def setUp(self):
self.example_width = 5
self.example_height = 5
self.base_grid_example = BaseGrid(width=self.example_width,
height=self.example_height)
print("setup")
self.block_tile = Tile(TileType.BLOCK)
self.obstacle_tile = Tile(TileType.OBSTACLE)
self.block_tile_coordinates = Coordinates(1, 1)
self.obstacle_tile_coordinates = Coordinates(3, 3)
def create_simulation(parent, controller):
robots: List[Robot] = list()
how_many_robots = controller.number_of_robots
robots_pos: List[Coordinates] = list()
id = 10000
for pos in robots_pos_set:
id += 1
robot = Robot(Direction.UP)
robot.id = id
robots.append(robot)
robots_pos.append(pos)
base_grid = BaseGrid(goal_building.width, goal_building.height)
base_grid.add_tile_to_grid(Tile(TileType.SOURCE),
Coordinates(0, 0))
base_grid.add_tile_to_grid(Tile(TileType.SOURCE),
Coordinates(goal_building.width - 1, 0))
base_grid.add_tile_to_grid(
Tile(TileType.SOURCE),
Coordinates(goal_building.width - 1, goal_building.height - 1))
base_grid.add_tile_to_grid(
Tile(TileType.SOURCE), Coordinates(0,
goal_building.height - 1))
shared_grid_access = SharedGridAccess(base_grid, manager=Manager())
spin = Spin.ANTI_CLOCKWISE
goal_to_edges_splitter = GoalToEdgesXSplitter(goal_building, spin)
robot_executors: List[RobotExecutor] = list()
for i in range(how_many_robots):
robot_executors.append(
SpiralRobotExecutor(
robot=robots[i],
shared_grid_access=shared_grid_access,
goal_building=goal_building,
goal_to_edges_splitter=goal_to_edges_splitter,
spin=spin,
start_offset=i,
robot_coordinates=robots_pos[i],
sleep_tick_seconds=0))
with shared_grid_access.grid_lock_sync as grid:
for i in range(how_many_robots):
grid.add_tile_to_grid(robots[i], robots_pos[i])
controller.robot_executors = robot_executors
controller.shared_grid_access = shared_grid_access
controller.goal_building = goal_building
for robot_executor in controller.robot_executors:
robot_executor.start_working()
controller.show_frame(GridWindow(parent, controller))
def test_validate(self):
base_grid = BaseGrid(5, 4)
base_grid.add_tile_to_grid(Tile(TileType.BLOCK), Coordinates(1, 1))
base_grid.add_tile_to_grid(Tile(TileType.BLOCK), Coordinates(2, 2))
base_grid.add_tile_to_grid(Tile(TileType.BLOCK), Coordinates(3, 1))
base_grid.add_tile_to_grid(Tile(TileType.BLOCK), Coordinates(4, 0))
goal_building = GoalBuilding2D(self.text_grid)
assert goal_building.validate_grid(base_grid)
base_grid.add_tile_to_grid(Tile(TileType.BLOCK), Coordinates(3, 3))
assert not goal_building.validate_grid(base_grid)
base_grid.pop_tile_from_grid(Coordinates(3, 3))
assert goal_building.validate_grid(base_grid)
base_grid.remove_tile_from_grid(Coordinates(2, 2))
assert not goal_building.validate_grid(base_grid)
print(str(goal_building))
def try_get_block(self, direction: Direction) -> HitInformation:
hit_information = self.shared_grid_access.try_get_block(
self.robot, direction)
RobotSharedActionsExecutor._hit_error_validator(hit_information)
if hit_information.hit_type == HitType.GOT_BLOCK:
self.robot.update_from_robot(hit_information.updated_robot)
elif hit_information.hit_type == HitType.BLOCK:
self.private_grid.add_tile_to_grid(
Tile(TileType.BLOCK),
self._get_robot_neighbour_coordinates(direction))
