def determine_new_goals(self, robo_coord: Coordinate, robot: BuilderState):
"""Determines the next goal if needed, returns if the scaffolding should update"""
self.goal_stack = self.goal_stacks[self.index]
next_goal = self.goal_stack[-1]
if next_goal.coord == self.cache and next_goal.type.is_pick():
if next_goal.type.is_build():
self.sim_state.b_blocks.add(self.cache)
else:
self.sim_state.s_blocks[self.cache] = ScaffoldState()
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 create_base_sim(strat: ClassVar[BasicStrategy],
target: CoordinateList = list()):
sim_state = SimulationState()
sim_state.s_blocks[Coordinate(0, 0)] = ScaffoldState(SInstruction.STOP)
sim_state.robots[Coordinate(0, 0)] = BuilderState()
sim_state.target_structure = target
sim = BasicAnalyzerSimulation(sim_state, strat)
sim.strategy.cache = Down
return sim
def drop(self, block_coord: Coordinate, robot: BuilderState):
if robot.block is HeldBlock.NONE:
raise RobotActionError('Cannot drop NONE Block')
sim_state = self.sim_state
if block_coord in sim_state.b_blocks or block_coord in sim_state.s_blocks:
raise RobotActionError('Block already present')
if robot.block is HeldBlock.BUILD:
self.sim_state.b_blocks.add(block_coord)
elif robot.block is HeldBlock.SCAFFOLD:
self.sim_state.s_blocks[block_coord] = ScaffoldState()
robot.block = HeldBlock.NONE
def get_next_coord() -> Coordinate:
global i
next_coord = Coordinate(i % 10, i // 10)
i += 1
return next_coord
states = SimulationStateList.create_with_empty_states(400)
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
states.states[0].s_blocks = s_blocks
states.states[0].b_blocks = b_blocks
states.states[0].robots = robots
from roboscaffold_sim.state.simulation_state import SimulationState
from roboscaffold_sim.veiw.basic_player import BasicPlayer
i = 0
def get_next_coord() -> Coordinate:
global i
next_coord = Coordinate(i % 10, i // 10)
i += 1
return next_coord
s_blocks = {
# row 0
get_next_coord(): ScaffoldState(SInstruction.DRIVE_RIGHT),
get_next_coord(): ScaffoldState(SInstruction.NONE),
get_next_coord(): ScaffoldState(SInstruction.NONE),
get_next_coord(): ScaffoldState(SInstruction.DRIVE_RIGHT),
get_next_coord(): ScaffoldState(SInstruction.STOP),
get_next_coord(): ScaffoldState(SInstruction.STOP),
get_next_coord(): ScaffoldState(SInstruction.DRIVE_RIGHT),
get_next_coord(): ScaffoldState(SInstruction.NONE),
get_next_coord(): ScaffoldState(SInstruction.NONE),
get_next_coord(): ScaffoldState(SInstruction.DRIVE_RIGHT),
# row 1
get_next_coord(): ScaffoldState(SInstruction.NONE),
get_next_coord(): ScaffoldState(SInstruction.STOP),
get_next_coord(): ScaffoldState(SInstruction.STOP),
get_next_coord(): ScaffoldState(SInstruction.NONE),