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791 lines
22 KiB
Python
791 lines
22 KiB
Python
from dataclasses import dataclass
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from enum import Enum, IntEnum
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from functools import wraps
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from itertools import product
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from math import radians, sin, cos
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from sys import stderr
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import tkinter as tk
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from typing import Tuple, Union
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def check_before(precondition):
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"""
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Decorator for running methods before executing a method.
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Args:
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call_before: Function to be called before executing a method.
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Returns:
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Parametrized decorator that can be used to wrap method with the
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`call_before`.
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"""
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def parametrized(f):
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@wraps(f)
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def wrapper(self, *args, **kwargs):
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if not precondition(self, *args, **kwargs, fn=f):
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return
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return f(self, *args, **kwargs)
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return wrapper
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return parametrized
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def after(call_after):
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"""
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Decorator for running methods after executing a method.
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Args:
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call_after: Function to be called after executing a method.
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Returns:
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Parametrized decorator that can be used to wrap method with the
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`call_after`.
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"""
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def parametrized(f):
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@wraps(f)
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def wrapper(self, *args, **kwargs):
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result = f(self, *args, **kwargs)
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call_after(self, *args, **kwargs, fn=f)
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return result
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return wrapper
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return parametrized
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def skip_for_summary(f):
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"""
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Decorator used for skipping a function call if the Karel is running
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in a summary mode.
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"""
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@wraps(f)
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def wrapper(self, *args, **kwargs):
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if self.summary_mode:
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return
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return f(self, *args, **kwargs)
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return wrapper
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class Block(IntEnum):
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"""
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Represents a field in the world of the Robot Karel.
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It can be either clear or a wall.
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"""
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Clear = 0
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Wall = -1
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# Constants for major angles
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EAST, NORTH, WEST, SOUTH = 0, 90, 180, 270
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# @dataclass(frozen=True, slots=True)
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@dataclass(frozen=True)
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class _Direction:
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"""
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angle: Represents heading of the Robot Karel
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"""
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angle: int
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@property
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def vector(self) -> Tuple[int, int]:
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"""
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Get a direction vector in the current direction the robot is heading.
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Returns:
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Pair of ints, representing a vector of (dx, dy).
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"""
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angle, x, y = radians(self.angle), 1, 0
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return (
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x * round(cos(angle)) - y * round(sin(angle)),
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x * round(sin(angle)) + y * round(cos(angle)),
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)
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@property
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def in_world(self) -> str:
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"""
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Get a character that is being put in the graphical representation of
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the Robot Karel.
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Returns:
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Character to be put in the world.
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"""
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return {
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Direction.East.value: ">",
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Direction.North.value: "^",
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Direction.West.value: "<",
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Direction.South.value: "v",
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# Direction.East.value: "⮞",
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# Direction.North.value: "⮝",
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# Direction.West.value: "⮜",
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# Direction.South.value: "⮟",
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}[self]
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@property
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def as_string(self) -> str:
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"""
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Returns a string with a direction for Tk label.
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Returns:
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Label of the direction
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"""
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return {
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Direction.East.value: "east",
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Direction.North.value: "north",
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Direction.West.value: "west",
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Direction.South.value: "south",
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}[self]
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def __add__(self, angle: int) -> "_Direction":
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return _Direction((360 + self.angle + angle) % 360)
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class Direction(Enum):
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"""
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Provides constants of directions Karel can face.