elif hit_information.hit_type == HitType.OBSTACLE:
self.private_grid.add_tile_to_grid(
Tile(TileType.OBSTACLE),
self._get_robot_neighbour_coordinates(direction))
return hit_information
def test_put_block(self):
base_grid = BaseGrid(5, 5)
robot = Robot(Direction.UP)
robot_coordinates = Coordinates(4, 4)
inner_block = Tile(TileType.BLOCK)
robot.take_block(inner_block)
base_grid.add_tile_to_grid(robot, robot_coordinates)
shared_grid_access = SharedGridAccess(base_grid, Manager())
h_info = shared_grid_access.try_put_block(robot, Direction.UP)
assert h_info.hit_type == HitType.ERROR
assert isinstance(h_info.inner_error, OutOfBoundCoordinatesError)
h_info = shared_grid_access.try_put_block(robot, Direction.LEFT)
assert h_info.hit_type == HitType.ERROR
assert isinstance(h_info.inner_error, WrongBlockPutDirection)
h_info = shared_grid_access.try_rotate_robot(robot, Direction.LEFT)
assert h_info.hit_type == HitType.ROTATED
robot.rotate_to_direction(Direction.LEFT)
h_info = shared_grid_access.try_put_block(robot, Direction.LEFT)
assert h_info.hit_type == HitType.PLACED_BLOCK
inner_block = robot.pop_block()
h_info = shared_grid_access.try_move_robot(robot, Direction.LEFT)
assert h_info.hit_type == HitType.BLOCK
assert isinstance(h_info.inner_error, TileTakenException)
assert inner_block == h_info.inner_error.get_tile()
def get_coord_from_tile(self, tile: Tile) -> Coordinates:
coordinates = self.coordinates_from_index.get(tile.get_id())
if coordinates is None:
raise TileNotExistsException("tile: (" + str(tile) +
") was not added")
# print("coord from tile: ", tile, "was", coordinates)
return coordinates.copy()
def test_single_robot_finish_single_block_goal(self):
goal_building = GoalBuilding2D("""
0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 1 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0
""")
robot = Robot(Direction.UP)
robot.take_block(Tile(TileType.BLOCK))
line_start_coordinates = Coordinates(0, 3)
base_grid = BaseGrid(goal_building.width, goal_building.height)
base_grid.add_tile_to_grid(robot, line_start_coordinates)
shared_grid_access = SharedGridAccess(base_grid, manager=Manager())
shared_actions_executor = RobotSharedActionsExecutor(
robot=robot,
shared_grid_access=shared_grid_access,
private_grid=shared_grid_access.get_private_copy(),
robot_coordinates=line_start_coordinates.copy())
line_scanner_executor = LineScannerExecutor(
shared_actions_executor=shared_actions_executor)
line_to_middle = LineToMiddle(
start_coordinates=line_start_coordinates.copy(),
direction=Direction.RIGHT,
block_line=map(bool, [0, 0, 0, 0, 1]))
line_scanner_executor.scan_line(line=line_to_middle)
grid = shared_grid_access.get_private_copy()
assert line_to_middle.is_finished()
assert goal_building.validate_grid(grid)
assert grid.get_coord_from_tile(robot) == line_start_coordinates
def _put_block_on_map(self, line: LineToMiddle) -> Coordinates:
placed_block_position = line.place_block()
try:
self.private_grid.add_tile_to_grid(Tile(TileType.BLOCK),
placed_block_position)
except Exception as e:
print(f"WARNING: {e}")
return placed_block_position
def try_put_block(self, direction: Direction) -> HitInformation:
hit_information = self.shared_grid_access.try_put_block(
