コード例 #1
0
ファイル: Test.py プロジェクト: Torla/IdeaSim
 def haul(event):
     if event.sim.get_status().rain:
         raise Manager.RetryLater()
     g = ActionsGraph(event.sim)
     b = Block(g, lambda x: isinstance(x, Aquifer))
     b1 = Block(g, lambda x: isinstance(x, Well))
     t = Action(g,
                "take",
                lambda x: isinstance(x, Aquifer),
                param={"well": lambda x: isinstance(x, Well)},
                after=[b.id, b1.id],
                condition=lambda x: not x.get_status().rain,
                on_false=Aquifer.rain)
     f1 = Free(g, lambda x: isinstance(x, Well), after=[t.id])
     b1 = Block(g,
                lambda x: isinstance(x, Tank) and not x.is_full(),
                sort_by=lambda x: x.full.level,
                after=[t.id])
     t = Action(g,
                "drop",
                lambda x: isinstance(x, Aquifer),
                param={"tank": lambda x: isinstance(x, Tank)},
                after=[b1.id])
     f = Free(g, lambda x: isinstance(x, Aquifer), None, after=[t.id])
     f1 = Free(g, lambda x: isinstance(x, Tank), None, after=[t.id, b1.id])
     bh = Branch(g, after=[t.id], condition=lambda x: x.now < 5000)
     GenerateEvent(g, Event(sim, None, "haul"), after=[bh.id], branch=bh.id)
     return g
コード例 #2
0
ファイル: Test.py プロジェクト: Torla/IdeaSim
    def empty_tank(self, event):
        g = ActionsGraph(event.sim)
        b = Block(g, self.id, sort_by=None)
        e = Action(g,
                   "empty",
                   self.id,
                   after=[b.id],
                   condition=lambda x: x.find_res_by_id(self.id, free=False).
                   full.level != 0)
        Free(g, self.id, after=[e.id])

        Event(sim, sim.now + 1000, "empty_tank" + str(self.id))
        return g
コード例 #3
0
    def implement2(task, channel_id, sim, parameter) -> ActionsGraph:
        assert isinstance(task, Task)
        assert isinstance(sim, Simulation)
        assert isinstance(channel_id, int)
        assert isinstance(parameter, SimulationParameter)
        r = ActionsGraph(sim, task)
        channel = sim.find_res_by_id(channel_id)
        lift = sim.find_performer(lambda x: isinstance(x, Lift) and x.position.
                                  section == channel.position.section,
                                  free=False)[0]
        if task.order_type == OrderType.DEPOSIT:
            block_channel = Block(r, channel.id)
            block_sat = Block(
                r,
                lambda x: isinstance(x, Satellite) and x.position.section ==
                channel.position.section,
                after=[block_channel.id],
                sort_by=lambda x: distance(x.position, Strategy.bay.position,
                                           sim.get_status().parameter))
            block_shu = Block(
                r,
                lambda x: isinstance(x, Shuttle) and x.position.section ==
                channel.position.section,
                after=[block_sat.id],
                sort_by=lambda x: distance(x.position, Strategy.bay.position,
                                           sim.get_status().parameter))

            # take sat to 0

            move_sat = Action(
                r,
                ActionType.MOVE,
                lambda x: isinstance(x, Satellite),
                param={"z": 0},
                after=[block_sat.id, block_channel.id],
                condition=lambda x, y: len(
                    sim.find_res_by_id(channel_id, free=False).items
                ) != sim.find_res_by_id(channel_id, free=False).capacity,
                on_false=Strategy.ab)

            # take shuttle to satellite level

            security_drop_shu = Action(r,
                                       ActionType.DROP,
                                       lambda x: isinstance(x, Shuttle),
                                       after=[block_shu.id, block_sat.id])

            move_shu = Action(r,
                              ActionType.MOVE,
                              lambda x: isinstance(x, Shuttle),
                              param={"x": 0},
                              after=[security_drop_shu.id])

            # condition check

            branch_sat_shu_lf = Branch(
                r,
                after=[block_sat.id, block_shu.id],
                condition=lambda sim, taken_inf: lift.content is None or lift.
                content.id != list(
                    filter(lambda x: isinstance(x, Shuttle), taken_inf))[0].id
                or list(filter(lambda x: isinstance(x, Shuttle), taken_inf))[
                    0].content is None or list(
                        filter(lambda x: isinstance(x, Shuttle), taken_inf))[0]
                .content != list(
                    filter(lambda x: isinstance(x, Satellite), taken_inf))[0])

