def test_put_block(self):
base_grid = BaseGrid(5, 5)
robot = Robot(Direction.UP)
robot_coordinates = Coordinates(4, 4)
inner_block = Tile(TileType.BLOCK)
robot.take_block(inner_block)
base_grid.add_tile_to_grid(robot, robot_coordinates)
shared_grid_access = SharedGridAccess(base_grid, Manager())
h_info = shared_grid_access.try_put_block(robot, Direction.UP)
assert h_info.hit_type == HitType.ERROR
assert isinstance(h_info.inner_error, OutOfBoundCoordinatesError)
h_info = shared_grid_access.try_put_block(robot, Direction.LEFT)
assert h_info.hit_type == HitType.ERROR
assert isinstance(h_info.inner_error, WrongBlockPutDirection)
h_info = shared_grid_access.try_rotate_robot(robot, Direction.LEFT)
assert h_info.hit_type == HitType.ROTATED
robot.rotate_to_direction(Direction.LEFT)
h_info = shared_grid_access.try_put_block(robot, Direction.LEFT)
assert h_info.hit_type == HitType.PLACED_BLOCK
inner_block = robot.pop_block()
h_info = shared_grid_access.try_move_robot(robot, Direction.LEFT)
assert h_info.hit_type == HitType.BLOCK
assert isinstance(h_info.inner_error, TileTakenException)
assert inner_block == h_info.inner_error.get_tile()
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 _get_robot_coordinates(grid: BaseGrid, robot: Robot) -> Coordinates:
try:
coordinates = grid.get_coord_from_tile(robot)
robot_grid_instance = grid.get_tile_from_grid(coordinates)
except RuntimeError as e:
raise WrongTileError(f"difference between robot: {robot}, tile on grid with error: {e}")
if robot != robot_grid_instance:
raise WrongTileError(f"difference between robot: {robot}, and tile on grid: {robot_grid_instance}")
return coordinates
def setUp(self):
self.example_width = 5
self.example_height = 5
self.base_grid_example = BaseGrid(width=self.example_width,
height=self.example_height)
print("setup")
self.block_tile = Tile(TileType.BLOCK)
self.obstacle_tile = Tile(TileType.OBSTACLE)
self.block_tile_coordinates = Coordinates(1, 1)
self.obstacle_tile_coordinates = Coordinates(3, 3)
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_out_of_bound(self):
base_grid = BaseGrid(5, 5)
robot = Robot(Direction.UP)
robot_coordinates = Coordinates(4, 4)
base_grid.add_tile_to_grid(robot, robot_coordinates)
shared_grid_access = SharedGridAccess(base_grid, Manager())
h_info = shared_grid_access.try_move_robot(robot, Direction.UP)
assert h_info.hit_type == HitType.ERROR
assert isinstance(h_info.inner_error, OutOfBoundCoordinatesError)
with shared_grid_access.grid_lock_sync as grid:
assert grid.get_tile_from_grid(robot_coordinates) == robot
print(grid)
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)
def test_move_far_scenario(self):
base_grid = BaseGrid(5, 5)
goal_building = GoalBuilding("""
0 0 0 0 0
0 0 1 0 0
0 1 2 1 0
0 0 1 2 0
0 0 0 0 0
""")
# rotate, move, end coordinates:
# if move or rotate is None then don't do it
robot_states = [(Direction.UP, None, Coordinates(0, 0)),
(None, Direction.UP, Coordinates(0, 1)),
(Direction.DOWN, Direction.UP, Coordinates(0, 2)),
(Direction.RIGHT, Direction.RIGHT, Coordinates(1, 2)),
(None, Direction.RIGHT, Coordinates(2, 2)),
(None, Direction.LEFT, Coordinates(1, 2))]
rotate_directions = [state[0] for state in robot_states]
moving_directions = [state[1] for state in robot_states]
robot_coordinates = [state[2] for state in robot_states]
robot = Robot(rotate_directions[0])
base_grid.add_tile_to_grid(robot, robot_coordinates[0])
shared_grid_access = SharedGridAccess(base_grid, Manager())
for i in range(1, len(robot_states)):
rotate = rotate_directions[i]
move = moving_directions[i]
