def phase_search(phase, puzzle_arr, depth):
global path
if depth == 0:
if distance(puzzle_arr, phase) == 0:
return True
else:
if distance(puzzle_arr, phase) <= depth:
l_twist = path[-1] if len(path) >= 1 else -10
ll_twist = path[-2] if len(path) >= 2 else -10
for twist in successor[phase]:
if face(twist) == face(l_twist) or axis(twist) == axis(
l_twist) == axis(ll_twist):
continue
n_puzzle_arr = twist_arr(phase, puzzle_arr, twist)
path.append(twist)
if phase_search(phase, n_puzzle_arr, depth - 1):
return True
path.pop()
def solver(puzzle):
global path
res = []
que = []
dis_first = distance(puzzle)
heapify(que)
heappush(que, [dis_first, [], puzzle])
weight = 1
offset = 2
cnt = 0
while que:
cnt += 1
if cnt % 10 == 0:
pass #print(cnt)
dis, path, puz = heappop(que)
dis_int = int(round(dis))
l = len(path)
for _ in range(dis_int):
print('=', end='')
for _ in range(20 - dis_int):
print('.', end='')
print(l, dis)
if dis == 0:
return path
l0_twist = path[-1] if len(path) >= 1 else -10
l1_twist = path[-2] if len(path) >= 2 else -10
twist = 0
while twist < 18:
if face(twist) == face(l0_twist):
twist += 1
continue
if axis(twist) == axis(l0_twist) == axis(l1_twist):
twist = skip_axis[twist]
continue
n_puz = puz.move(twist)
n_dis = distance(n_puz)
if dis_first + offset < n_dis + l * weight:
twist = skip_axis[twist]
continue
n_path = [i for i in path]
n_path.append(twist)
heappush(que, [n_dis, n_path, n_puz])
twist += 1
return -1
def robotize(solution, rpm=200):
regrip_rpm = 250
robot_solution = []
for twist in solution:
amount = (twist % 3 + 1) * 90
wide_flag = wide(twist)
axis_arr = [1, 3, 0, 2, 0, 2]
move_arm = axis_arr[twist // 6]
if axis(twist) == 1: # U or D
robot_solution.append([0, 4000])
robot_solution.append([2, 4000])
robot_solution.append([3, 90, regrip_rpm])
robot_solution.append([1, -90, regrip_rpm])
robot_solution.append([0, 1000])
robot_solution.append([1, 1000])
robot_solution.append([2, 1000])
robot_solution.append([3, 1000])
grab_arms = [move_arm % 2, move_arm % 2 + 2]
if wide_flag:
for i in grab_arms:
robot_solution.append([i, 2000])
else:
robot_solution.append([move_arm, 3000])
release_arms = [(move_arm + 1) % 2, (move_arm + 1) % 2 + 2]
for i in release_arms:
robot_solution.append([i, 4000])
robot_solution.append([move_arm, amount, rpm])
robot_solution.append([move_arm, 1000])
if wide_flag:
robot_solution.append([(move_arm + 2) % 4, 1000])
for i in release_arms:
robot_solution.append([i, 1000])
if axis(twist) == 1: # U or D
robot_solution.append([0, 4000])
robot_solution.append([2, 4000])
robot_solution.append([1, 90, regrip_rpm])
robot_solution.append([3, -90, regrip_rpm])
robot_solution.append([0, 1000])
robot_solution.append([2, 1000])
return robot_solution
'''
print('phase1 CP')
prunning = [99 for _ in range(40320)]
solved_idx = solved.idx_cp()
que = deque([[solved_idx, 0, -10, -10]])
prunning[solved_idx] = 0
cnt = 0
while que:
cnt += 1
if cnt % 10000 == 0:
print(cnt, len(que))
puzzle, num, l_twist, ll_twist = que.popleft()
for twist in successor[1]:
if face(twist) == face(
l_twist) or axis(twist) == axis(l_twist) == axis(ll_twist):
continue
n_puzzle = move_cp[puzzle][twist]
if prunning[n_puzzle] > num + 1:
prunning[n_puzzle] = num + 1
que.append([n_puzzle, num + 1, twist, l_twist])
with open('prunning_phase1_0.csv', mode='w') as f:
writer = csv.writer(f, lineterminator='\n')
writer.writerow(prunning)
'''
print('phase1 EP')
prunning = [99 for _ in range(967680)]
solved_idx = solved.idx_phase1_ep_ud() * 24 + solved.idx_phase1_ep_fbrl()
que = deque([[solved_idx, 0, -10, -10]])
prunning[solved_idx] = 0
cnt = 0
solved = Cube()
print('phase 0 1/1')
prunning = [99 for _ in range(735471)]
solved_idx = solved.idx_ce_phase0()
prunning[solved_idx] = 0
que = deque([[solved_idx, 0, -10, -10, -10]])
cnt = 0
while que:
cnt += 1
if cnt % 10000 == 0:
#tmp = prunning.count(100)
print(cnt, len(que))
#print(prunning[0])
puzzle, num, l1_twist, l2_twist, l3_twist = que.popleft()
for twist in successor[0]:
if face(twist) == face(l1_twist) or axis(twist) == axis(
l1_twist) == axis(l2_twist) == axis(l3_twist) or (
axis(twist) == axis(l1_twist)
and wide(twist) == wide(l1_twist) == 1):
continue
n_puzzle = move_ce_phase0[puzzle][twist_to_idx[twist]]
if prunning[n_puzzle] > num + 1:
prunning[n_puzzle] = num + 1
que.append([n_puzzle, num + 1, twist, l1_twist, l2_twist])
with open('prun/prunning0.csv', mode='w') as f:
writer = csv.writer(f, lineterminator='\n')
writer.writerow(prunning)
# phase1 center
ce_parity = [-1 for _ in range(70)]
solved = Cube()