def test_is_a_robot_on_position_on_maze(self):
maze_cells = np.array([[0, 0, 0, 0, 0]])
maze = Maze(maze_cells)
robots = {
"A": (0, 2),
}
goals = queue.Queue()
goals.put(Goal("A", (0, 1)))
rr = RobotReboot(maze, goals)
rr.set_robots(robots)
self.assertTrue(rr.is_a_robot_on((0, 2)))
self.assertFalse(rr.is_a_robot_on((0, 0)))
def test_state(self):
maze_cells = np.array([
[Maze.EMPTY, Maze.S, Maze.EMPTY, Maze.E, Maze.EMPTY],
[Maze.EMPTY, Maze.EMPTY, Maze.EMPTY, Maze.EMPTY, Maze.EMPTY],
[Maze.N, Maze.N, Maze.EMPTY, Maze.EMPTY, Maze.EMPTY],
[Maze.EMPTY, Maze.EMPTY, Maze.S, Maze.EMPTY, Maze.EMPTY],
[Maze.E, Maze.E, Maze.EMPTY, Maze.EMPTY, Maze.EMPTY]
])
maze = Maze(maze_cells)
robots = {
"A": (0, 2),
"B": (0, 2),
"C": (4, 2)
}
goals = queue.Queue()
# Order here matters, first robot is B, next robot is A, last robot is C
goals.put(Goal("B", (3, 4)))
goals.put(Goal("A", (0, 0)))
goals.put(Goal("C", (0, 0)))
rr = RobotReboot(maze, goals)
rr.set_robots(robots)
obs = rr.state()
rows, cols, layers = obs.shape
self.assertEqual(obs.shape, (5, 5, 4))
np.testing.assert_equal(obs[:, :, 0], maze_cells)
# Checking robots on each layer
self.assertEqual(obs[0, 2, 1], RobotReboot.ROBOT)
self.assertEqual(obs[0, 2, 2], RobotReboot.ROBOT)
self.assertEqual(obs[4, 2, 3], RobotReboot.ROBOT)
# Checking goal on the target robot
self.assertEqual(obs[3, 4, 1], RobotReboot.GOAL)
for i in range(rows):
for j in range(cols):
for layer in range(1, layers):
if not rr.is_a_robot_on((i, j)) and rr.goal.cell != (i, j) and layer != 2:
self.assertEqual(obs[i, j, layer], 0)