def init_nodes(self):
ends = []
forks_before_lights = []
forward_right_lights = []
left_backward_lights = []
forks_after_lights = []
for i in range(4):
dest = Node(i * 2, NodeType.basic)
ends.append(dest)
src = Node(i * 2 + 1, NodeType.basic)
ends.append(src)
for i in range(4):
src_fork_before_lights = Node(i + 8, NodeType.fork)
ends[i*2+1].add_edge(src_fork_before_lights, 1000)
forks_before_lights.append(src_fork_before_lights)
forward_right_light = Node(i + 12, NodeType.traffic_light)
src_fork_before_lights.add_edge(forward_right_light, 50)
left_backward_light = Node(i + 16, NodeType.traffic_light)
src_fork_before_lights.add_edge(left_backward_light, 50)
left_backward_lights.append(left_backward_light)
forward_right_lights.append(forward_right_light)
forward_right_fork = Node(i + 20, NodeType.fork)
forward_right_light.add_edge(forward_right_fork, 50)
forward_right_fork.add_edge(ends[(i*2 + 4) % len(ends)], 1000)
forward_right_fork.add_edge(ends[(i*2 + 2) % len(ends)], 1000)
left_backward_fork = Node(i + 24, NodeType.fork)
left_backward_light.add_edge(left_backward_fork, 50)
left_backward_fork.add_edge(ends[(i*2+6) % len(ends)], 1000)
left_backward_fork.add_edge(ends[(i*2) % len(ends)], 1000)
forks_after_lights.append(left_backward_fork)
forks_after_lights.append(forward_right_fork)
# start_node = Node(1, NodeType.basic)
#
# fork_node = Node(2, NodeType.fork)
# start_node.add_edge(fork_node, 50)
#
# left_node = Node(3, NodeType.basic)
# fork_node.add_edge(left_node, 50)
# right_node = Node(4, NodeType.basic)
# fork_node.add_edge(right_node, 50)
return ends