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"""
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East = _Direction(EAST)
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North = _Direction(NORTH)
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West = _Direction(WEST)
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South = _Direction(SOUTH)
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class KarelWindow:
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def __init__(self, karel: "Karel", scale: int, font: str):
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self.size = 32 * scale
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self.steps = tk.Label(text=karel.steps, anchor="e")
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self.steps.grid(row=0, column=0, sticky="e")
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self.last_cmd = tk.Label(text=karel.last_command, anchor="w")
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self.last_cmd.grid(row=0, column=1, columnspan=3, sticky="w")
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tk.Label(text="CORNER").grid(row=1, column=0)
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tk.Label(text="FACING").grid(row=1, column=1)
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tk.Label(text="BEEP-BAG").grid(row=1, column=2)
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tk.Label(text="BEEP-CORNER").grid(row=1, column=3)
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self.corner = tk.Label()
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self.corner.grid(row=2, column=0)
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self.facing = tk.Label()
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self.facing.grid(row=2, column=1)
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self.beep_bag = tk.Label()
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self.beep_bag.grid(row=2, column=2)
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self.beep_corner = tk.Label()
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self.beep_corner.grid(row=2, column=3)
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self.canvas = tk.Canvas(
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width=((karel.world.width + 1) // 2 + 2) * self.size,
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height=((karel.world.height + 1) // 2 + 2) * self.size,
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background="black",
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)
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self.canvas.grid(column=0, row=3, columnspan=4)
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self.font = f"{font} {int(12 * scale)}"
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self.__draw_world(karel.world)
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self.render(karel)
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def __draw_world(self, world: "World"):
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m, n = (world.height + 1) // 2, (world.width + 1) // 2
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# NUMBERS
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self.canvas.create_text(
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self.size // 2,
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self.size,
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text="ST.",
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fill="white",
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anchor="s",
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font=self.font,
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)
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for i in range(m):
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self.canvas.create_text(
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self.size - 8,
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(i + 2) * self.size - self.size // 2,
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text=(m - i),
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anchor="e",
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fill="white",
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font=self.font,
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)
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y = ((m + 1) * self.size) + 8
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self.canvas.create_text(
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(n + 1) * self.size + self.size // 2,
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y,
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text="AVE.",
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fill="white",
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anchor="n",
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font=self.font,
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)
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for i in range(n):
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self.canvas.create_text(
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(i + 2) * self.size - self.size // 2,
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y,
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text=(i + 1),
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anchor="n",
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fill="white",
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font=self.font,
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)
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# BORDER
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self.canvas.create_rectangle(
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self.size,
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self.size,
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self.size * (n + 1),
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self.size * (m + 1),
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fill="",
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outline="white",
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)
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for row, col in product(range(world.height), range(world.width)):
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block = world.data[row][col]
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if row % 2 == 0 and col % 2 == 0:
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self.__print_beeper(world, block or ".", row // 2, col // 2)
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elif block == Block.Wall:
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size = self.size
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x = size + col // 2 * size
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y = (world.width + 1) // 2 * size - row // 2 * size
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if row % 2 == 1 and col % 2 == 0:
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self.canvas.create_line(x, y, x + size, y, fill="white")
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elif row % 2 == 0:
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x += size
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self.canvas.create_line(x, y, x, y + size, fill="white")
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self.canvas.update()
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def __print_beeper(
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self, world: "World", beeper: Union[str, int], row: int, column: int
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):
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self.canvas.create_text(
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(column + 1) * self.size + self.size // 2,
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((world.height + 1) // 2 - row) * self.size + self.size // 2,
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text=str(beeper),
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anchor="center",
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fill="white",
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font=self.font,
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)
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def render(self, karel: "Karel"):
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self.facing["text"] = karel.direction.as_string
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self.steps["text"] = karel.steps
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self.last_cmd["text"] = karel.last_command
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self.corner["text"] = f"({(karel.x + 2) // 2}, {(karel.y + 2) // 2})"
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self.beep_bag["text"] = karel.beepers
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self.beep_corner["text"] = karel.world.data[karel.y][karel.x]
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i, j = (karel.y + 2) // 2, (karel.x + 2) // 2
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size = self.size
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x, y = j * size, ((karel.world.height + 1) // 2 - i + 1) * size
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self.canvas.create_rectangle(
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x + 1, y + 1, x + size - 1, y + size - 1, fill="black"
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)
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karel_on_map = karel.direction.in_world
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self.canvas.create_text(
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x + size // 2,
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y + size // 2,
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text=karel_on_map,
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font=self.font + " bold",
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fill="yellow",
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anchor="center",
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)
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self.canvas.update()
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self.canvas.after(karel.step_delay)
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def update(self, karel: "Karel", dx: int, dy: int):
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block = karel.world.data[karel.y - 2 * dy][karel.x - 2 * dx]
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i, j = (karel.y - 2 * dy) // 2, (karel.x - 2 * dx) // 2
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x, y = (j + 1) * self.size, (
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(karel.world.height + 1) // 2 - i
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) * self.size
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self.canvas.create_rectangle(
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x + 1, y + 1, x + self.size - 1, y + self.size - 1, fill="black"
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)
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self.__print_beeper(karel.world, block or ".", i, j)
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def error(self, karel: "Karel", message: str):