            # lift the shu

            block_lift = Block(r,
                               lambda x: isinstance(x, Lift) and x.position.
                               section == channel.position.section,
                               after=[branch_sat_shu_lf.id, block_shu.id],
                               branch=branch_sat_shu_lf)

            security_drop = Action(
                r,
                ActionType.DROP,
                lambda x: isinstance(x, Lift),
                after=[block_lift.id, block_shu.id, block_sat.id],
                branch=branch_sat_shu_lf)

            move_lift = Action(r,
                               ActionType.MOVE,
                               lambda x: isinstance(x, Lift),
                               param={"auto": 0},
                               after=[security_drop.id, block_shu.id],
                               branch=branch_sat_shu_lf)

            pick_up_shu = Action(r,
                                 ActionType.PICKUP,
                                 lambda x: isinstance(x, Lift),
                                 param={"auto": 0},
                                 after=[move_lift.id, move_shu.id],
                                 branch=branch_sat_shu_lf)

            move_lift = Action(r,
                               ActionType.MOVE,
                               lambda x: isinstance(x, Lift),
                               param={"auto_sat": 0},
                               after=[pick_up_shu.id, block_sat.id],
                               branch=branch_sat_shu_lf)

            drop_shu = Action(r,
                              ActionType.DROP,
                              lambda x: isinstance(x, Lift),
                              after=[move_lift.id],
                              branch=branch_sat_shu_lf)

            free_lift = Free(r,
                             lambda x: isinstance(x, Lift),
                             after=[drop_shu.id],
                             branch=branch_sat_shu_lf)

            # shuttle take sat

            move_shu = Action(r,
                              ActionType.MOVE,
                              lambda x: isinstance(x, Shuttle),
                              param={"auto": 0},
                              after=[drop_shu.id],
                              branch=branch_sat_shu_lf)

            pick_up_sat = Action(r,
                                 ActionType.PICKUP,
                                 lambda x: isinstance(x, Shuttle),
                                 param={"auto": 0},
                                 after=[move_shu.id, move_sat.id],
                                 branch=branch_sat_shu_lf)

            # to zero and lift pick_up

            move_shu = Action(r,
                              ActionType.MOVE,
                              lambda x: isinstance(x, Shuttle),
                              param={"x": 0},
                              after=[pick_up_shu.id, block_shu.id],
                              branch=branch_sat_shu_lf)

            block_lift = Block(r,
                               lambda x: isinstance(x, Lift) and x.position.
                               section == channel.position.section,
                               after=[pick_up_sat.id, free_lift.id])

            security_drop = Action(r,
                                   ActionType.DROP,
                                   lambda x: isinstance(x, Lift),
                                   after=[block_lift.id],
                                   branch=branch_sat_shu_lf)

            move_lift = Action(r,
                               ActionType.MOVE,
                               lambda x: isinstance(x, Lift),
                               param={"auto": 0},
                               after=[security_drop.id],
                               branch=branch_sat_shu_lf)

            pick_up_shu = Action(r,
                                 ActionType.PICKUP,
                                 lambda x: isinstance(x, Lift),
                                 param={"auto": 0},
                                 after=[move_lift.id, move_shu.id],
                                 branch=branch_sat_shu_lf)

            # go to Strategy.bay take and go to level

            move_lift = Action(r,
                               ActionType.MOVE,
                               lambda x: isinstance(x, Lift),
                               param={"level": Strategy.bay.position.level},
                               after=[pick_up_shu.id])

            get = Action(r,
                         ActionType.GET_FROM_BAY,
                         lambda x: isinstance(x, Satellite),
                         param={"item": task.item},
                         after=[move_lift.id])

