def _is_robot_on_same_edge_and_not_too_far(self,
goal: Coordinates) -> bool:
robot_edge_side = self.robot_coordinates.get_edge_side(
width=self.width, height=self.height)
goal_edge_side = goal.get_edge_side(width=self.width,
height=self.height)
if robot_edge_side != goal_edge_side:
return False
moving_direction = self.spin.get_edge_move_direction(robot_edge_side)
# distance <0 means we already are too far from source and need to make another lap
return self.robot_coordinates.get_straight_distance_to_other(
moving_direction, goal) >= 0
def __init__(self,
robot: Robot,
shared_grid_access: SharedGridAccess,
goal_building: GoalBuilding,
goal_to_edges_splitter: GoalToEdgesSplitter,
spin: Spin,
sleep_tick_seconds: float = None,
robot_coordinates: Coordinates = None,
start_offset: int = 0,
start_edge_index: int = None):
super().__init__(robot, shared_grid_access, goal_building, robot_coordinates=robot_coordinates,
sleep_tick_seconds=sleep_tick_seconds)
self.private_grid.add_tile_to_grid(self.robot, self.robot_coordinates.copy())
self.start_offset = start_offset
self.robot_coordinates = self.private_grid.get_coord_from_tile(robot)
self.spin = spin
self.highway_executor = HighwayExecutor(
shared_actions_executor=self.shared_actions_executor,
spin=spin
)
self.line_scanner_executor = LineScannerExecutor(
shared_actions_executor=self.shared_actions_executor
)
self.edges: List[GridEdge] = goal_to_edges_splitter.get_edges()
if start_edge_index is None:
edge_side = robot_coordinates.get_edge_side(width=goal_building.width, height=goal_building.height)
next_side = spin.get_edge_move_direction(edge_side)
for i in range(0, 4):
self.edge_index = i
self.edge = self.edges[self.edge_index]
if next_side == self.edge.edge_side:
print(f"robot: {robot} got side {next_side}")
break
else:
self.edge_index = start_edge_index
self.edge = self.edges[self.edge_index % 4]