def visit_current_space(self) -> float:
""" :returns time taken """
total_time = 0
message = Message(self.communication)
# objective reading
already_have = self.data.get_objective(
self.interface.position) != Knowledge.UNKNOWN
data, time_taken = self.interface.read_sensor()
total_time += time_taken
self.data.set_objective(self.interface.position, data)
if not already_have:
message.add_objective(
self.interface.position,
self.data.get_objective(self.interface.position))
# check obstacles
for direction in COORDINATE_CHANGE:
looking_at = self.interface.position + COORDINATE_CHANGE[direction]
if not self.data.out_of_bounds(looking_at):
previous = self.data.get_obstacle(looking_at)
obstacle_reading, time_taken = self.interface.see_obstacles(
direction)
total_time += time_taken
new = Knowledge.YES if obstacle_reading else Knowledge.NO
if new != previous:
self.data.set_obstacle(looking_at, new)
message.add_obstacle(looking_at, new)
self.communication.send_message(message)
return total_time
def test_message():
print(Message.coord_str(Coordinate(536, 0)))
assert Message.coord_str(Coordinate(536, 0)) == "536 0 "
print("passed Message.coord_str")
Message.set_my_robot_id(1)
m = Message()
m.add_objective(Coordinate(3, 5), 2.0)
print(m.get_data())
assert m.get_data() == Message.BEGIN + "1 1 j3 5 2.0k" + Message.END
print("passed add_objective")
m._cursor = 10
ov = m.extract_objective_value()
print(ov)
assert ov == 2.0
print("passed extract_objective_value")
m = Message()
m.add_obstacle(Coordinate(0, 6), Knowledge.YES)
print(m.get_data())
assert m.get_data() == Message.BEGIN + "1 2 s0 6 yt" + Message.END
print("passed add_obstacle")
m._cursor = 6
co = m.extract_coordinates()
print(co)
assert co == Coordinate(0, 6)
print("passed extract coordinate")
d = DataRepository(10, 10)
m.add_objective(Coordinate(6, 0), 7.0)
m.handle(d)
obs = d.get_obstacle(Coordinate(0, 6))
obj = d.get_objective(Coordinate(6, 0))
print(obs, obj)
assert obs == Knowledge.YES
assert obj == 7.0
print("passed handle")