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 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 create_grid_from_file(file):
a = Image.open(file)
pix = a.load()
converted_image = """"""
converted_image += "\n "
for j in range(a.size[1]):
for i in range(a.size[0]):
if pix[i, j] != (255, 255, 255, 255):
converted_image += "1"
# elif pix[i, j] == (255, 255, 255, persistance):
else:
converted_image += "0"
if a.size[0] - i > 1:
converted_image += " "
converted_image += "\n "
return GoalBuilding2D(converted_image)
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)
self._make_y_progress()
else:
self._make_x_progress()
class GoalBuildingMock(GoalBuilding):
def __init__(self):
self.width = 11
self.height = 16
self.grid = np.zeros((self.width, self.height), dtype=bool)
self.grid[(7, 3)] = True
self.grid[(7, 4)] = True
self.grid[(8, 3)] = True
self.grid[(8, 4)] = True
def validate_grid(self, base_grid: BaseGrid):
pass
if __name__ == '__main__':
goal_building_mock = GoalBuildingMock()
building = GoalBuilding2D("""
0 0 0 0 0
0 0 1 0 0
0 1 1 1 0
0 0 1 0 0
0 0 0 0 0
""")
splitter = GoalToEdgesXSplitter(building, Coordinates(1, 0))
splitter._split_goal()
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 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 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 test_simple_grid(self):
text_grid = self.text_grid
result_grid = self.result_grid
goal_building = GoalBuilding2D(text_grid)
assert goal_building
assert np.array_equal(goal_building.grid, result_grid)
def test_goalBuildingInitialization(self):
text_grid = self.text_grid
goal_building = GoalBuilding2D(text_grid)
assert goal_building