self.robot, direction)
RobotSharedActionsExecutor._hit_error_validator(hit_information)
if hit_information.hit_type == HitType.PLACED_BLOCK:
self.private_grid.add_tile_to_grid(
self.robot.pop_block(),
self._get_robot_neighbour_coordinates(direction))
# no need to update robot we already popped block
elif hit_information.hit_type == HitType.BLOCK:
self.private_grid.add_tile_to_grid(
Tile(TileType.BLOCK),
self._get_robot_neighbour_coordinates(direction))
elif hit_information.hit_type == HitType.OBSTACLE:
self.private_grid.add_tile_to_grid(
Tile(TileType.OBSTACLE),
self._get_robot_neighbour_coordinates(direction))
return hit_information
def add_tile_to_grid(self, tile: Tile, coordinates: Coordinates):
if self.tiles_from_index.get(tile.get_id()) is None:
self.add_new_tile(tile)
else:
tile_coordinates = self.coordinates_from_index.get(tile.get_id())
if tile_coordinates is not None:
raise AddDuplicateTileError("tile " + str(tile) +
" already exists on " +
str(tile_coordinates))
tile_on_coordinates = self.get_tile_from_grid(coordinates)
if tile_on_coordinates is not None:
raise TileTakenException(
tile_on_coordinates,
f"there is already tile: ({str(tile)}) on {str(coordinates)}")
self.tile_grid[coordinates.get_array_index()] = tile.get_id()
self.coordinates_from_index[tile.get_id()] = coordinates
if tile.get_type() == TileType.BLOCK:
self.block_tile_grid[coordinates.get_array_index()] = True
def test_another_robot_update_private_grid(self):
goal_building = GoalBuilding2D("""
0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0
0 0 1 0 1 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0
""")
robot_1 = Robot(Direction.DOWN)
robot_1.take_block(Tile(TileType.BLOCK))
robot_2 = Robot(Direction.UP)
robot_2.take_block(Tile(TileType.BLOCK))
line_start_coordinates = Coordinates(0, 3)
robot_1_coordinates = Coordinates(0, 4)
robot_2_coordinates = Coordinates(0, 2)
base_grid = BaseGrid(goal_building.width, goal_building.height)
base_grid.add_tile_to_grid(robot_1, robot_1_coordinates)
base_grid.add_tile_to_grid(robot_2, robot_2_coordinates)
shared_grid_access = SharedGridAccess(base_grid, manager=Manager())
line_to_middle = LineToMiddle(start_coordinates=line_start_coordinates,
direction=Direction.RIGHT,
block_line=list(
map(bool, [0, 0, 1, 0, 1])))
robot_1_executor = LineScannerWrapperExecutor(
line=line_to_middle,
robot=robot_1,
shared_grid_access=shared_grid_access,
goal_building=goal_building)
robot_2_executor = LineScannerWrapperExecutor(
line=line_to_middle,
robot=robot_2,
shared_grid_access=shared_grid_access,
goal_building=goal_building)
robot_1_executor.start_working()
robot_2_executor.start_working()
robot_1_executor.wait_for_finish()
robot_2_executor.wait_for_finish()
grid = shared_grid_access.get_private_copy()
assert goal_building.validate_grid(grid)
def move_tile_on_grid(self, tile: Tile, coordinates: Coordinates):
if self.tiles_from_index.get(tile.get_id()) is None:
raise TileNotExistsException("tile: (" + str(tile) +
") was not added")
tile_on_coordinates = self.get_tile_from_grid(coordinates)
if tile_on_coordinates is not None:
if tile_on_coordinates.id != tile.id:
raise TileTakenException(
tile_on_coordinates,