            # go and drop

            move = Action(r,
                          ActionType.MOVE,
                          lambda x: isinstance(x, Lift),
                          param={"level": channel.position.level},
                          after=[get.id])

            drop_shu = Action(r,
                              ActionType.DROP,
                              lambda x: isinstance(x, Lift),
                              after=[move.id])

            move_shu = Action(r,
                              ActionType.MOVE,
                              lambda x: isinstance(x, Shuttle),
                              param={"x": channel.position.x},
                              after=[drop_shu.id])

            drop_sat = Action(r,
                              ActionType.DROP,
                              lambda x: isinstance(x, Shuttle),
                              after=[move_shu.id])

            move_sat = Action(
                r,
                ActionType.MOVE,
                lambda x: isinstance(x, Satellite),
                param={"z": channel.capacity - len(channel.items)},
                after=[drop_sat.id])

            drop = Action(r,
                          ActionType.DROP,
                          lambda x: isinstance(x, Satellite),
                          param={"channel_id": channel.id},
                          after=[move_sat.id])

            free = Free(r, lambda x: isinstance(x, Lift), after=[drop_shu.id])
            free = Free(r,
                        lambda x: isinstance(x, Shuttle),
                        after=[drop_sat.id])
            free = Free(r, lambda x: isinstance(x, Satellite), after=[drop.id])
            free = Free(r, lambda x: isinstance(x, Channel), after=[drop.id])

        else:

            block_channel = Block(r, channel.id)
            block_sat = Block(
                r,
                lambda x: isinstance(x, Satellite) and x.position.section ==
                channel.position.section,
                after=[block_channel.id],
                sort_by=lambda x: distance(x.position, channel.position,
                                           sim.get_status().parameter))
            block_shu = Block(
                r,
                lambda x: isinstance(x, Shuttle) and x.position.section ==
                channel.position.section,
                after=[block_sat.id],
                sort_by=lambda x: distance(x.position, channel.position,
                                           sim.get_status().parameter))

            # condition check

            branch_sat_shu_lf = Branch(
                r,
                after=[block_sat.id, block_shu.id],
                condition=lambda sim, taken_inf: lift.content is None or lift.
                content.id != list(
                    filter(lambda x: isinstance(x, Shuttle), taken_inf))[0].id
                or list(filter(lambda x: isinstance(x, Shuttle), taken_inf))[
                    0].content is None or list(
                        filter(lambda x: isinstance(x, Shuttle), taken_inf))[0]
                .content != list(
                    filter(lambda x: isinstance(x, Satellite), taken_inf))[0])

            branch_sat_shu_on_level = Branch(
                r,
                after=[block_sat.id, block_shu.id, branch_sat_shu_lf.id],
                condition=lambda sim, taken_inf: list(
                    filter(lambda x: isinstance(x, Shuttle), taken_inf)
                )[0].position.level != channel.position.level or list(
                    filter(lambda x: isinstance(x, Satellite), taken_inf))[
                        0].position.level != channel.position.level,
                branch=branch_sat_shu_lf.id)

            security_drop_shu = Action(r,
                                       ActionType.DROP,
                                       lambda x: isinstance(x, Shuttle),
                                       after=[block_shu.id, block_sat.id],
                                       branch=branch_sat_shu_lf.id)

            move_shu = Action(
                r,
                ActionType.MOVE,
                lambda x: isinstance(x, Shuttle),
                param={"x": 0},
                after=[security_drop_shu.id],
                branch=branch_sat_shu_lf.id,
                condition=lambda x, y: len(
                    sim.find_res_by_id(channel_id, free=False).items) != 0,
                on_false=Strategy.ab)

            # grab shuttle
            block_lift = Block(r,
                               lambda x: isinstance(x, Lift) and x.position.
                               section == channel.position.section,
                               after=[
                                   block_shu.id, branch_sat_shu_on_level.id,
                                   block_channel.id
                               ],
                               branch=branch_sat_shu_on_level.id)

            security_drop = Action(
                r,
                ActionType.DROP,
                lambda x: isinstance(x, Lift),
                after=[block_lift.id, block_shu.id, block_sat.id],
                branch=branch_sat_shu_on_level.id)

            move_lift = Action(r,
                               ActionType.MOVE,
                               lambda x: isinstance(x, Lift),
                               param={"auto": 0},
                               after=[security_drop.id, block_shu.id],
                               branch=branch_sat_shu_on_level.id)

            pick_up_shu = Action(r,
                                 ActionType.PICKUP,
                                 lambda x: isinstance(x, Lift),
                                 param={"auto": 0},
                                 after=[move_lift.id, move_shu.id],
                                 branch=branch_sat_shu_on_level.id)

