                    wozek.y_change = 1
-                if event.key == pygame.K_UP:
-                    wozek.y_change = -1
-                if event.key == pygame.K_RIGHT:
-                    wozek.x_change = 1
-                if event.key == pygame.K_LEFT:
-                    wozek.x_change = -1
+        for state in path:
+            pygame.time.delay(200)
+            wozek.x = state.x
+            wozek.y = state.y
+            for event in pygame.event.get():
+                if event.type == pygame.QUIT:
+                    sys.exit(0)
+                if event.type == pygame.KEYDOWN and event.key == pygame.K_ESCAPE:
+                    sys.exit(0)
 
-            if event.type == pygame.KEYUP:
-                if event.key == pygame.K_DOWN or event.key == pygame.K_UP:
-                    wozek.y_change = 0
-                if event.key == pygame.K_RIGHT or event.key == pygame.K_LEFT:
-                    wozek.x_change = 0
 
-        wozek.x += wozek.x_change
-        wozek.y += wozek.y_change
+                # Drawing
+            screen.fill((51,51,51))  # removes object trail
+            screen.blit(miejsce, (430, 400))
 
-        if wozek.x <= 0:
-            wozek.x = 0
-        elif wozek.x >= 916:
-            wozek.x = 916
-        if wozek.y <= 0:
-            wozek.y = 0
-        elif wozek.x >= 916:
-            wozek.x = 916
+                # idRegału, Długość regału podana w kratkach, Współrzędne od których ma być tworzony regał (wiersz,kolumna) - poziomo
+                # Współrzędne od (1,1) do (10,10)
+            regal.Regal(1, 1, 2, 2)
+            regal.Regal(2, 1, 2, 3)
+            regal.Regal(3, 1, 3, 2)
+            regal.Regal(4, 1, 3, 3)
+            
+            regal.Regal(5, 1, 8, 2)
+            regal.Regal(6, 1, 8, 3)
+            regal.Regal(7, 1, 9, 2)
+            regal.Regal(8, 1, 9, 3)
 
-        # Drawing
-        screen.fill((51, 51, 51))  # removes object trail
-        screen.blit(miejsce, (430, 400))
+            regal.Regal(9, 1, 2, 8)
+            regal.Regal(10, 1, 2, 9)
+            regal.Regal(11, 1, 3, 8)
+            regal.Regal(12, 1, 3, 9)
 
-        # idRegału, Długość regału podana w kratkach, Współrzędne od których ma być tworzony regał (wiersz,kolumna) - poziomo
-        # Współrzędne od (1,1) do (10,10)
-        regal.Regal(1, 1, 2, 2)
-        regal.Regal(2, 1, 2, 3)
-        regal.Regal(3, 1, 3, 2)
-        regal.Regal(4, 1, 3, 3)
+            regal.Regal(13, 1, 8, 8)
+            regal.Regal(14, 1, 8, 9)
+            regal.Regal(15, 1, 9, 8)
+            regal.Regal(16, 1, 9, 9)
 
-        regal.Regal(5, 1, 8, 2)
-        regal.Regal(6, 1, 8, 3)
-        regal.Regal(7, 1, 9, 2)
-        regal.Regal(8, 1, 9, 3)
+            wozek.draw()
 
-        regal.Regal(9, 1, 2, 8)
-        regal.Regal(10, 1, 2, 9)
-        regal.Regal(11, 1, 3, 8)
-        regal.Regal(12, 1, 3, 9)
-
-        regal.Regal(13, 1, 8, 8)
-        regal.Regal(14, 1, 8, 9)
-        regal.Regal(15, 1, 9, 8)
-        regal.Regal(16, 1, 9, 9)
-
-        wozek.draw()
-
-        pygame.display.flip()  # updating frames
+            pygame.display.flip()  # updating frames
 
 
 if __name__ == "__main__":
     main()
+
diff --git a/wozek.py b/wozek.py
index a80f19c..880c081 100644
--- a/wozek.py
+++ b/wozek.py
@@ -1,7 +1,5 @@
 import pygame
 
-
-
 # screen nie działa
 
 class Wozek():
@@ -51,7 +49,8 @@ class Wozek():
 
     def __zainicjuj_stan_poczatkowy(self):
         from wyszukiwanie import Stan
-        self.obecnyStan = Stan(55, 55, 3)
+        # self.obecnyStan = Stan(55, 55, 3)
+        self.obecnyStan = Stan(0, 0, 3)
 
     # def ustaw_wozek_w_kierunku(self, kierunek):
     # TODO
diff --git a/wyszukiwanie.py b/wyszukiwanie.py
index 9c1e4ee..bdd5101 100644
--- a/wyszukiwanie.py
+++ b/wyszukiwanie.py
@@ -1,17 +1,25 @@
+class SearchSpace:
+    def __init__(self):
+        self.grid = [['1']*10 for _ in range(10)]  # create a 10x10 grid of cells
+        for r, c in [(2,2), (2,3), (3,2), (3,3), (8,2), (8,3), (9,2), (9,3),
+                     (2,8), (2,9), (3,8), (3,9), (8,8), (8,9), (9,8), (9,9)]:
+            self.grid[r][c] = 'X'  # set the cells with a shelf to not passable
+
+    def is_passable(self, x, y):
+        return 0 <= x < 10 and 0 <= y < 10 and self.grid[y][x] != 'X'
+    
 class Stan:
     def __init__(self, x, y, kierunek):
         self.x = x
         self.y = y
         self.kierunek = kierunek
 
-
 class Wezel:
     def __init__(self, stan):
         self.stan = stan
 
-
-def poprzednik(wezel):
-    # gora -> prawo -> dol -> lewo          | obrot w prawo
+def poprzednik(wezel, search_space):
+ # gora -> prawo -> dol -> lewo          | obrot w prawo
     # gora -> lewo -> dol -> prawo          | obrot w lewo
     # 0 gora 1 prawo 2 dol 3 lewo
     y = wezel.stan.x
@@ -37,23 +45,23 @@ def poprzednik(wezel):
 
     return wezly
 
-
-def wyszukiwanie_bfs(stan_poczatkowy, stan_docelowy):
+def wyszukiwanie_bfs(stan_poczatkowy, stan_docelowy, search_space):
     pierwszy_wezel = Wezel(stan_poczatkowy)
     fringe = [pierwszy_wezel]
-
-    odwiedzone = list()
+    
+    odwiedzone = set()
 
     while fringe:
-        # kolejka
         wezel = fringe.pop(0)
 
         if stan_docelowy.x == wezel.stan.x and stan_docelowy.y == wezel.stan.y:
             return odwiedzone
 
-        odwiedzone.append(wezel)
+        odwiedzone.add(wezel.stan)
 
-        for stan in poprzednik(wezel):
-            if wezel not in fringe and stan not in odwiedzone:
+        for stan in poprzednik(wezel, search_space):
+            if stan not in odwiedzone:
                 nowy_wezel = Wezel(stan)
                 fringe.append(nowy_wezel)
+                odwiedzone.add(stan)
+    return odwiedzone