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 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 go_to_goal(self, goal: Coordinates):
goal = goal.copy()
while not self._is_robot_on_same_edge_and_not_too_far(goal):
robot_edge_side = self.robot_coordinates.get_edge_side(
width=self.width, height=self.height)
next_corner = self.spin.get_edge_next_corner(robot_edge_side,
width=self.width,
height=self.height)
pre_corner_pos = self.spin.get_pre_corner_coordinates(next_corner)
moving_direction = self.spin.get_edge_move_direction(
robot_edge_side)
if self.robot_coordinates != pre_corner_pos:
self.shared_actions_executor.try_rotate_robot(moving_direction)
while self.robot_coordinates != pre_corner_pos:
hit_information = self.shared_actions_executor.try_move_robot(
moving_direction)
if hit_information.hit_type != HitType.NO_HIT:
self.shared_actions_executor.wait_action()
# robot is on pre_corner_coordinates
self._go_around_corner(moving_direction)
# here robot is on same edge as goal
moving_direction = self.robot_coordinates.get_to_other_direction(goal)
if self.robot.rotation != moving_direction:
self.shared_actions_executor.try_rotate_robot(moving_direction)
while self.robot_coordinates != goal:
hit_information = self.shared_actions_executor.try_move_robot(
moving_direction)
if hit_information.hit_type != HitType.NO_HIT:
self.shared_actions_executor.wait_action()
def __init__(self, start_coordinates: Coordinates, direction: Direction,
block_line: Iterable[bool]):
self.block_line = copy.deepcopy(block_line)
self.block_positions = LineToMiddle.get_block_positions_from_block_line(
block_line)
self.direction = direction
self.start_coordinates = start_coordinates.copy()
self.blocks_placed = 0
self.blocks_to_place = len(self.block_positions)
def __init__(self, start_coordinates: Coordinates, direction: Direction,
block_line: Iterable[bool]):
self.block_line = copy.deepcopy(block_line)
self.block_positions = LineToMiddle.get_block_positions_from_block_line(
block_line)
self.direction = direction
self.start_coordinates = start_coordinates.copy()
self.blocks_placed = 0
self.blocks_to_place = len(self.block_positions)
# last position where block could be placed or not
if not self.is_finished():
self.last_position = self.start_coordinates.create_moved_coordinate(
self.direction, self.block_positions[0])
else:
self.last_position = self.start_coordinates