f"there is already tile: ({str(tile)}) on {str(coordinates)}"
)
# else it means we move to same tile we were on
previous_coordinates = self.coordinates_from_index.get(tile.get_id())
if previous_coordinates is None:
raise TileNotExistsException("tile: (" + str(tile) +
") did not have coordinates")
self.coordinates_from_index[tile.get_id()] = coordinates.copy()
self.tile_grid[
previous_coordinates.get_array_index()] = BaseGrid.empty_tile_id
self.tile_grid[coordinates.get_array_index()] = tile.get_id()
self.tiles_from_index[tile.get_id()] = tile
if tile.get_type() == TileType.BLOCK:
self.block_tile_grid[
previous_coordinates.get_array_index()] = False
self.block_tile_grid[coordinates.get_array_index()] = True
def try_get_block(self, direction: Direction) -> HitInformation:
hit_information = self.shared_grid_access.try_get_block(
self.robot, direction)
RobotSharedActionsExecutor._hit_error_validator(hit_information)
if hit_information.hit_type == HitType.GOT_BLOCK:
self.robot.update_from_robot(hit_information.updated_robot)
block_coordinates = self.robot_coordinates.create_neighbour_coordinate(
direction)
if self.private_grid.get_tile_from_grid(
block_coordinates).get_type() != TileType.SOURCE:
self.private_grid.pop_tile_from_grid(block_coordinates)
# if robot took block then his total is -1
self.put_blocks -= 1
elif hit_information.hit_type == HitType.BLOCK:
self.private_grid.add_tile_to_grid(
Tile(TileType.BLOCK),
self._get_robot_neighbour_coordinates(direction))
elif hit_information.hit_type == HitType.OBSTACLE:
self.private_grid.add_tile_to_grid(
Tile(TileType.OBSTACLE),
self._get_robot_neighbour_coordinates(direction))
return hit_information
def get_tile_from_source(self, coordinates: Coordinates) -> Tile:
try:
tile_index = self.tile_grid[coordinates.get_array_index()]
except IndexError as e:
raise OutOfBoundCoordinatesError(e.args)
tile = self._get_tile_from_index(tile_index)
if tile is None:
raise TileNotExistsException("tile index: (" + str(tile_index) +
") did not have tile")
if tile.get_type() != TileType.SOURCE:
raise TileNotSourceError(tile,
"tile: (" + str(tile) + ") is not source")
return Tile(TileType.BLOCK)
def take_block(self, tile: Tile):
if self.inner_block is not None:
raise HasInnerBlockError("cannot get block if already has")
if tile.get_type() != TileType.BLOCK:
raise WrongBlockTypeError("robot can only take block type tiles")
self.inner_block = tile
def test_robot_crash_updated_tiles_not_by_self_with_sleeps(self):
text_grid = """
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 0 0 1 1 1 0 1 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
"""
goal_building = GoalBuilding2D(text_grid=text_grid)
robot_1 = Robot(Direction.DOWN)
robot_1_source = Tile(TileType.SOURCE)
robot_2 = Robot(Direction.UP)
robot_2_source = Tile(TileType.SOURCE)
line_start_coordinates = Coordinates(0, 9)
base_grid = BaseGrid(goal_building.width, goal_building.height)
robot_1_coordinates = Coordinates(0, 16)
base_grid.add_tile_to_grid(robot_1, robot_1_coordinates)
base_grid.add_tile_to_grid(
robot_1_source,
robot_1_coordinates.create_neighbour_coordinate(Direction.UP))
robot_2_coordinates = Coordinates(0, 1)
base_grid.add_tile_to_grid(robot_2, robot_2_coordinates)
