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 _move_to_block_towards_inside(self, to_block_direction: Direction,
from_block_direction: Direction,
line: LineToMiddle,
before_block_coordinates: Coordinates):
# returns True when finished but False when still need to add block
while self.robot_coordinates != before_block_coordinates:
hit_information = self.shared_actions_executor.try_move_robot(
to_block_direction)
if hit_information.hit_type == HitType.OBSTACLE:
raise ValueError("scanner cannot work with obstacles")
elif hit_information.hit_type == HitType.BLOCK:
placed_block_position: Union[None, Coordinates] = None
discovered_block_position = self.robot_coordinates.create_neighbour_coordinate(
to_block_direction)
while placed_block_position != discovered_block_position:
placed_block_position = self._put_block_on_map(line)
if line.is_finished():
self._go_back_to_start_line(from_block_direction,
line.start_coordinates)
return
self.shared_actions_executor.try_rotate_robot(
from_block_direction)
before_block_coordinates = line.get_next_block_position(). \
create_neighbour_coordinate(from_block_direction)
self._move_to_block_from_inside(from_block_direction,
before_block_coordinates)
return
elif hit_information.hit_type == HitType.ROBOT:
# if we hit robot then he already put at least one new block and we continue with block elsewhere
self._put_block_on_map(line)
self._go_back_to_start_line(from_block_direction,
line.start_coordinates)
return
return
def scan_line(self, line: LineToMiddle, _first_iteration: bool = True):
# TODO: remove when work
if _first_iteration:
raise NotImplementedError()
# end remove
if line.is_finished():
raise ValueError("cannot scan finished line")
line_start_coordinates = line.start_coordinates.copy()
if _first_iteration:
if self.robot_coordinates != line_start_coordinates:
raise ValueError("scanner assume that robot is at line start")
if not self.robot.has_block():
raise ValueError("scanner assume that robot has block")
to_block_direction = line.get_to_block_direction()
from_block_direction = line.get_from_block_direction()
before_block_coordinates = line.get_next_block_position(
).create_neighbour_coordinate(from_block_direction)
if _first_iteration:
if self._move_to_block_towards_inside(to_block_direction,
from_block_direction, line,
before_block_coordinates):
return
else:
if self.robot_coordinates.get_straight_distance_to_other(
to_block_direction, before_block_coordinates) > 0:
if self._move_to_block_towards_inside(
to_block_direction, from_block_direction, line,
before_block_coordinates):
return
else:
self._move_to_block_from_inside(from_block_direction,
before_block_coordinates)
while True:
# we need to rotate in case we were not
if self.robot.rotation != to_block_direction:
self.shared_actions_executor.try_rotate_robot(
to_block_direction)
# if we are just before position to put block and correctly rotated
hit_information = self.shared_actions_executor.try_put_block(
to_block_direction)
if hit_information.hit_type == HitType.PLACED_BLOCK:
line.place_block()
break
elif hit_information.hit_type == HitType.BLOCK:
# when another robot already put this block
line.place_block()
if line.is_finished():
break
before_block_coordinates = line.get_next_block_position(). \
create_neighbour_coordinate(from_block_direction)
self._move_to_block_from_inside(from_block_direction,
before_block_coordinates)
continue
else:
raise ValueError(
"different tile type cannot be on position where block will be added"
)
self._go_back_to_start_line(from_block_direction, line)
def _put_block_on_map(self, line: LineToMiddle) -> Coordinates:
placed_block_position = line.place_block()
try:
self.private_grid.add_tile_to_grid(Tile(TileType.BLOCK),
placed_block_position)
except Exception as e:
print(f"WARNING: {e}")
return placed_block_position
def __init__(self, line: LineToMiddle, robot: Robot,
shared_grid_access: SharedGridAccess,
goal_building: GoalBuilding):
super().__init__(robot, shared_grid_access, goal_building)
self.shared_actions_executor = RobotSharedActionsExecutor(
robot=robot,
shared_grid_access=shared_grid_access,
private_grid=self.private_grid,
robot_coordinates=self.robot_coordinates)
self.line = line.copy()
self.line_scanner = LineScannerExecutor(self.shared_actions_executor)
def _move_to_block_towards_inside(self, line: LineToMiddle) -> bool:
to_block_direction = line.get_to_block_direction()
from_block_direction = line.get_from_block_direction()
before_block_coordinates = line.get_next_block_position(
).create_neighbour_coordinate(from_block_direction)
before_last_coordinates = line.get_last_position(
).create_neighbour_coordinate(from_block_direction)
# print(f"robot: {self.robot}, start move_to_block_towards_inside, " +
# f"before: {before_block_coordinates}, last: {before_last_coordinates}")
# returns True when finished but False when still need to add block
while self.robot_coordinates != before_last_coordinates:
hit_information = self.shared_actions_executor.try_move_robot(
to_block_direction)
if hit_information.hit_type == HitType.OBSTACLE:
raise ValueError("scanner cannot work with obstacles")
elif hit_information.hit_type == HitType.BLOCK:
placed_block_position: Coordinates = before_block_coordinates
discovered_block_position = self.robot_coordinates.create_neighbour_coordinate(
to_block_direction)
print(
f"robot: {self.robot.id}, hit block at {discovered_block_position}"
)
if before_block_coordinates == discovered_block_position:
self._put_block_on_map(line)
while placed_block_position != discovered_block_position:
placed_block_position = self._put_block_on_map(line)
if line.is_finished():
self._go_back_to_start_line(from_block_direction,
line.start_coordinates)
return True
self.shared_actions_executor.try_rotate_robot(
from_block_direction)
before_block_coordinates = line.get_next_block_position(). \
create_neighbour_coordinate(from_block_direction)
self._move_to_block_from_inside(from_block_direction,
before_block_coordinates)
return False
elif hit_information.hit_type == HitType.ROBOT:
# if we hit robot then he already put at least one new block and we continue with block elsewhere
other_robot_position = self.robot_coordinates.create_neighbour_coordinate(
to_block_direction)
print(
f"robot: {self.robot.id}, hit robot at {other_robot_position}"
)
self._go_back_to_start_line(from_block_direction,
line.start_coordinates)
return True
self.shared_actions_executor.try_rotate_robot(from_block_direction)
before_block_coordinates = line.get_next_block_position(). \
create_neighbour_coordinate(from_block_direction)
self._move_to_block_from_inside(from_block_direction,
before_block_coordinates)
return False
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 _go_back_to_start_line(self, from_block_direction: Direction,
line: LineToMiddle):
line_start_position = line.start_coordinates.copy()
if self.robot_coordinates == line_start_position:
return
if self.robot.rotation != from_block_direction:
self.shared_actions_executor.try_rotate_robot(from_block_direction)
met_robot = False
hit_information = None
while self.robot_coordinates != line_start_position:
if not met_robot:
hit_information = self.shared_actions_executor.try_move_robot(
from_block_direction)
if hit_information.hit_type == HitType.OBSTACLE:
raise ValueError("scanner cannot work with obstacles")
elif hit_information.hit_type == HitType.BLOCK:
# we wait for other robot to take this block back
self.shared_actions_executor.wait_action()
elif hit_information.hit_type == HitType.ROBOT:
# if we hit robot then he will know we put block
met_robot = True
else:
distance_to_line_start = self.robot_coordinates.get_straight_distance_to_other(
from_block_direction, line_start_position)
if line.is_finished() or distance_to_line_start < 3:
# don't take block if line finished make other robot take it back he will go back updating one block
# in his private grid
[
self.shared_actions_executor.wait_action()
for _ in range(3)
]
met_robot = False
else:
hit_information = self.shared_actions_executor.try_get_block(
from_block_direction)
if hit_information.hit_type == HitType.GOT_BLOCK:
raise NotImplementedError()
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 _put_block_on_map(self, line: LineToMiddle) -> Coordinates:
placed_block_position = line.place_block()
self.private_grid.add_tile_to_grid(Tile(TileType.BLOCK),
placed_block_position)
return placed_block_position
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 __init__(self, line: LineToMiddle, robot: Robot,
shared_grid_access: SharedGridAccess,
goal_building: GoalBuilding):
super().__init__(robot, shared_grid_access, goal_building, 0.0001)
self.line = line.copy()
self.line_scanner = LineScannerExecutor(self.shared_actions_executor)