def app_remove_blockage_goal(self, goal_coord: Coordinate) -> Goal:
p_type = GType.PLACE_SCAFFOLD
if goal_coord.y != 0:
extend_spine = Right
while extend_spine in self.sim_state.s_blocks:
extend_spine += Right
h_coord = extend_spine + Left
return Goal(extend_spine, p_type, h_coord, Dir.EAST)
else:
return Goal(self.cache, p_type, self.seed, Dir.SOUTH)
def find_usable_scaffold(self) -> Goal:
p_type = GType.PICK_SCAFFOLD
unneeded_s_blocks = self.get_next_unneeded_block()
if unneeded_s_blocks:
coord_offset = Up if unneeded_s_blocks.y > 0 else Down if unneeded_s_blocks.y else Left
p_dir = Dir.SOUTH if unneeded_s_blocks.y > 0 else Dir.NORTH if unneeded_s_blocks.y else Dir.EAST
h_coord = unneeded_s_blocks + coord_offset
return Goal(unneeded_s_blocks, p_type, h_coord, p_dir)
else:
self.sim_state.s_blocks[self.cache] = ScaffoldState()
return Goal(self.cache, p_type, self.seed, Dir.SOUTH)
def get_bridge_goal(self, next_goal: Goal) -> Goal:
next_needed_coord = self.get_next_needed_block(next_goal.h_coord)
if next_needed_coord.y == 0:
h_coord = next_needed_coord + Left
p_dir = Dir.EAST
else:
p_dir = Dir.SOUTH if next_goal.coord.y > 0 else Dir.NORTH
h_coord = next_needed_coord + (Up
if next_goal.coord.y > 0 else Down)
return Goal(next_needed_coord, GType.PLACE_SCAFFOLD, h_coord, p_dir)
def get_needed_block_goal(self, next_goal: Goal) -> Tuple[Goal, bool]:
if next_goal.type is GType.PLACE_SCAFFOLD:
return self.find_usable_scaffold(), False
else:
if next_goal.coord in self.sim_state.s_blocks:
return self.app_remove_blockage_goal(next_goal.coord), True
else:
p_type = GType.PICK_BUILD_BLOCK
self.sim_state.b_blocks.add(self.cache)
return Goal(self.cache, p_type, self.seed, Dir.SOUTH), False
def check_is_finished(self) -> bool:
if len(self.goal_stack) == 0:
struct_coord = self.get_next_unfinished_block()
if struct_coord is None:
self.finished = True
return True
else:
h_coord = struct_coord + (Right if struct_coord.y else Left)
dir = Dir.WEST if struct_coord.y else Dir.EAST
new_goal = Goal(struct_coord, GType.PLACE_BUILD_BLOCK, h_coord,
dir)
self.goal_stack = [new_goal]
return False
def get_place_helper_goal(self, robo_coord: Coordinate,
robot: BuilderState, next_goal: Goal) -> bool:
if robot.not_holding_block():
if self.coord_is_reachable(robo_coord, next_goal.h_coord):
goal, recurse = self.get_needed_block_goal(next_goal)
else:
goal = self.get_bridge_goal(next_goal)
recurse = True
self.goal_stack.append(goal)
if recurse:
return self.get_place_helper_goal(robo_coord, robot, goal)
elif robot.block != next_goal.get_block():
raise GoalError('Held block does not match next goal')
return True
b_blocks[get_next_coord()] = BuildingBlockState()
for direction in Direction:
for held_block in HeldBlock:
robot = BuilderState()
robot.block = held_block
robot.direction = direction
coord = get_next_coord()
s_blocks[coord] = ScaffoldState(SInstruction.DRIVE_RIGHT)
robots[coord] = robot
states.states[0].s_blocks = s_blocks
states.states[0].b_blocks = b_blocks
states.states[0].robots = robots
goal = Goal(get_next_coord(), GoalType.PLACE_SCAFFOLD)
states.states[0].target_structure = [get_next_coord()]
states.states[0].goal_stack.append(goal)
s_blocks = {}
b_blocks = {}
robots = {}
for instruction in SInstruction:
s_blocks[get_next_coord()] = ScaffoldState(instruction)
b_blocks[get_next_coord()] = BuildingBlockState()
for direction in Direction:
for held_block in HeldBlock:
robot = BuilderState()
robot.block = held_block
state_controls.max_state = 10
s_blocks = {}
b_blocks = {}
robots = {}
for instruction in SInstruction:
s_blocks[get_next_coord()] = ScaffoldState(instruction)
b_blocks[get_next_coord()] = BuildingBlockState()
for direction in Direction:
for held_block in HeldBlock:
robot = BuilderState()
robot.block = held_block
robot.direction = direction
coord = get_next_coord()
s_blocks[coord] = ScaffoldState(SInstruction.DRIVE_RIGHT)
robots[coord] = robot
sim = SimulationState()
sim.s_blocks = s_blocks
sim.b_blocks = b_blocks
sim.robots = robots
sim.target_structure = [get_next_coord()]
board.draw_sim(sim)
goal = Goal(get_next_coord(), GoalType.PLACE_SCAFFOLD, Coordinate(0, 0),
Direction.NORTH)
board.draw_goal(goal)
root.mainloop()
def create_goal(string: str) -> Goal:
coord, gtype = string.split(':')
coord = Coordinate.from_string(coord)
gtype = GoalType[gtype]
return Goal(coord, gtype, Origin, Origin)