Represents the robot arm
| 5 | from Numeric import array |
| 6 | |
| 7 | class Arm(object): |
| 8 | """Represents the robot arm""" |
| 9 | |
| 10 | def __init__(self, stacks): |
| 11 | """Pass the Stacks instance""" |
| 12 | self.stacks = stacks |
| 13 | |
| 14 | def _getBlocks(self, a, b): |
| 15 | """Pass two zero based numbers and get two |
| 16 | block objects. All checking done, returns (None, None) |
| 17 | if the indexes are wrong |
| 18 | """ |
| 19 | if not (0 < a < self.stacks.blockCount): return None, None |
| 20 | if not (0 < b < self.stacks.blockCount): return None, None |
| 21 | a = self.stacks.blocks[a] |
| 22 | b = self.stacks.blocks[b] |
| 23 | if a.position == b.position: return None, None |
| 24 | return a, b |
| 25 | |
| 26 | def moveOnto(self, a, b): |
| 27 | """ |
| 28 | Move a onto b |
| 29 | |
| 30 | Where a and b are block numbers, puts block a onto block b |
| 31 | after returning any blocks that are stacked on top of blocks |
| 32 | a and b to their initial positions. |
| 33 | """ |
| 34 | # Get the actual block objects |
| 35 | a, b = self._getBlocks(a, b) |
| 36 | if not a: return # Ignore bad indexes |
| 37 | # Return blocks ontop of a to original positions (in reverse order of course) |
| 38 | a.removeBlocksFromAbove() |
| 39 | # Return blocks ontop of b to original positions |
| 40 | b.removeBlocksFromAbove() |
| 41 | # Move block a on top of block b |
| 42 | a.moveTo(b.position) |
| 43 | |
| 44 | def moveOver(self, a, b): |
| 45 | """ |
| 46 | Move a over b |
| 47 | |
| 48 | Where a and b are block numbers, puts block a onto the top of the stack |
| 49 | containing block b, after returning any blocks that are stacked on top |
| 50 | of block a to their initial positions. |
| 51 | """ |
| 52 | a, b = self._getBlocks(a, b) |
| 53 | if not a: return # Ignore bad indexes |
| 54 | # Move all blocks in a's stack to their original positions |
| 55 | a.removeBlocksFromAbove() |
| 56 | # Move a to the top of b's stack |
| 57 | a.moveTo(b.position) |
| 58 | |
| 59 | def pileOnto(self, a, b): |
| 60 | """ |
| 61 | Pile a onto b |
| 62 | |
| 63 | Where a and b are block numbers, moves the pile of blocks consisting of |
| 64 | block a, and any blocks that are stacked above block a, onto block b. |