def FindSpace(self, item):
"""
haz sitio sobre el objeto X
"""
message = 'FindSpace %s' % (item)
if self.pickable(item):
return GoalTree(message)
return GoalTree(message, [ self.ClearTop(item), self.FindSpace(item) ])
def Grasp(self, item):
"""
pilla el bloque X
"""
message = 'Grasp %s' % (item)
gtree = GoalTree(message)
if self._table.get(item) != None:
gtree.add_child(self.ClearTop(item))
return gtree
def GetRidOf(self, item):
"""
saca el objeto X del medio (edited)
"""
message = 'GetRidOf %s' % (item)
gtree = GoalTree(message)
if self._table.get(item) != None:
gtree.add_child(self.PutOnTable(item))
return gtree
def test_init(self):
g = GoalTree('Test')
self.assertEqual(g.parent, None)
self.assertEqual(g.name, 'Test')
g = GoalTree('parent', [ GoalTree('child')])
self.assertEqual(g._children[0].parent, 'parent')
self.assertEqual(g._children[0].name, 'child')
self.assertEqual(g.name, 'parent')
self.assertEqual(g.parent, None)
def test_why(self):
g = GoalTree('root',
[ GoalTree('child1', [ GoalTree('subchild1'), GoalTree('subchild2') ]),
GoalTree('child2') ])
self.assertEqual(g.Why('F**k the police'), 'I didn\'t.')
self.assertEqual(g.Why('root'), 'Because you told me.')
self.assertEqual(g.Why('subchild1'), 'Because I was trying to child1')
def test_how(self):
g = GoalTree('root',
[ GoalTree('child1', [ GoalTree('subchild1'), GoalTree('subchild2') ]),
GoalTree('child2') ])
self.assertEqual(g.How('child1'), 'Following this steps: subchild1 & subchild2')
self.assertEqual(g.How('Not exists'), 'I didn\'t.')
self.assertEqual(g.How('child2'), 'By doing it.')
def PutOn(self, item1, item2):
"""
pon el objeto X encima del objeto Y
"""
message = 'PutOn %s %s' % (item1, item2)
dest = self._table.get(item2)
return GoalTree(message, [ self.FindSpace(item2), self.Grasp(item1), self.Move(item1, dest.col), self.Ungrasp(item1) ])
def ClearTop(self, item):
"""
despeja la parte superior del objeto X
"""
message = 'ClearTop %s' % (item)
gtree = GoalTree(message)
stack = []
blk = self._table.get(item)
if self.pickable(blk.name):
return gtree
for row in range(blk.row +1, self._table.height):
if self._table.grid[blk.col][row] != None:
stack.append(self._table.grid[blk.col][row].name)
while len(stack) > 0:
new_blk = stack.pop()
gtree.add_child(self.GetRidOf(new_blk))
return gtree
def PutOnTable(self, item):
"""
pon el objeto X en el suelo (espacio no definido)
"""
message = 'PutOnTable %s' % (item)
dest = self.FindSpaceOnTable()
if dest < 0:
raise "No space to get rid of the block"
return GoalTree(message, [ self.Grasp(item), self.Move(item, dest), self.Ungrasp(item) ])
def Move(self, item, col):
"""
mueve el objeto X a la columna Y (y apilalo)
"""
message = 'Move %s %i' % (item, col)
picked = self._table.get(item)
if picked == None:
raise Exception("Cant move")
self._table.grid[picked.col][picked.row] = None
next_row = self._table.next_empty(col)
self._table.set(col, next_row, picked)
return GoalTree(message)
def Ungrasp(self, item):
"""
suelta el bloque X
"""
message = 'Ungrasp %s' % (item)
return GoalTree(message)
def test_bfs(self):
g = GoalTree('root', [ GoalTree('child1', [ (GoalTree('subchild1'))]), GoalTree('child2')])
subchild1 = g.bfs('subchild1')
self.assertEqual(subchild1.parent, 'child1')
self.assertEqual(subchild1.name, 'subchild1')
def test_add_child(self):
g = GoalTree('Test')
g.add_child(GoalTree('child'))
self.assertEqual(g._children[0].parent, 'Test')
self.assertEqual(g._children[0].name, 'child')