void BFS(char * buff, NodeTuple64 root, HANDLE robot) {
        //queue<NodeTuple64> undiscovered;
        done = false;
        map<uint64, uint64>::iterator it;
        WaitForSingleObject(sema, INFINITE);
        WaitForSingleObject(mutex, INFINITE);
        if (Q.empty()){
            cout << "found empty queue..." << endl;
        Q.push(root);
        visited.insert(pair<uint64, uint64>(root.node, root.node));
        }
        ReleaseMutex(mutex);

        while (!done){
            WaitForSingleObject(mutex, INFINITY);
            NodeTuple64 x = Q.front();
            cout << "Current room: " << x.node << endl << "Current intensity: " << x.intensity << endl;
            if (!Q.empty()){
                Q.pop();
            }
            ReleaseMutex(mutex);
            char * neighbors = move(buff, x.node, robot);

            if (endFound(neighbors)) { //Check if current node has len = 0
                return;
            };
            vector<NodeTuple64> rooms = getNeighbors(neighbors);
            WaitForSingleObject(mutex, INFINITE);
            int counter = 0;
            for (int i = 0; i < rooms.size(); i++){
                it = visited.find(rooms[i].node);
                if (it == visited.end()){ //If at end, rooms[i] not found in visited
                    counter ++;
                    Q.push(rooms[i]);
                    visited.insert(pair<uint64, uint64>(rooms[i].node, rooms[i].node));
                }
            }
        ReleaseMutex(mutex);
        ReleaseSemaphore(sema, counter, NULL);
        }
    }