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 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 _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 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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)