base_grid.add_tile_to_grid(
robot_2_source,
robot_2_coordinates.create_neighbour_coordinate(Direction.DOWN))
shared_grid_access = SharedGridAccess(base_grid, manager=Manager())
line_to_middle = LineToMiddle(
start_coordinates=line_start_coordinates,
direction=Direction.RIGHT,
block_line=list(
map(bool, map(int,
text_grid.split("\n")[9].split()))))
robot_1_executor = LineScannerWithSourceWrapperExecutor(
line=line_to_middle,
robot=robot_1,
shared_grid_access=shared_grid_access,
goal_building=goal_building)
robot_2_executor = LineScannerWithSourceWrapperExecutor(
line=line_to_middle,
robot=robot_2,
shared_grid_access=shared_grid_access,
goal_building=goal_building)
robot_1_executor.start_working()
robot_2_executor.start_working()
robot_1_executor.wait_for_finish()
robot_2_executor.wait_for_finish()
grid = shared_grid_access.get_private_copy()
assert goal_building.validate_grid(grid)
def _put_block_on_map(self, line: LineToMiddle) -> Coordinates:
placed_block_position = line.place_block()
self.private_grid.add_tile_to_grid(Tile(TileType.BLOCK),
placed_block_position)
return placed_block_position
def test_simple_map(self):
text_grid = """
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 1 0 0 1 0 1 1 1 0 0 1 0 0 1 0 0 0 0 0
0 0 0 0 0 1 0 0 1 0 1 1 1 0 0 0 0 0 1 0 0 0 0 0
0 0 0 0 0 1 0 0 1 0 1 1 1 0 0 0 0 0 1 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 1 1 1 0 0 1 0 0 1 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 1 1 1 0 0 0 0 0 1 0 0 0 0 0
0 0 0 0 0 1 0 0 0 0 0 1 1 0 1 0 0 0 1 0 0 0 0 0
0 0 0 0 0 1 0 0 1 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0
0 0 0 0 0 1 0 0 1 0 0 0 1 0 1 0 0 0 1 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
"""
goal_building = GoalBuilding2D(text_grid=text_grid)
robot_1 = Robot(Direction.DOWN)
robot_1.id = 1000000001
robot_2 = Robot(Direction.UP)
robot_2.id = 1000000002
robot_1_coordinates = Coordinates(0, 1)
robot_2_coordinates = Coordinates(23, 16)
base_grid = BaseGrid(goal_building.width, goal_building.height)
base_grid.add_tile_to_grid(Tile(TileType.SOURCE), Coordinates(0, 0))
base_grid.add_tile_to_grid(Tile(TileType.SOURCE), Coordinates(goal_building.width-1, 0))
base_grid.add_tile_to_grid(Tile(TileType.SOURCE), Coordinates(goal_building.width-1, goal_building.height-1))
base_grid.add_tile_to_grid(Tile(TileType.SOURCE), Coordinates(0, goal_building.height-1))
shared_grid_access = SharedGridAccess(base_grid, manager=Manager())
spin = Spin.ANTI_CLOCKWISE
goal_to_edges_splitter = GoalToEdgesXSplitter(goal_building, spin)
robot_1_executor = SpiralRobotExecutor(
robot=robot_1,
shared_grid_access=shared_grid_access,
goal_building=goal_building,
goal_to_edges_splitter=goal_to_edges_splitter,
spin=spin,
start_offset=0,
start_edge_index=0,
robot_coordinates=robot_1_coordinates,
sleep_tick_seconds=0.000001
)
robot_2_executor = SpiralRobotExecutor(
robot=robot_2,
shared_grid_access=shared_grid_access,
goal_building=goal_building,
goal_to_edges_splitter=goal_to_edges_splitter,
spin=spin,
start_offset=0,
start_edge_index=2,
robot_coordinates=robot_2_coordinates,
sleep_tick_seconds=0.000001
)
with shared_grid_access.grid_lock_sync as grid:
grid.add_tile_to_grid(robot_1, robot_1_coordinates)
