def _get_to_wall_directions(self, wall_position, can_re_walk=False):
"""
Return possible directions for given wall
:param wall_position: position of looked wall
:param can_re_walk: allow directions on already walked position
:return: list of directions
"""
around_this_wall_positions = around_positions_of(wall_position)
# Keep positions in host visible field
visible_around_this_wall_positions = self._reduce_positions_by_host_visibility(around_this_wall_positions)
if not can_re_walk:
# We can't re walk, so we remove positions already walked
free_positions = self._reduce_positions_by_not_walked(visible_around_this_wall_positions, wall_position)
return self._change_positions_to_directions(free_positions)
elif self.is_re_walking():
# When re walking, we forbid to go back
visible_around_this_wall_positions = self._reduce_by_not_last_walk(visible_around_this_wall_positions, wall_position)
# Order it to prioritize far away move
self._order_by_far_away(visible_around_this_wall_positions)
return self._change_positions_to_directions(visible_around_this_wall_positions)
def _get_next_visible_walls_positions(self, from_position):
"""
Return positions of ant visible walls
:return: list: list of positions
"""
walls_to_look_around = [from_position]
for wall_to_look_around in walls_to_look_around:
around_wall_positions = around_positions_of(wall_to_look_around)
around_wall_walls = (pos for pos in around_wall_positions
if self._position_is_around_host(pos)
and not self._feeler.position_is_free(pos)
and pos not in walls_to_look_around
and pos != self._get_current_wall_position())
walls_to_look_around.extend(around_wall_walls)
return walls_to_look_around
def _get_direction_for_current_wall(self):
around_wall_positions = around_positions_of(self._get_current_wall_position())
# Keep positions in host visible field
visible_around_wall_positions = self._reduce_positions_by_host_visibility(around_wall_positions)
ordered_visible_around_wall_positions = self._order_positions_by_not_walked(visible_around_wall_positions)
return next(self._change_positions_to_directions(ordered_visible_around_wall_positions))
def _update_host_around_positions(self):
self._around_host_positions = around_positions_of(self._host.get_position())