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self.render(karel)
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self.last_cmd["foreground"] = "red"
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self.last_cmd["text"] = f"Error Shutoff! ({message})"
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class World:
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def __init__(self, width, height, data):
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self.width = width * 2 - 1
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self.height = height * 2 - 1
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self.data = [
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[0 for _ in range(self.width)] for _ in range(self.height)
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]
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if self.width > 30 or self.height > 30:
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raise ValueError(
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"The given world is greater than the max values of [{}x{}]".format(
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30, 30
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)
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)
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self._parse_world(data)
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def __parse_wall(self, column, row, orientation, line):
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column = column * 2 - 2
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row = row * 2 - 2
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if column % 2 == 1 or row % 2 == 1:
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raise ValueError("Wrong position of the wall")
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if orientation == "E":
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column += 1
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elif orientation == "W":
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column -= 1
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elif orientation == "N":
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row += 1
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elif orientation == "S":
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row -= 1
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else:
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raise ValueError(
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"Unknown wall orientation '{}' on line {} in world file".format(
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orientation, line
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)
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)
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self.data[row][column] = Block.Wall
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if column % 2 == 1 and row % 2 == 0:
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if row + 1 < self.height:
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self.data[row + 1][column] = Block.Wall
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if row - 1 >= 0:
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self.data[row - 1][column] = Block.Wall
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else:
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if column + 1 < self.width:
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self.data[row][column + 1] = Block.Wall
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if column - 1 >= 0:
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self.data[row][column - 1] = Block.Wall
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def __parse_beepers(self, column, row, count):
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column = column * 2 - 2
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row = row * 2 - 2
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self.data[row][column] = count
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def _parse_world(self, world_content):
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for i, line in enumerate(world_content, 1):
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if not line:
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continue
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block, column, row, arg = [part.upper() for part in line.split()]
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if block == "W":
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self.__parse_wall(int(column), int(row), arg, i)
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elif block == "B":
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self.__parse_beepers(int(column), int(row), int(arg))
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else:
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raise ValueError(
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"Unknown block character '{}' on line {} in world file".format(
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block, i
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)
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)
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class Karel:
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def __init__(
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self, filename, summary_mode=False, scale=1, font="monospace"
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):
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"""
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Turn Karel on.
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Args:
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filename: Path to the file containing Karel's world and initial
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settings.
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summary_mode: Disable rendering of the Karel's world in the window.
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Defaults to `False`.
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scale: Change the scaling factor of the font used to render Karel's
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world.
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Defaults to `1`.
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font: Change the default monospace font that is used to render the
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world.
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Defaults to `"monospace"`.
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"""
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self.summary_mode = summary_mode
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world_content = None
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with open(filename) as world_file:
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world_content = world_file.read()
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first_line, world = world_content.split("\n", maxsplit=1)
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width, height, x, y, direction, beepers = first_line.split()
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direction = direction.upper()
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self.world = World(int(width), int(height), world.split("\n"))
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self.x, self.y = int(x) * 2 - 2, int(y) * 2 - 2
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if direction == "S":
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self.direction = Direction.South.value
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elif direction == "W":
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self.direction = Direction.West.value
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elif direction == "E":
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self.direction = Direction.East.value
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elif direction == "N":
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self.direction = Direction.North.value
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else:
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raise ValueError("Unknown Karel's direction")
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self.beepers = int(beepers)
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self.steps = 0
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self.step_delay = 1000
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self.is_running = True
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self.last_command = "turn_on"
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self._initialize_window(scale, font)
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@skip_for_summary
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def _initialize_window(self, scale, font):
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"""
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Initializes a window where the Karel is drawn.
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"""
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self._window = KarelWindow(self, scale, font)
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@skip_for_summary
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def __update(self, dx, dy):
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"""
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Updates Karel's position in the window.
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Args:
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dx: Change along the horizontal axis.
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dy: Change along the vertical axis.
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"""
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self._window.update(self, dx, dy)
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def __render(self, fn, *args, **kwargs):
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"""
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Updates step counter and last command for Karel.
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If the robot is not running in a summary mode, then the window
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is rendered once again.
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"""
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if not self.is_running:
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return
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self.steps += 1
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self.last_command = fn.__name__
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if not self.summary_mode:
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self._window.render(self)
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def __error(self, message):
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"""
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Provides error handling.
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Args:
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message: Error message to be shown.