            # take shuttle to sat level

            move_lift = Action(r,
                               ActionType.MOVE,
                               lambda x: isinstance(x, Lift),
                               param={"auto_sat": 0},
                               after=[pick_up_shu.id, block_sat.id],
                               branch=branch_sat_shu_on_level.id)

            drop_shu = Action(r,
                              ActionType.DROP,
                              lambda x: isinstance(x, Lift),
                              after=[move_lift.id],
                              branch=branch_sat_shu_on_level.id)

            free_lift = Free(r,
                             lambda x: isinstance(x, Lift),
                             after=[drop_shu.id],
                             branch=branch_sat_shu_on_level.id)

            # sat to zero

            move_sat = Action(r,
                              ActionType.MOVE,
                              lambda x: isinstance(x, Satellite),
                              param={"z": 0},
                              after=[block_sat.id, block_channel.id],
                              branch=branch_sat_shu_lf.id)

            # shuttle takes sat and go to x 0 lift grab them

            move_shu = Action(r,
                              ActionType.MOVE,
                              lambda x: isinstance(x, Shuttle),
                              param={"auto": 0},
                              after=[drop_shu.id],
                              branch=branch_sat_shu_lf.id)

            pick_up_sat = Action(r,
                                 ActionType.PICKUP,
                                 lambda x: isinstance(x, Shuttle),
                                 param={"auto": 0},
                                 after=[move_shu.id, move_sat.id],
                                 branch=branch_sat_shu_lf.id)

            move_shu = Action(r,
                              ActionType.MOVE,
                              lambda x: isinstance(x, Shuttle),
                              param={"x": 0},
                              after=[pick_up_shu.id],
                              branch=branch_sat_shu_lf.id)

            block_lift = Block(r,
                               lambda x: isinstance(x, Lift) and x.position.
                               section == channel.position.section,
                               after=[pick_up_sat.id, free_lift.id])

            security_drop = Action(r,
                                   ActionType.DROP,
                                   lambda x: isinstance(x, Lift),
                                   after=[block_lift.id],
                                   branch=branch_sat_shu_lf.id)

            move_lift = Action(r,
                               ActionType.MOVE,
                               lambda x: isinstance(x, Lift),
                               param={"auto": 0},
                               after=[security_drop.id],
                               branch=branch_sat_shu_lf.id)

            pick_up_shu = Action(r,
                                 ActionType.PICKUP,
                                 lambda x: isinstance(x, Lift),
                                 param={"auto": 0},
                                 after=[move_lift.id, move_shu.id],
                                 branch=branch_sat_shu_lf.id)

            # lift take shu and sat to channel level

            move_lift = Action(r,
                               ActionType.MOVE,
                               lambda x: isinstance(x, Lift),
                               param={"level": channel.position.level},
                               after=[pick_up_shu.id])

            drop_shu = Action(r,
                              ActionType.DROP,
                              lambda x: isinstance(x, Lift),
                              after=[move_lift.id])

            free_lift = Free(r,
                             lambda x: isinstance(x, Lift),
                             after=[drop_shu.id])

            # retrival

            move_shu = Action(r,
                              ActionType.MOVE,
                              lambda x: isinstance(x, Shuttle),
                              param={"x": channel.position.x},
                              after=[drop_shu.id])

            drop_sat = Action(r,
                              ActionType.DROP,
                              lambda x: isinstance(x, Shuttle),
                              after=[move_shu.id])

            move_sat = Action(
                r,
                ActionType.MOVE,
                lambda x: isinstance(x, Satellite),
                param={"z": channel.capacity - len(channel.items)},
                after=[drop_sat.id])

            pick_up = Action(
                r,
                ActionType.PICKUP,
                lambda x: isinstance(x, Satellite),
                param={"channel_id": channel_id},
                after=[move_sat.id],
                condition=lambda x, y: len(
                    sim.find_res_by_id(channel_id, free=False).items) != 0)

            move_sat = Action(r,
                              ActionType.MOVE,
                              lambda x: isinstance(x, Satellite),
                              param={"z": 0},
                              after=[pick_up.id])

            pick_up_sat = Action(r,
                                 ActionType.PICKUP,
                                 lambda x: isinstance(x, Shuttle),
                                 param={"auto": 0},
                                 after=[move_sat.id])

            move_shu = Action(r,
                              ActionType.MOVE,
                              lambda x: isinstance(x, Shuttle),
                              param={"x": 0},
                              after=[pick_up_sat.id])