grid.add_tile_to_grid(robot_2, robot_2_coordinates)
robot_1_executor.start_working()
robot_2_executor.start_working()
robot_1_executor.wait_for_finish()
robot_2_executor.wait_for_finish()
grid = shared_grid_access.get_private_copy()
assert goal_building.validate_grid(grid)
def update_tile(self, tile: Tile):
self.tiles_from_index[tile.get_id()] = tile
def test_multi_robot(self):
text_grid = """
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 0 0 0 1 0 0 0 1 0 0 1 0 0 0 1 0 0 0 0
0 0 0 0 0 1 0 0 1 0 1 1 1 0 0 1 0 0 1 0 0 0 1 1 1 1 1 1 1 1 1 1 1 0 0 1 0 0 0 1 0 0 1 0 0 0 1 0 1 0 0
0 0 0 0 0 1 0 0 1 0 1 1 1 1 0 0 0 0 1 0 0 0 1 1 1 1 1 1 1 1 1 1 1 0 0 1 0 1 0 1 0 0 1 0 0 0 1 0 1 0 0
0 0 0 0 0 1 0 0 1 0 1 1 1 1 0 0 0 0 1 0 0 0 1 1 1 1 1 1 1 1 1 1 1 0 0 1 0 1 0 1 0 0 1 0 0 0 1 0 1 0 0
0 0 0 0 0 1 0 0 0 0 1 1 1 1 0 1 0 0 1 0 0 0 1 1 1 1 1 1 1 1 1 1 1 0 0 1 0 1 0 1 0 0 1 0 0 0 1 0 1 0 0
0 0 0 0 0 1 0 0 0 0 1 1 1 1 0 0 0 0 1 0 0 0 1 1 1 1 1 1 1 1 1 1 1 0 0 1 0 1 0 1 0 0 1 0 0 0 1 0 1 0 0
0 0 0 0 0 1 0 0 0 0 0 1 1 1 1 0 0 0 1 0 0 0 1 1 1 1 1 1 1 1 1 1 1 0 0 1 0 1 0 1 0 0 1 0 0 0 1 0 1 0 0
0 0 0 0 0 1 0 0 1 0 0 0 1 1 1 0 0 0 1 0 0 0 1 1 1 1 1 1 1 1 1 1 1 0 0 1 0 1 0 1 0 0 1 0 0 0 0 0 1 0 0
0 0 0 0 0 1 0 0 1 0 0 0 1 1 1 0 0 0 1 0 0 0 1 1 1 1 1 1 1 1 1 0 1 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 1 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 1 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
"""
goal_building = GoalBuilding2D(text_grid=text_grid)
robots: List[Robot] = list()
robots_pos: List[Coordinates] = list()
how_many_robots = 4
for i in range(how_many_robots):
robots.append(Robot(Direction.UP))
robots_pos.append(Coordinates(i+1, 0))
base_grid = BaseGrid(goal_building.width, goal_building.height)
base_grid.add_tile_to_grid(Tile(TileType.SOURCE), Coordinates(0, 0))
base_grid.add_tile_to_grid(Tile(TileType.SOURCE), Coordinates(goal_building.width-1, 0))
base_grid.add_tile_to_grid(Tile(TileType.SOURCE), Coordinates(goal_building.width-1, goal_building.height-1))
base_grid.add_tile_to_grid(Tile(TileType.SOURCE), Coordinates(0, goal_building.height-1))
shared_grid_access = SharedGridAccess(base_grid, manager=Manager())
spin = Spin.ANTI_CLOCKWISE
goal_to_edges_splitter = GoalToEdgesXSplitter(goal_building, spin)
robot_executors: List[RobotExecutor] = list()
for i in range(how_many_robots):
robot_executors.append(SpiralRobotExecutor(
robot=robots[i],
shared_grid_access=shared_grid_access,
goal_building=goal_building,
goal_to_edges_splitter=goal_to_edges_splitter,
spin=spin,
start_offset=i,
start_edge_index=i % 4,
robot_coordinates=robots_pos[i],
sleep_tick_seconds=0
))
with shared_grid_access.grid_lock_sync as grid:
for i in range(how_many_robots):
grid.add_tile_to_grid(robots[i], robots_pos[i])
for i in range(how_many_robots):
robot_executors[i].start_working()
for i in range(how_many_robots):
robot_executors[i].wait_for_finish()
grid = shared_grid_access.get_private_copy()
assert goal_building.validate_grid(grid)
def add_new_tile(self, tile: Tile):
if self.tiles_from_index.get(tile.get_id()) is not None:
raise TileAlreadyAddedException("tile " + str(tile) +
" already exists")
self.tiles_from_index[tile.get_id()] = tile