From ce698aa14adc2fb3bba33f4f4f06af495478ab62 Mon Sep 17 00:00:00 2001
From: Mateusz Czajka <matcza11@st.amu.edu.pl>
Date: Fri, 12 Apr 2024 22:11:30 +0200
Subject: [PATCH] Made BFS algorithm.

---
 Node.py    |  8 +++++
 Tractor.py | 85 +++++++++++++++++++++++++++++++++++++++++++++++++++++-
 2 files changed, 92 insertions(+), 1 deletion(-)
 create mode 100644 Node.py

diff --git a/Node.py b/Node.py
new file mode 100644
index 0000000..cc88608
--- /dev/null
+++ b/Node.py
@@ -0,0 +1,8 @@
+class Node:
+    state = None #[{stan}]
+    parent = None #[Node]
+    action = None #[Forward/Right/Left]
+
+    def __init__(self, state):
+        self.state = state
+
diff --git a/Tractor.py b/Tractor.py
index 84710b9..b4f9598 100644
--- a/Tractor.py
+++ b/Tractor.py
@@ -4,6 +4,88 @@ import random
 import displayControler as dCon
 import Slot
 import Osprzet
+import Node
+
+
+
+def goalTest(hIndex):
+    for i in list(hIndex.values()):
+        if i == 0:
+            return False
+    return True
+
+
+def succ(state):
+    resp = []
+    hIndex = state["hydradeIndex"].copy()
+
+    if state["direction"] == "N":
+        if state["y"] > 0:
+            if hIndex[state["x"], state["y"]-1] == 0:
+                hIndex[state["x"], state["y"] - 1] = 1
+            resp.append(["forward", {'x': state["x"], 'y': state["y"]-1, 'direction': state["direction"], 'hydradeIndex': hIndex}])
+        resp.append(["right", {'x': state["x"], 'y': state["y"], 'direction': "E", 'hydradeIndex': state["hydradeIndex"].copy()}])
+        resp.append(["left", {'x': state["x"], 'y': state["y"], 'direction': "W", 'hydradeIndex': state["hydradeIndex"].copy()}])
+    elif state["direction"] == "S":
+        if state["y"] < dCon.NUM_Y-1:
+            if hIndex[state["x"], state["y"]+1] == 0:
+                hIndex[state["x"], state["y"] + 1] = 1
+            resp.append(["forward", {'x': state["x"], 'y': state["y"]+1, 'direction': state["direction"], 'hydradeIndex': hIndex}])
+        resp.append(["right", {'x': state["x"], 'y': state["y"], 'direction': "W", 'hydradeIndex': state["hydradeIndex"].copy()}])
+        resp.append(["left", {'x': state["x"], 'y': state["y"], 'direction': "E", 'hydradeIndex': state["hydradeIndex"].copy()}])
+    elif state["direction"] == "E":
+        if state["x"] < dCon.NUM_X-1:
+            if hIndex[state["x"]+1, state["y"]] == 0:
+                hIndex[state["x"] + 1, state["y"]] = 1
+            resp.append(["forward", {'x': state["x"]+1, 'y': state["y"], 'direction': state["direction"], 'hydradeIndex': hIndex}])
+        resp.append(["right", {'x': state["x"], 'y': state["y"], 'direction': "S", 'hydradeIndex': state["hydradeIndex"].copy()}])
+        resp.append(["left", {'x': state["x"], 'y': state["y"], 'direction': "N", 'hydradeIndex': state["hydradeIndex"].copy()}])
+    else: #state["direction"] == "W"
+        if state["x"] > 0:
+            if hIndex[state["x"]-1, state["y"]] == 0:
+                hIndex[state["x"] - 1, state["y"]] = 1
+            resp.append(["forward", {'x': state["x"]-1, 'y': state["y"], 'direction': state["direction"], 'hydradeIndex': hIndex}])
+        resp.append(["right", {'x': state["x"], 'y': state["y"], 'direction': "N", 'hydradeIndex': state["hydradeIndex"].copy()}])
+        resp.append(["left", {'x': state["x"], 'y': state["y"], 'direction': "S", 'hydradeIndex': state["hydradeIndex"].copy()}])
+
+    return resp
+
+
+def check(tab, state):
+    for i in tab:
+        if i.state == state:
+            return False
+    return True
+
+
+def BFS(istate):
+    fringe = []
+    explored = []
+
+    x = Node.Node(istate)
+    fringe.append(x)
+
+    while True:
+        if fringe == []:
+            return False
+
+        elem = fringe.pop(0)
+
+        if goalTest(elem.state["hydradeIndex"]):
+            return elem #TODO ciąg akcji zbudowany z wykorzystaniem pól parent i action
+
+        explored.append(elem)
+
+        for resp in succ(elem.state):
+            if check(fringe, resp[1]) and check(explored, resp[1]):
+                x = Node.Node(resp[1])
+                x.parent = elem
+                x.action = resp[0]
+                fringe.append(x)
+
+
+
+
 
 class Tractor:
     DIRECTION_NORTH = 'N'
@@ -100,4 +182,5 @@ class Tractor:
             for akcja in self.osprzet.akcje:
                 print("- Typ:", akcja.typ)
         else:
-            print("Brak akcji przypisanych do tego sprzętu.")
\ No newline at end of file
+            print("Brak akcji przypisanych do tego sprzętu.")
+