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"""
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if not self.summary_mode:
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self._window.error(self, message)
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self.is_running = False
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else:
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print(f"Error Shutoff! ({message})", file=stderr)
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@skip_for_summary
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def __deinit(self):
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tk.mainloop()
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def __check_state(self, *args, **kwargs):
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"""
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Assures that commands are not run while the robot is not running.
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Robot is not running when error has occurred.
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"""
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return self.is_running
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@check_before(__check_state)
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def beepers_in_bag(self):
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"""
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Check if there are any beepers in the Karel's bag.
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Returns:
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`True` if there is at least one beeper in Karel's beeper bag,
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`False` otherwise.
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"""
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return self.beepers > 0
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def no_beepers_in_bag(self):
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"""
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Check if there are no beepers in the Karel's bag.
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Returns:
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`True` if there is no beeper in Karel's beeper bag, `False` otherwise.
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"""
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return not self.beepers_in_bag()
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@check_before(__check_state)
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def front_is_clear(self):
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"""
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Check if there is no wall in front of Karel.
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Returns:
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`True` if there is no obstacle in front of Karel, `False` otherwise.
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"""
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dx, dy = self.direction.vector
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if not (
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0 <= self.x + dx < self.world.width
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and 0 <= self.y + dy < self.world.height
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):
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return False
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if self.world.data[self.y + dy][self.x + dx] == Block.Wall:
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return False
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return True
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def front_is_blocked(self):
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"""
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Check if there is a wall in front of Karel.
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Returns:
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`True` if there is an obstacle in front of Karel, `False` otherwise.
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"""
|
|
return not self.front_is_clear()
|
|
|
|
@check_before(__check_state)
|
|
def __side_is_clear(self, d):
|
|
"""
|
|
Helper function for determining whether the sides of Karel are clear.
|
|
|
|
Args:
|
|
d: Counterclockwise change in angle of Karel's heading.
|
|
|
|
Returns:
|
|
`True` if the side after applying the `d` counterclokwise turn
|
|
is clear, `False` otherwise.
|
|
"""
|
|
original_direction = self.direction
|
|
self.direction = self.direction + d
|
|
|
|
is_clear = self.front_is_clear()
|
|
self.direction = original_direction
|
|
|
|
return is_clear
|
|
|
|
def left_is_clear(self):
|
|
"""
|
|
Check if there is no wall to the left side of Karel.
|
|
|
|
Returns:
|
|
`True` if there is no obstacle to the left side of Karel,
|
|
`False` otherwise.
|
|
"""
|
|
return self.__side_is_clear(90)
|
|
|
|
def left_is_blocked(self):
|
|
"""
|
|
Check if there is a wall to the left side of Karel.
|
|
|
|
Returns:
|
|
`True` if there is an obstacle to the left side of Karel,
|
|
`False` otherwise.
|
|
"""
|
|
return not self.left_is_clear()
|
|
|
|
def right_is_clear(self):
|
|
"""
|
|
Check if there is no wall to the right side of Karel.
|
|
|
|
Returns:
|
|
`True` if there is no obstacle to the right side of Karel,
|
|
`False` otherwise.
|
|
"""
|
|
return self.__side_is_clear(-90)
|
|
|
|
def right_is_blocked(self):
|
|
"""
|
|
Check if there is a wall to the right side of Karel.
|
|
|
|
Returns:
|
|
`True` if there is an obstacle to the right side of Karel,
|
|
`False` otherwise.
|
|
"""
|
|
return not self.right_is_clear()
|
|
|
|
@check_before(__check_state)
|
|
def facing_north(self):
|
|
"""
|
|
Check if Karel is facing north.
|
|
|
|
Returns:
|
|
`True` if Karel is facing north, `False` otherwise.
|
|
"""
|
|
return self.direction == Direction.North
|
|
|
|
def not_facing_north(self):
|
|
"""
|
|
Check if Karel is »not« facing north.
|
|
|
|
Returns:
|
|
`True` if Karel is »not« facing north, `False` otherwise.
|
|
"""
|
|
return not self.facing_north()
|
|
|
|
@check_before(__check_state)
|
|
def facing_south(self):
|
|
"""
|
|
Check if Karel is facing south.
|
|
|
|
Returns:
|
|
`True` if Karel is facing south, `False` otherwise.