            block_lift = Block(r,
                               lambda x: isinstance(x, Lift) and x.position.
                               section == channel.position.section,
                               after=[pick_up_sat.id, free_lift.id])

            security_drop = Action(r,
                                   ActionType.DROP,
                                   lambda x: isinstance(x, Lift),
                                   after=[block_lift.id])

            move_lift = Action(r,
                               ActionType.MOVE,
                               lambda x: isinstance(x, Lift),
                               param={"auto": 0},
                               after=[security_drop.id])

            pick_up_shu = Action(r,
                                 ActionType.PICKUP,
                                 lambda x: isinstance(x, Lift),
                                 param={"auto": 0},
                                 after=[move_lift.id, move_shu.id])

            move_lift = Action(r,
                               ActionType.MOVE,
                               lambda x: isinstance(x, Lift),
                               param={"level": Strategy.bay.position.level},
                               after=[pick_up_shu.id])

            drop = Action(r,
                          ActionType.DROP_TO_BAY,
                          lambda x: isinstance(x, Satellite),
                          param={},
                          after=[move_lift.id])

            # take all to Strategy.bay and finish

            free = Free(r, lambda x: isinstance(x, Satellite), after=[drop.id])
            free = Free(r, lambda x: isinstance(x, Shuttle), after=[drop.id])
            free = Free(r, lambda x: isinstance(x, Lift), after=[drop.id])
            free = Free(r,
                        lambda x: isinstance(x, Channel),
                        after=[pick_up.id])

        return r
コード例 #4
0
    def implement0(task, channel_id, sim, parameter) -> ActionsGraph:
        assert isinstance(task, Task)
        assert isinstance(sim, Simulation)
        assert isinstance(channel_id, int)
        assert isinstance(parameter, SimulationParameter)
        r = ActionsGraph(sim, task)
        channel = sim.find_res_by_id(channel_id)
        if task.order_type == OrderType.DEPOSIT:
            block = Block(r, channel.id)
            block1 = Block(r,
                           lambda x: isinstance(x, Satellite) and x.position.
                           section == channel.position.section,
                           after=[block.id])
            block2 = Block(r,
                           lambda x: isinstance(x, Shuttle) and x.position.
                           section == channel.position.section,
                           after=[block1.id])
            block3 = Block(r,
                           lambda x: isinstance(x, Lift) and x.position.section
                           == channel.position.section,
                           after=[block2.id])

            fork_move = Action(
                r,
                ActionType.MOVE,
                lambda x: isinstance(x, Satellite),
                param={"z": 0},
                condition=lambda x, y: len(
                    sim.find_res_by_id(channel_id, free=False).items
                ) != sim.find_res_by_id(channel_id, free=False).capacity,
                after=[block.id, block1.id, block2.id, block3.id])
            move = Action(r,
                          ActionType.MOVE,
                          lambda x: isinstance(x, Lift),
                          param={"level": Strategy.bay.position.level},
                          after=[fork_move.id])
            move1 = Action(r,
                           ActionType.MOVE,
                           lambda x: isinstance(x, Shuttle),
                           param={"x": 0},
                           after=[fork_move.id])

            pick_up = Action(r,
                             ActionType.GET_FROM_BAY,
                             lambda x: isinstance(x, Satellite),
                             param={"item": task.item},
                             after=[move1.id, move.id])

            move = Action(r,
                          ActionType.MOVE,
                          lambda x: isinstance(x, Lift),
                          param={"level": channel.position.level},
                          after=[pick_up.id])
            move1 = Action(r,
                           ActionType.MOVE,
                           lambda x: isinstance(x, Shuttle),
                           param={"x": channel.position.x},
                           after=[pick_up.id])

            fork_move = Action(
                r,
                ActionType.MOVE,
                lambda x: isinstance(x, Satellite),
                param={"z": channel.capacity - len(channel.items)},
                after=[move.id, move1.id])

            drop = Action(r,
                          ActionType.DROP,
                          lambda x: isinstance(x, Satellite),
                          param={"channel_id": channel.id},
                          after=[fork_move.id])
            free = Free(r, lambda x: isinstance(x, Satellite), after=[drop.id])
            free = Free(r, lambda x: isinstance(x, Shuttle), after=[drop.id])
            free = Free(r, lambda x: isinstance(x, Lift), after=[drop.id])
            free = Free(r, lambda x: isinstance(x, Channel), after=[drop.id])

