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_single_robot_finish_single_line_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 1 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 = 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) base_grid.add_tile_to_grid( Tile(TileType.SOURCE), line_start_coordinates.create_neighbour_coordinate(Direction.UP)) 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, 1, 1, 0, 1])) for i in range(3): line_scanner_executor.scan_line(line=line_to_middle) grid = shared_grid_access.get_private_copy() assert grid.get_coord_from_tile(robot) == line_start_coordinates # we rotate take block from source and do another block shared_actions_executor.try_rotate_robot(Direction.UP) shared_actions_executor.try_get_block(Direction.UP) grid = shared_grid_access.get_private_copy() assert grid.get_tile_from_grid(line_start_coordinates) == robot 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 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 _split_goal(self): if self.is_splitted: return self.edges: List[GridEdge] = list() width = self.goal_building.width height = self.goal_building.height # first add elements that are not on diagonals # test_array = np.zeros((width, height), dtype=int) edge_block_counts = np.zeros( 4, dtype=int) # how many blocks each edge have assigned raising_diag_grid = np.zeros((width, height), dtype=bool) # True if diag on field decreasing_diag_grid = np.zeros((width, height), dtype=bool) if width == 1 or height == 1: raise ValueError("goal_building should be at least 3x3") if (width % 2 == 1) and (height % 2 == 1): mid_block_x = width // 2 mid_block_y = height // 2 mid_block_pos = (mid_block_x, mid_block_y) decreasing_diag_grid[mid_block_pos] = True raising_diag_grid[mid_block_pos] = True # D 0 R # 0 RD 0 # R 0 D decreasing_diag_left_pos = Coordinates(mid_block_x - 1, mid_block_y + 1) decreasing_diag_grid[ decreasing_diag_left_pos.get_array_index()] = True decreasing_diag_right_pos = Coordinates(mid_block_x + 1, mid_block_y - 1) decreasing_diag_grid[ decreasing_diag_right_pos.get_array_index()] = True raising_diag_left_pos = Coordinates(mid_block_x - 1, mid_block_y - 1) raising_diag_grid[raising_diag_left_pos.get_array_index()] = True raising_diag_right_pos = Coordinates(mid_block_x + 1, mid_block_y + 1) raising_diag_grid[raising_diag_right_pos.get_array_index()] = True else: # D R # R D left_x = width // 2 - 1 if height % 2 == 0: down_y = height // 2 - 1 else: down_y = height // 2 decreasing_diag_left_pos = Coordinates(left_x, down_y + 1) decreasing_diag_grid[ decreasing_diag_left_pos.get_array_index()] = True decreasing_diag_right_pos = Coordinates(left_x + 1, down_y) decreasing_diag_grid[ decreasing_diag_right_pos.get_array_index()] = True raising_diag_left_pos = Coordinates(left_x, down_y) raising_diag_grid[raising_diag_left_pos.get_array_index()] = True raising_diag_right_pos = Coordinates(left_x + 1, down_y + 1) raising_diag_grid[raising_diag_right_pos.get_array_index()] = True top_right_corner_walker = ToCornerWalker(raising_diag_grid, x_direction=Direction.RIGHT, y_direction=Direction.UP, pos=raising_diag_right_pos, width=width, height=height) top_right_corner_walker.update_diag_to_corner() down_right_corner_walker = ToCornerWalker( decreasing_diag_grid, x_direction=Direction.RIGHT, y_direction=Direction.DOWN, pos=decreasing_diag_right_pos, width=width, height=height) down_right_corner_walker.update_diag_to_corner() down_left_corner_walker = ToCornerWalker(raising_diag_grid, x_direction=Direction.LEFT, y_direction=Direction.DOWN, pos=raising_diag_left_pos, width=width, height=height) down_left_corner_walker.update_diag_to_corner() top_left_corner_walker = ToCornerWalker(decreasing_diag_grid, x_direction=Direction.LEFT, y_direction=Direction.UP, pos=decreasing_diag_left_pos, width=width, height=height) top_left_corner_walker.update_diag_to_corner() both_diags = (raising_diag_grid + 2 * decreasing_diag_grid) # now we want to create lines for each edge: edge_builds: List[EdgeBuild] = [ EdgeBuild(width, height, direction.get_opposite()) for direction in Direction ] edge_num = -1 for direction in Direction: edge_num += 1 direction: Direction = direction if direction.is_x_axis(): # for x axis we have y axis length amount of lines edge_len = height opposite_len = width else: edge_len = width opposite_len = height # for each line for i in range(edge_len): # if direction = UP # we would have something like this: # if rising then last index if direction == Direction.LEFT: line_scan_coordinate = Coordinates(0, i) elif direction == Direction.UP: line_scan_coordinate = Coordinates(i, opposite_len - 1) elif direction == Direction.RIGHT: line_scan_coordinate = Coordinates(opposite_len - 1, i) else: # DOWN line_scan_coordinate = Coordinates(i, 0) edge_builds[edge_num].add_line_start(line_scan_coordinate) for j in range(opposite_len): diag_tile = both_diags[ line_scan_coordinate.get_array_index()] if diag_tile: if diag_tile != 10 and self.goal_building.grid[ line_scan_coordinate.get_array_index()]: both_diags[ line_scan_coordinate.get_array_index()] = 10 # TODO: decide where this tile goes # decide_later.append(block_line, coordinate, edge_set) something like this # for now lets just add to first that got this edge_builds[edge_num].block_lines[(i, j)] = True edge_block_counts[edge_num] += 1 break if self.goal_building.grid[ line_scan_coordinate.get_array_index()]: edge_builds[edge_num].block_lines[(i, j)] = True edge_block_counts[edge_num] += 1 line_scan_coordinate = line_scan_coordinate.create_neighbour_coordinate( direction.get_opposite()) edge_num = -1 for direction in Direction: edge_num += 1 edge_build = edge_builds[edge_num] lines: List[LineToMiddle] = list() for i in range(edge_build.length): line = LineToMiddle(edge_build.line_starts[i], direction.get_opposite(), edge_build.block_lines[i]) lines.append(line) edge = GridEdge(self.robot_coordinates, self.source_positions, edge_build.length, lines) self.edges.append(edge)
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 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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)