|
|
"""
|
|
return self.direction == Direction.South
|
|
|
|
def not_facing_south(self):
|
|
"""
|
|
Check if Karel is »not« facing south.
|
|
|
|
Returns:
|
|
`True` if Karel is »not« facing south, `False` otherwise.
|
|
"""
|
|
return not self.facing_south()
|
|
|
|
@check_before(__check_state)
|
|
def facing_east(self):
|
|
"""
|
|
Check if Karel is facing east.
|
|
|
|
Returns:
|
|
`True` if Karel is facing east, `False` otherwise.
|
|
"""
|
|
return self.direction == Direction.East
|
|
|
|
def not_facing_east(self):
|
|
"""
|
|
Check if Karel is »not« facing east.
|
|
|
|
Returns:
|
|
`True` if Karel is »not« facing east, `False` otherwise.
|
|
"""
|
|
return not self.facing_east()
|
|
|
|
@check_before(__check_state)
|
|
def facing_west(self):
|
|
"""
|
|
Check if Karel is facing west.
|
|
|
|
Returns:
|
|
`True` if Karel is facing west, `False` otherwise.
|
|
"""
|
|
return self.direction == Direction.West
|
|
|
|
def not_facing_west(self):
|
|
"""
|
|
Check if Karel is »not« facing west.
|
|
|
|
Returns:
|
|
`True` if Karel is »not« facing west, `False` otherwise.
|
|
"""
|
|
return not self.facing_west()
|
|
|
|
@check_before(__check_state)
|
|
def beepers_present(self):
|
|
"""
|
|
Check whether Karel stands on a position that has any beepers present.
|
|
|
|
Returns:
|
|
`True` if there is at least one beeper present on the current
|
|
position, `False` otherwise.
|
|
"""
|
|
return self.world.data[self.y][self.x] > 0
|
|
|
|
def no_beepers_present(self):
|
|
"""
|
|
Check whether Karel stands on a position that has no beepers present.
|
|
|
|
Returns:
|
|
`True` if there is no beeper present on the current position,
|
|
`False` otherwise.
|
|
"""
|
|
return not self.beepers_present()
|
|
|
|
@check_before(__check_state)
|
|
@after(__render)
|
|
def step(self):
|
|
"""
|
|
Move Karel one position in the direction he's facing.
|
|
"""
|
|
if not self.front_is_clear():
|
|
return self.__error("Can't move this way")
|
|
|
|
dx, dy = self.direction.vector
|
|
self.x += 2 * dx
|
|
self.y += 2 * dy
|
|
self.__update(dx, dy)
|
|
|
|
@check_before(__check_state)
|
|
@after(__render)
|
|
def turn_left(self):
|
|
"""
|
|
Turn Karel counterclockwise, i.e. left, by 90 degrees.
|
|
"""
|
|
self.direction = self.direction + 90
|
|
|
|
@after(__render)
|
|
def turn_off(self):
|
|
"""
|
|
Turn Karel off.
|
|
"""
|
|
self.is_running = False
|
|
self.__deinit()
|
|
|
|
@check_before(__check_state)
|
|
@after(__render)
|
|
def put_beeper(self):
|
|
"""
|
|
Take a beeper from Karel's beeper bag and put on the current position.
|
|
"""
|
|
if self.beepers <= 0:
|
|
return self.__error("Karel has no beeper to put at the corner")
|
|
|
|
self.world.data[self.y][self.x] += 1
|
|
self.beepers -= 1
|
|
|
|
@check_before(__check_state)
|
|
@after(__render)
|
|
def pick_beeper(self):
|
|
"""
|
|
Pick a beeper from the current position and put it into Karel's
|
|
beeper bag.
|
|
"""
|
|
if self.world.data[self.y][self.x] <= 0:
|
|
return self.__error("There is no beeper at the corner")
|
|
|
|
self.world.data[self.y][self.x] -= 1
|
|
self.beepers += 1
|
|
|
|
def set_step_delay(self, delay):
|
|
"""
|
|
Set delay of a Karel's step.
|
|
|
|
Args:
|
|
delay: Delay of one step in milliseconds.
|
|
"""
|
|
self.step_delay = delay
|
|
|
|
def get_step_delay(self):
|
|
"""
|
|
Get current delay of a Karel's step.
|
|
|
|
Returns:
|
|
Current delay in milliseconds.
|
|
"""
|
|
return self.step_delay
|