        else:
            block = Block(r, channel.id)
            block1 = Block(r,
                           lambda x: isinstance(x, Satellite) and x.position.
                           section == channel.position.section,
                           after=[block.id])
            block2 = Block(r,
                           lambda x: isinstance(x, Shuttle) and x.position.
                           section == channel.position.section,
                           after=[block1.id])
            block3 = Block(r,
                           lambda x: isinstance(x, Lift) and x.position.section
                           == channel.position.section,
                           after=[block2.id])
            fork_move = Action(
                r,
                ActionType.MOVE,
                lambda x: isinstance(x, Satellite),
                param={"z": 0},
                after=[block.id, block1.id, block2.id, block3.id],
                condition=lambda x, y: len(
                    sim.find_res_by_id(channel_id, free=False).items) != 0,
                on_false=Strategy.ab)

            move = Action(r,
                          ActionType.MOVE,
                          lambda x: isinstance(x, Lift),
                          param={"level": channel.position.level},
                          after=[fork_move.id])
            move1 = Action(r,
                           ActionType.MOVE,
                           lambda x: isinstance(x, Shuttle),
                           param={"x": channel.position.x},
                           after=[fork_move.id])

            fork_move = Action(
                r,
                ActionType.MOVE,
                lambda x: isinstance(x, Satellite),
                param={"z": channel.capacity - len(channel.items)},
                after=[move.id, move1.id])

            pick_up = Action(
                r,
                ActionType.PICKUP,
                lambda x: isinstance(x, Satellite),
                param={"channel_id": channel_id},
                after=[move1.id, move.id],
                condition=lambda x, y: len(
                    sim.find_res_by_id(channel_id, free=False).items) != 0)

            fork_move = Action(r,
                               ActionType.MOVE,
                               lambda x: isinstance(x, Satellite),
                               param={"z": 0},
                               after=[fork_move.id])

            move = Action(r,
                          ActionType.MOVE,
                          lambda x: isinstance(x, Lift),
                          param={"level": Strategy.bay.position.level},
                          after=[fork_move.id])
            move1 = Action(r,
                           ActionType.MOVE,
                           lambda x: isinstance(x, Shuttle),
                           param={"x": 0},
                           after=[fork_move.id])

            drop = Action(r,
                          ActionType.DROP_TO_BAY,
                          lambda x: isinstance(x, Satellite),
                          param={},
                          after=[move1.id, move.id])
            free = Free(r, lambda x: isinstance(x, Satellite), after=[drop.id])
            free = Free(r, lambda x: isinstance(x, Shuttle), after=[drop.id])
            free = Free(r, lambda x: isinstance(x, Lift), after=[drop.id])
            free = Free(r, lambda x: isinstance(x, Channel), after=[drop.id])

        return r
コード例 #5
0
    def implement1(task, channel_id, sim, parameter) -> ActionsGraph:
        assert isinstance(task, Task)
        assert isinstance(sim, Simulation)
        assert isinstance(channel_id, int)
        assert isinstance(parameter, SimulationParameter)
        r = ActionsGraph(sim, task)
        channel = sim.find_res_by_id(channel_id)
        lift = sim.find_performer(lambda x: isinstance(x, Lift) and x.position.
                                  section == channel.position.section,
                                  free=False)[0]
        if task.order_type == OrderType.DEPOSIT:
            block_channel = Block(r, channel.id)
            block_sat = Block(r,
                              lambda x: isinstance(x, Satellite) and x.position
                              .section == channel.position.section,
                              after=[block_channel.id])
            block_shu = Block(
                r,
                lambda x: isinstance(x, Shuttle) and x.position.section ==
                channel.position.section,
                after=[block_sat.id],
                sort_by=lambda x: distance(x.position, Strategy.bay.position,
                                           sim.get_status().parameter))
            block_lift = Block(r,
                               lambda x: isinstance(x, Lift) and x.position.
                               section == channel.position.section,
                               after=[block_shu.id])

            branch_shu_lf = Branch(
                r,
                after=[block_shu.id],
                condition=lambda sim, taken_inf: lift.content is None or lift.
                content.id != list(
                    filter(lambda x: isinstance(x, Shuttle), taken_inf))[0].id)