robot_executor = RobotRotateMoveMockExecutor(
rotate, move, robot, shared_grid_access, goal_building)
robot_executor.start_working()
robot_executor.wait_for_finish()
if rotate is not None:
robot.rotate_to_direction(rotate)
grid_copy = shared_grid_access.get_private_copy()
# robot from grid has wrong direction
robot_grid = grid_copy.get_tile_from_grid(robot_coordinates[i])
assert robot_grid == robot
def test_shared_sync(self):
base_grid = BaseGrid(5, 5)
robot1 = Robot(Direction.RIGHT)
robot1_coordinates = Coordinates(2, 2)
robot2 = Robot(Direction.UP)
robot2_coordinates = Coordinates(1, 3)
base_grid.add_tile_to_grid(robot1, robot1_coordinates)
base_grid.add_tile_to_grid(robot2, robot2_coordinates)
shared_grid_access = SharedGridAccess(base_grid, Manager())
shared_grid_access.try_rotate_robot(robot1, Direction.LEFT)
robot1.rotate_to_direction(Direction.LEFT)
shared_grid_access.try_move_robot(robot2, Direction.UP)
robot2_coordinates = robot2_coordinates.create_neighbour_coordinate(Direction.UP)
with shared_grid_access.grid_lock_sync as grid:
assert grid.get_tile_from_grid(robot1_coordinates) == robot1
assert grid.get_tile_from_grid(robot2_coordinates) == robot2
print(grid)
def __init__(self, *args, **kwargs):
tk.Tk.__init__(self, *args, **kwargs)
self.title_font = tkfont.Font(family='Helvetica',
size=18,
weight="bold",
slant="italic")
self.title('Swarm-bots')
self.geometry('%dx%d' % (SIZE, SIZE))
self.base_grid = BaseGrid(5, 5)
self.goal_building = None
self.container = tk.Frame(self)
self.container.pack(side="top", fill="both", expand=True)
self.container.grid_rowconfigure(0, weight=1)
self.container.grid_columnconfigure(0, weight=1)
self.show_frame(WelcomeWindow(parent=self.container, controller=self))
def test_small_rotate_scenario(self):
base_grid = BaseGrid(5, 5)
goal_building = GoalBuilding("""
0 0 0 0 0
0 0 1 0 0
0 1 2 1 0
0 0 1 2 0
0 0 0 0 0
""")
robot1 = Robot(Direction.DOWN)
robot2 = Robot(Direction.RIGHT)
base_grid.add_tile_to_grid(robot1,
RobotExecutorMockRotate.robot1_coordinates)
base_grid.add_tile_to_grid(robot2,
RobotExecutorMockRotate.robot2_coordinates)
shared_grid_access = SharedGridAccess(base_grid, Manager())
robot1_executor = RobotExecutorMockRotate(
where_rotate=RobotExecutorMockRotate.robot1_future_rotate,
how_long_sleep=RobotExecutorMockRotate.robot1_sleep,
robot=robot1,
shared_grid_access=shared_grid_access,
goal_building=goal_building)
robot2_executor = RobotExecutorMockRotate(
where_rotate=RobotExecutorMockRotate.robot2_future_rotate,
how_long_sleep=RobotExecutorMockRotate.robot2_sleep,
robot=robot2,
shared_grid_access=shared_grid_access,
goal_building=goal_building)
robot1_executor.start_working()
robot2_executor.start_working()
robot1_executor.wait_for_finish()
robot2_executor.wait_for_finish()
with shared_grid_access.grid_lock_sync as grid:
robot1 = grid.get_tile_from_grid(
RobotExecutorMockRotate.robot1_coordinates)
assert robot1.rotation == RobotExecutorMockRotate.robot1_future_rotate
robot2 = grid.get_tile_from_grid(
RobotExecutorMockRotate.robot2_coordinates)
assert robot2.rotation == RobotExecutorMockRotate.robot2_future_rotate
print(grid)
def test_small_move_scenario(self):
base_grid = BaseGrid(5, 5)
goal_building = GoalBuilding("""
0 0 0 0 0
0 0 1 0 0
0 1 2 1 0
0 0 1 2 0
0 0 0 0 0
""")
robot1 = Robot(RobotExecutorMockMove.robot1_move_direction)
robot2 = Robot(RobotExecutorMockMove.robot2_move_direction)
base_grid.add_tile_to_grid(robot1,
RobotExecutorMockMove.robot1_coordinates)
base_grid.add_tile_to_grid(robot2,
RobotExecutorMockMove.robot2_coordinates)
shared_grid_access = SharedGridAccess(base_grid, Manager())
