implement robots in subworlds

data/scenarios/Testing/144-subworlds/00-ORDER.txt

@@ -1,3 +1,4 @@
 basic-subworld.yaml
 subworld-shared-structures.yaml
-subworld-robots.yaml
+subworld-mapped-robots.yaml
+subworld-located-robots.yaml

data/scenarios/Testing/144-subworlds/_subworld-located-robots/solution.sw

@@ -0,0 +1,10 @@
+
+def doN = \n. \f. if (n > 0) {f; doN (n - 1) f} {}; end;
+
+doN 3 move;
+f <- grab;
+
+doN 5 move;
+r <- meet;
+case r return $ \j. give j f;
+

data/scenarios/Testing/144-subworlds/_subworld-mapped-robots/judges.sw

@@ -0,0 +1,52 @@
+
+def getRobotNumber = \n.
+    r <- robotnumbered n;
+    if (r == self) {
+        return n;
+    } {getRobotNumber $ n + 1};
+    end;
+
+def amLowestRecursive = \targetName. \idx.
+    r <- robotnumbered idx;
+    thisName <- as r {whoami};
+    if (thisName == targetName) {
+        return $ r == self;
+    } {amLowestRecursive targetName $ idx + 1};
+    end;
+
+/**
+Iterates through robots by increasing index.
+If we encounter a robot, fetched by index,
+with the same name as me, but I am not that robot,
+then we return false.
+*/
+def amFirstOfMyName =
+    myName <- whoami;
+    amLowestRecursive myName 0;
+    end;
+
+def waitToGiveThing = \thing.
+    r <- meet;
+    case r (\_. wait 1; waitToGiveThing thing) $ \b. give b thing;
+    end;
+
+def waitToGive =
+    let thing = "bitcoin" in
+    create thing;
+    waitToGiveThing thing;
+    end;
+
+def waitToReceive =
+    noop;
+    end;
+
+def go =
+    myNumber <- getRobotNumber 0;
+    log $ "My number: " ++ format myNumber;
+    amFirst <- amFirstOfMyName;
+    log $ "Am first with this name? " ++ format amFirst;
+
+    if amFirst {waitToReceive} {waitToGive};
+    end;
+
+go;

data/scenarios/Testing/144-subworlds/_subworld-mapped-robots/solution.sw

@@ -0,0 +1,8 @@
+
+def doN = \n. \f. if (n > 0) {f; doN (n - 1) f} {}; end;
+
+doN 16 move;
+
+r <- meet;
+case r return $ \j. give j "bitcoin";
+

data/scenarios/Testing/144-subworlds/subworld-robots.yaml → data/scenarios/Testing/144-subworlds/subworld-located-robots.yaml

@@ -1,16 +1,16 @@
 version: 1
-name: Subworld robots
+name: Subworld robots (explicit location)
 description: |
-  Demonstrate that system robots can be placed in any subworld
-# objectives:
-#   - goal:
-#     - |
-#       `place` the "flower" on the white cell.
-#     condition: |
-#       j <- robotnamed "judge";
-#       as j {ishere "flower"}
-# solution: |
-#   run "scenarios/Testing/144-subworlds/_basic-subworld/solution.sw"
+  Demonstrate that system robots can be placed in any subworld.
+objectives:
+  - goal:
+    - |
+      `give` the "flower" to the robot underground.
+    condition: |
+      j <- robotnamed "judge";
+      as j {has "flower"}
+solution: |
+  run "scenarios/Testing/144-subworlds/_subworld-located-robots/solution.sw"
 attrs:
   - name: portal_in
     fg: "#ff9a00"
@@ -36,8 +36,12 @@ entities:
 robots:
   - name: base
     dir: [1, 0]
+    loc:
+      subworld: root
+      loc: [2, 0]
     devices:
       - ADT calculator
+      - antenna
       - branch predictor
       - comparator
       - compass
@@ -51,18 +55,21 @@ robots:
       - treads
   - name: judge
     dir: [1, 0]
+    loc:
+      subworld: underground
+      loc: [4, 0]
     system: true
     display:
       char: 'J'
-      invisible: true
+      invisible: false
 known: [flower, boulder]
 subworlds:
   - name: underground
     default: [blank]
     palette:
       '.': [dirt]
-      'f': [dirt, flower]
       'b': [dirt, boulder]
+      't': [grass, null, judge]
       'p':
         cell: [dirt, telepad exit]
         waypoint:
@@ -79,14 +86,15 @@ subworlds:
     upperleft: [-1, 1]
     map: |
       b..b..b..b
-      .p..f...P.
+      .p......P.
       b..b..b..b
 world:
   default: [blank]
   palette:
     '.': [grass]
+    'f': [grass, flower]
     'B': [grass, null, base]
-    't': [ice, null, judge]
+    't': [grass, null, judge]
     'p':
       cell: [grass, telepad exit]
       waypoint:
@@ -103,5 +111,5 @@ world:
         subworldName: underground
   map: |
     ..........
-    .p.Bt...P.
+    .p....f.P.
     ..........