            # go and take shuttle
            fork_move = Action(
                r,
                ActionType.MOVE,
                lambda x: isinstance(x, Satellite),
                param={"z": 0},
                condition=lambda x, y: len(
                    sim.find_res_by_id(channel_id, free=False).items
                ) != sim.find_res_by_id(channel_id, free=False).capacity,
                after=[block_sat.id, block_shu.id, block_channel.id],
                branch=branch_shu_lf.id)
            move_shu = Action(r,
                              ActionType.MOVE,
                              lambda x: isinstance(x, Shuttle),
                              param={"x": 0},
                              after=[fork_move.id],
                              branch=branch_shu_lf.id)

            security_drop = Action(r,
                                   ActionType.DROP,
                                   lambda x: isinstance(x, Lift),
                                   after=[block_lift.id],
                                   branch=branch_shu_lf.id)

            move_lift = Action(r,
                               ActionType.MOVE,
                               lambda x: isinstance(x, Lift),
                               param={"auto": 0},
                               after=[security_drop.id],
                               branch=branch_shu_lf.id)

            pick_up = Action(r,
                             ActionType.PICKUP,
                             lambda x: isinstance(x, Lift),
                             param={"auto": 0},
                             after=[move_shu.id, move_lift.id],
                             branch=branch_shu_lf.id)

            # go to Strategy.bay and take

            move_lift = Action(r,
                               ActionType.MOVE,
                               lambda x: isinstance(x, Lift),
                               param={"level": Strategy.bay.position.level},
                               after=[pick_up.id])

            get = Action(r,
                         ActionType.GET_FROM_BAY,
                         lambda x: isinstance(x, Satellite),
                         param={"item": task.item},
                         after=[move_lift.id])

            # go and deposit

            move = Action(r,
                          ActionType.MOVE,
                          lambda x: isinstance(x, Lift),
                          param={"level": channel.position.level},
                          after=[get.id])

            drop_shu = Action(r,
                              ActionType.DROP,
                              lambda x: isinstance(x, Lift),
                              after=[move.id])

            move_shu = Action(r,
                              ActionType.MOVE,
                              lambda x: isinstance(x, Shuttle),
                              param={"x": channel.position.x},
                              after=[drop_shu.id])

            fork_move = Action(
                r,
                ActionType.MOVE,
                lambda x: isinstance(x, Satellite),
                param={"z": channel.capacity - len(channel.items)},
                after=[move_shu.id])

            drop = Action(r,
                          ActionType.DROP,
                          lambda x: isinstance(x, Satellite),
                          param={"channel_id": channel.id},
                          after=[fork_move.id])
            free = Free(r, lambda x: isinstance(x, Satellite), after=[drop.id])
            free = Free(r, lambda x: isinstance(x, Shuttle), after=[drop.id])
            free = Free(r, lambda x: isinstance(x, Lift), after=[drop_shu.id])
            free = Free(r, lambda x: isinstance(x, Channel), after=[drop.id])

        else:
            block_channel = Block(r, channel.id)
            block_sat = Block(r,
                              lambda x: isinstance(x, Satellite) and x.position
                              .section == channel.position.section,
                              after=[block_channel.id])
            block_shu = Block(
                r,
                lambda x: isinstance(x, Shuttle) and x.position.section ==
                channel.position.section,
                after=[block_sat.id],
                sort_by=lambda x: distance(x.position, channel.position,
                                           sim.get_status().parameter))

            branch_shu_on_level = Branch(
                r,
                after=[block_shu.id],
                condition=lambda sim, taken_inf: list(
                    filter(lambda x: isinstance(x, Shuttle), taken_inf))[
                        0].position.level != channel.position.level)

            branch_shu_lf = Branch(
                r,
                after=[block_shu.id],
                condition=lambda sim, taken_inf: lift.content is None or lift.
                content.id != list(
                    filter(lambda x: isinstance(x, Shuttle), taken_inf))[0].id,
                branch=branch_shu_on_level)

