def search(robot): maze = Maze() to_be_explored = Stack() backtrace_directions = Stack() current_square = create_current_square(robot) current_square.neighbors.bottom = False add_moves(robot, to_be_explored, maze) maze.add_square(current_square, robot.x, robot.y) while to_be_explored.size() > 0: current_move = to_be_explored.pop() if (current_move.x, current_move.y) in maze.squares: continue while not move_valid_from_square(current_move, current_square): back_move = backtrace_directions.pop() robot.rotate_to_direction(get_relative_move(Direction.down, back_move.direction)) robot.move_forward() current_square = create_current_square(robot) robot.rotate_to_direction(current_move.direction) robot.move_forward() backtrace_directions.add(current_move) current_square = create_current_square(robot) add_moves(robot, to_be_explored, maze) maze.add_square(current_square, robot.x, robot.y) maze.link_squares() return maze