robot1_executor = RobotExecutorMockMove(
move_direction=RobotExecutorMockMove.robot1_move_direction,
how_long_sleep=RobotExecutorMockMove.robot1_sleep,
robot=robot1,
shared_grid_access=shared_grid_access,
goal_building=goal_building)
robot2_executor = RobotExecutorMockMove(
move_direction=RobotExecutorMockMove.robot2_move_direction,
how_long_sleep=RobotExecutorMockMove.robot2_sleep,
robot=robot2,
shared_grid_access=shared_grid_access,
goal_building=goal_building)
robot1_executor.start_working()
robot2_executor.start_working()
robot1_executor.wait_for_finish()
robot2_executor.wait_for_finish()
with shared_grid_access.grid_lock_sync as grid:
robot1_new = grid.get_tile_from_grid(robot2_executor.r1_c)
assert robot1 == robot1_new
robot2_new = grid.get_tile_from_grid(robot2_executor.r2_c)
assert robot2 == robot2_new
print(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_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))
class TestBaseGrid(TestCase):
def setUp(self):
self.example_width = 5
self.example_height = 5
self.base_grid_example = BaseGrid(width=self.example_width,
height=self.example_height)
print("setup")
self.block_tile = Tile(TileType.BLOCK)
self.obstacle_tile = Tile(TileType.OBSTACLE)
self.block_tile_coordinates = Coordinates(1, 1)
self.obstacle_tile_coordinates = Coordinates(3, 3)
def test_add_new_tile_when_it_exists(self):
self.base_grid_example.add_new_tile(self.block_tile)
with self.assertRaises(TileAlreadyAddedException):
self.base_grid_example.add_new_tile(self.block_tile)
def test_add_get_tile_from_grid(self):
self.base_grid_example.add_new_tile(self.block_tile)
self.base_grid_example.add_new_tile(self.obstacle_tile)
self.base_grid_example.add_tile_to_grid(
tile=self.block_tile, coordinates=self.block_tile_coordinates)
tile_from_block_tile_coordinates = self.base_grid_example.get_tile_from_grid(
coordinates=self.block_tile_coordinates)
assert tile_from_block_tile_coordinates == self.block_tile
with self.assertRaises(TileTakenException):
self.base_grid_example.add_tile_to_grid(
tile=self.obstacle_tile,
coordinates=self.block_tile_coordinates)
self.base_grid_example.add_tile_to_grid(
tile=self.obstacle_tile,
coordinates=self.obstacle_tile_coordinates)
tile_from_obstacle_tile_coordinates = self.base_grid_example.get_tile_from_grid(
coordinates=self.obstacle_tile_coordinates)
assert tile_from_obstacle_tile_coordinates == self.obstacle_tile
def test_copy(self):
self.test_add_get_tile_from_grid()
grid_copy = self.base_grid_example.copy()
tile_from_block_tile_coordinates = grid_copy.get_tile_from_grid(
coordinates=self.block_tile_coordinates)
print("copied", tile_from_block_tile_coordinates)
print("not copied", self.block_tile)
assert tile_from_block_tile_coordinates == self.block_tile
new_block_coordinates = self.block_tile_coordinates.create_neighbour_coordinate(
Direction.UP)
print("new block coordinate", new_block_coordinates)
grid_copy.move_tile_on_grid(self.block_tile, new_block_coordinates)
assert grid_copy.get_tile_from_grid(
new_block_coordinates) == self.block_tile
assert grid_copy.get_tile_from_grid(
self.block_tile_coordinates) is None
assert self.base_grid_example.get_tile_from_grid(
new_block_coordinates) != self.block_tile
assert self.base_grid_example.get_tile_from_grid(
self.block_tile_coordinates) == self.block_tile
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 validate_grid(self, base_grid: BaseGrid):
base_block_grid = base_grid.get_block_grid()
return np.array_equal(base_block_grid, self.grid)
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)