            # go and take shuttle
            fork_move = Action(
                r,
                ActionType.MOVE,
                lambda x: isinstance(x, Satellite),
                param={"z": 0},
                condition=lambda x, y: len(
                    sim.find_res_by_id(channel_id, free=False).items
                ) != sim.find_res_by_id(channel_id, free=False).capacity,
                on_false=Strategy.ab,
                after=[block_sat.id, block_shu.id, block_channel.id],
                branch=branch_shu_lf.id)
            move_shu = Action(r,
                              ActionType.MOVE,
                              lambda x: isinstance(x, Shuttle),
                              param={"x": 0},
                              after=[fork_move.id],
                              branch=branch_shu_lf.id)
            block_lift = Block(r,
                               lambda x: isinstance(x, Lift) and x.position.
                               section == channel.position.section,
                               after=[block_shu.id],
                               branch=branch_shu_on_level)

            security_drop = Action(r,
                                   ActionType.DROP,
                                   lambda x: isinstance(x, Lift),
                                   after=[block_lift.id],
                                   branch=branch_shu_lf.id)

            move_lift = Action(r,
                               ActionType.MOVE,
                               lambda x: isinstance(x, Lift),
                               param={"auto": 0},
                               after=[security_drop.id],
                               branch=branch_shu_lf.id)

            pick_up = Action(r,
                             ActionType.PICKUP,
                             lambda x: isinstance(x, Lift),
                             param={"auto": 0},
                             after=[move_shu.id, move_lift.id],
                             branch=branch_shu_lf.id)
            # go and drop shut to level

            move_l = Action(r,
                            ActionType.MOVE,
                            lambda x: isinstance(x, Lift),
                            param={"level": channel.position.level},
                            after=[pick_up.id],
                            branch=branch_shu_on_level)

            drop_shu = Action(r,
                              ActionType.DROP,
                              lambda x: isinstance(x, Lift),
                              after=[move_l.id],
                              branch=branch_shu_on_level)

            free_lift = Free(r,
                             lambda x: isinstance(x, Lift),
                             after=[drop_shu.id],
                             branch=branch_shu_on_level)

            # take from channel and return to 0

            move_shu = Action(r,
                              ActionType.MOVE,
                              lambda x: isinstance(x, Shuttle),
                              param={"x": channel.position.x},
                              after=[drop_shu.id])

            fork_move = Action(
                r,
                ActionType.MOVE,
                lambda x: isinstance(x, Satellite),
                param={"z": channel.capacity - len(channel.items)},
                after=[move_shu.id])

            pick_up = Action(
                r,
                ActionType.PICKUP,
                lambda x: isinstance(x, Satellite),
                param={"channel_id": channel_id},
                after=[fork_move.id],
                condition=lambda x, y: len(
                    sim.find_res_by_id(channel_id, free=False).items) != 0)

            fork_move = Action(r,
                               ActionType.MOVE,
                               lambda x: isinstance(x, Satellite),
                               param={"z": 0},
                               after=[pick_up.id])

            move_shu = Action(r,
                              ActionType.MOVE,
                              lambda x: isinstance(x, Shuttle),
                              param={"x": 0},
                              after=[fork_move.id])

            # the lift take shu and return to Strategy.bay

            block_lift = Block(r,
                               lambda x: isinstance(x, Lift) and x.position.
                               section == channel.position.section,
                               after=[pick_up.id])

            security_drop = Action(r,
                                   ActionType.DROP,
                                   lambda x: isinstance(x, Lift),
                                   after=[block_lift.id])

            move_lift = Action(r,
                               ActionType.MOVE,
                               lambda x: isinstance(x, Lift),
                               param={"auto": 0},
                               after=[security_drop.id])

            pick_up = Action(r,
                             ActionType.PICKUP,
                             lambda x: isinstance(x, Lift),
                             param={"auto": 0},
                             after=[move_shu.id, move_lift.id])

            move_lift = Action(r,
                               ActionType.MOVE,
                               lambda x: isinstance(x, Lift),
                               param={"level": Strategy.bay.position.level},
                               after=[pick_up.id])

            drop = Action(r,
                          ActionType.DROP_TO_BAY,
                          lambda x: isinstance(x, Satellite),
                          param={},
                          after=[move_lift.id])

            free = Free(r, lambda x: isinstance(x, Satellite), after=[drop.id])
            free = Free(r, lambda x: isinstance(x, Shuttle), after=[drop.id])
            free = Free(r, lambda x: isinstance(x, Lift), after=[drop.id])
            free = Free(r, lambda x: isinstance(x, Channel), after=[drop.id])

        return r