Node.py

class Node:

    def __init__(self, x, y):

        self.x = x
        self.y = y
        self.f = 0
        self.g = 0  # float('inf')
        self.h = 0
        self.neighbors = []
        self.previous = None
        self.obstacle = False
        self.co2 = 0
        self.waiting_time = 0

    def add_neighbors(self, grid, columns, rows):

        neighbor_x = self.x
        neighbor_y = self.y

        if neighbor_x < columns - 1:
            self.neighbors.append(grid[neighbor_x + 1][neighbor_y])
        if neighbor_x > 0:
            self.neighbors.append(grid[neighbor_x - 1][neighbor_y])
        if neighbor_y < rows - 1:
            self.neighbors.append(grid[neighbor_x][neighbor_y + 1])
        if neighbor_y > 0:
            self.neighbors.append(grid[neighbor_x][neighbor_y - 1])
        # diagonals
        """
        if neighbor_x > 0 and neighbor_y > 0:
            self.neighbors.append(grid[neighbor_x-1][neighbor_y-1])
        if neighbor_x < columns -1 and neighbor_y > 0:
            self.neighbors.append(grid[neighbor_x+1][neighbor_y-1])
        if neighbor_x > 0 and neighbor_y <rows -1:
            self.neighbors.append(grid[neighbor_x-1][neighbor_y+1])
        if neighbor_x < columns -1 and neighbor_y < rows -1:
            self.neighbors.append(grid[neighbor_x+1][neighbor_y+1]) 
            """