data/scenarios/Testing/144-subworlds/subworld-mapped-robots.yaml

@@ -0,0 +1,115 @@
+version: 1
+name: Subworld robots (map placement)
+description: |
+  Demonstrate that system robots can be placed in any subworld.
+
+  Also demonstrates tiebreaking logic for robot numbering based
+  on subworld.
+objectives:
+  - goal:
+    - |
+      `give` the "bitcoin" to the robot in the "root" world.
+    - |
+      First obtain it from the robot living underground.
+    condition: |
+      j <- robotnumbered 1;
+      as j {has "bitcoin"}
+solution: |
+  run "scenarios/Testing/144-subworlds/_subworld-mapped-robots/solution.sw"
+attrs:
+  - name: portal_in
+    fg: "#ff9a00"
+    bg: "#ff5d00"
+  - name: portal_out
+    fg: "#00a2ff"
+    bg: "#0065ff"
+entities:
+  - name: telepad entrance
+    display:
+      attr: portal_in
+      char: "o"
+    description:
+    - Portal entrance
+    properties: [known]
+  - name: telepad exit
+    display:
+      attr: portal_out
+      char: "o"
+    description:
+    - Portal exit
+    properties: [known]
+robots:
+  - name: base
+    dir: [1, 0]
+    devices:
+      - ADT calculator
+      - antenna
+      - branch predictor
+      - comparator
+      - compass
+      - dictionary
+      - GPS receiver
+      - grabber
+      - lambda
+      - lodestone
+      - logger
+      - strange loop
+      - treads
+  - name: judge
+    dir: [1, 0]
+    system: true
+    display:
+      char: 'J'
+      invisible: false
+    program: |
+      run "scenarios/Testing/144-subworlds/_subworld-mapped-robots/judges.sw";
+known: [boulder]
+subworlds:
+  - name: underground
+    default: [blank]
+    palette:
+      '.': [dirt]
+      'b': [dirt, boulder]
+      't': [grass, null, judge]
+      'p':
+        cell: [dirt, telepad exit]
+        waypoint:
+          name: portal_out2
+      'P':
+        cell: [dirt, telepad entrance]
+        waypoint:
+          name: portal_in2
+    portals:
+      - entrance: portal_in2
+        exitInfo:
+          exit: portal_out1
+          subworldName: root
+    upperleft: [-1, 1]
+    map: |
+      b..b..b..b
+      .p.t....P.
+      b..b..b..b
+world:
+  default: [blank]
+  palette:
+    '.': [grass]
+    'B': [grass, null, base]
+    't': [grass, null, judge]
+    'p':
+      cell: [grass, telepad exit]
+      waypoint:
+        name: portal_out1
+    'P':
+      cell: [grass, telepad entrance]
+      waypoint:
+        name: portal_in1
+  upperleft: [-1, 1]
+  portals:
+    - entrance: portal_in1
+      exitInfo:
+        exit: portal_out2
+        subworldName: underground
+  map: |
+    ..........
+    .p.B..t.P.
+    ..........

src/Swarm/Game/State.hs

@@ -1160,6 +1160,10 @@ scenarioToGameState scenario (LaunchParams (Identity userSeed) (Identity toRun))
   --   2.a. If multiple robots are specified in the map, prefer the one that
   --        is defined first within the Scenario file.
   --   2.b. If multiple robots are instantiated from the same template, then
+  --        prefer the one with a lower-indexed subworld. Note that the root
+  --        subworld is always first.
+  --   2.c. If multiple robots instantiated from the same template are in the
+  --        same subworld, then
   --        prefer the one closest to the upper-left of the screen, with higher
   --        rows given precedence over columns (i.e. first in row-major order).
   robotsByBasePrecedence = locatedRobots ++ map snd (sortOn fst genRobots)
@@ -1206,16 +1210,21 @@ scenarioToGameState scenario (LaunchParams (Identity userSeed) (Identity toRun))
       (maybe True (`S.member` initialCaps) . constCaps)
       allConst
 
-  -- TODO: We currently only utilize genRobots on the root world.
-  (genRobots, _wf) = buildWorld em $ NE.head $ scenario ^. scenarioWorlds
+  -- Subworld order as encountered in the scenario YAML file is preserved for
+  -- the purpose of numbering robots, other than the "root" subworld
+  -- guaranteed to be first.
+  genRobots = concat $ NE.toList $ NE.map (fst . snd) builtWorldTuples
+
+  builtWorldTuples = NE.map (worldName &&& buildWorld em)
+    $ scenario ^. scenarioWorlds
 
   allSubworldsMap s =
-    M.fromList
-      . map (worldName &&& genWorld)
+    M.map genWorld
+      . M.fromList
       . NE.toList
-      $ scenario ^. scenarioWorlds
+      $ builtWorldTuples
    where
-    genWorld x = W.newWorld $ snd (buildWorld em x) s
+    genWorld x = W.newWorld $ snd x s
 
   theWinCondition =
     maybe

test/integration/Main.hs

@@ -298,6 +298,8 @@ testScenarioSolution _ci _em =
         , testSolution Default "Testing/1295-density-command"
         , testSolution Default "Testing/1356-portals/portals-flip-and-rotate.yaml"
         , testSolution Default "Testing/144-subworlds/basic-subworld.yaml"
+        , testSolution Default "Testing/144-subworlds/subworld-mapped-robots.yaml"
+        , testSolution Default "Testing/144-subworlds/subworld-located-robots.yaml"
         ]
     ]
  where