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_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)