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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,7 @@ | ||
| 836-path-exists-find-location.yaml | ||
| 836-path-exists-find-entity.yaml | ||
| 836-path-exists-distance-limit-unreachable.yaml | ||
| 836-path-exists-distance-limit-reachable.yaml | ||
| 836-no-path-exists1.yaml | ||
| 836-no-path-exists2.yaml | ||
| 836-automatic-waypoint-navigation.yaml |
153 changes: 153 additions & 0 deletions
153
data/scenarios/Testing/836-pathfinding/836-automatic-waypoint-navigation.yaml
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| version: 1 | ||
| name: Automatic navigation between waypoints | ||
| description: | | ||
| Demonstrate shortest-path patrolling between waypoints | ||
| creative: false | ||
| solution: | | ||
| run "scenarios/Testing/836-pathfinding/_836-automatic-waypoint-navigation/patrol.sw" | ||
| objectives: | ||
| - goal: | ||
| - Collect 64 eggs | ||
| condition: | | ||
| as base { | ||
| eggCount <- count "egg"; | ||
| return $ eggCount >= 64; | ||
| }; | ||
| attrs: | ||
| - name: easter_egg | ||
| fg: "#ffff88" | ||
| bg: "#eebbff" | ||
| entities: | ||
| - name: wayfinder | ||
| display: | ||
| char: 'w' | ||
| description: | ||
| - Enables `path` command | ||
| properties: [known, portable] | ||
| capabilities: [path] | ||
| - name: atlas | ||
| display: | ||
| char: 'a' | ||
| description: | ||
| - Enables `waypoint` command | ||
| properties: [known, portable] | ||
| capabilities: [waypoint] | ||
| - name: kudzu | ||
| display: | ||
| char: 'k' | ||
| attr: plant | ||
| description: | ||
| - Dense, impassable plant. | ||
| properties: [known, unwalkable, growable] | ||
| growth: [30, 50] | ||
| - name: egg | ||
| display: | ||
| char: 'o' | ||
| attr: easter_egg | ||
| description: | ||
| - Just the flower top of the plant | ||
| properties: [known, portable] | ||
| growth: [5, 10] | ||
| robots: | ||
| - name: base | ||
| loc: [0, 0] | ||
| dir: [1, 0] | ||
| devices: | ||
| - ADT calculator | ||
| - atlas | ||
| - branch predictor | ||
| - comparator | ||
| - compass | ||
| - dictionary | ||
| - grabber | ||
| - logger | ||
| - net | ||
| - scanner | ||
| - treads | ||
| - wayfinder | ||
| - name: gardener | ||
| dir: [1, 0] | ||
| system: true | ||
| devices: | ||
| - ADT calculator | ||
| - branch predictor | ||
| - comparator | ||
| - compass | ||
| - dictionary | ||
| - harvester | ||
| - treads | ||
| - logger | ||
| display: | ||
| invisible: true | ||
| program: | | ||
| run "scenarios/Testing/836-pathfinding/_836-automatic-waypoint-navigation/gardener.sw" | ||
| - name: rabbit | ||
| dir: [1, 0] | ||
| loc: [2, -2] | ||
| system: true | ||
| devices: | ||
| - treads | ||
| - logger | ||
| inventory: | ||
| - [64, egg] | ||
| display: | ||
| invisible: false | ||
| attr: snow | ||
| char: R | ||
| program: | | ||
| run "scenarios/Testing/836-pathfinding/_836-automatic-waypoint-navigation/rabbit.sw" | ||
| known: [flower, boulder, kudzu] | ||
| world: | ||
| upperleft: [-1, 1] | ||
| palette: | ||
| '.': [grass] | ||
| 'k': [stone, kudzu, gardener] | ||
| '┌': [stone, upper left corner] | ||
| '┐': [stone, upper right corner] | ||
| '└': [stone, lower left corner] | ||
| '┘': [stone, lower right corner] | ||
| '─': [stone, horizontal wall] | ||
| '│': [stone, vertical wall] | ||
| structures: | ||
| - name: bigbox | ||
| structure: | ||
| palette: | ||
| '.': [dirt] | ||
| '@': [dirt, boulder] | ||
| 'w': | ||
| cell: [dirt] | ||
| waypoint: | ||
| name: wp | ||
| map: | | ||
| @@@ | ||
| @w. | ||
| @.@ | ||
| placements: | ||
| - src: bigbox | ||
| offset: [2, -2] | ||
| orient: | ||
| up: north | ||
| - src: bigbox | ||
| offset: [8, -2] | ||
| orient: | ||
| up: east | ||
| - src: bigbox | ||
| offset: [8, -6] | ||
| orient: | ||
| up: south | ||
| - src: bigbox | ||
| offset: [2, -6] | ||
| orient: | ||
| up: west | ||
| map: | | ||
| ┌───────────┐ | ||
| │...........│ | ||
| │...........│ | ||
| │.....k.....│ | ||
| │...........│ | ||
| │...........│ | ||
| │...........│ | ||
| │.....k.....│ | ||
| │...........│ | ||
| │...........│ | ||
| └───────────┘ |
48 changes: 48 additions & 0 deletions
48
data/scenarios/Testing/836-pathfinding/836-no-path-exists1.yaml
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|---|---|---|
| @@ -0,0 +1,48 @@ | ||
| version: 1 | ||
| name: Builtin pathfinding, unreachable goal, enclosed robot | ||
| description: | | ||
| There is finite area to explore, so | ||
| this will terminate quickly. | ||
| creative: false | ||
| objectives: | ||
| - goal: | ||
| - Flower must not be reachable. | ||
| condition: | | ||
| as base { | ||
| nextDir <- path (inL ()) (inR "flower"); | ||
| return $ case nextDir (\_. true) (\_. false); | ||
| }; | ||
| solution: | | ||
| noop; | ||
| entities: | ||
| - name: wayfinder | ||
| display: | ||
| char: 'w' | ||
| description: | ||
| - Enables `path` command | ||
| properties: [known, portable] | ||
| capabilities: [path] | ||
| robots: | ||
| - name: base | ||
| dir: [1,0] | ||
| devices: | ||
| - treads | ||
| - logger | ||
| - ADT calculator | ||
| - dictionary | ||
| - wayfinder | ||
| known: [mountain, flower, tree] | ||
| world: | ||
| palette: | ||
| 'B': [grass, null, base] | ||
| '.': [grass] | ||
| 'x': [stone, mountain] | ||
| 'f': [grass, flower] | ||
| 'T': [grass, tree] | ||
| upperleft: [0, 0] | ||
| map: | | ||
| xxxxx...... | ||
| x...x...... | ||
| x.B.x...f.. | ||
| x...x...... | ||
| xxxxx...... |
52 changes: 52 additions & 0 deletions
52
data/scenarios/Testing/836-pathfinding/836-no-path-exists2.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,52 @@ | ||
| version: 1 | ||
| name: Builtin pathfinding, unreachable goal, enclosed goal | ||
| description: | | ||
| There is infinite area to explore, so | ||
| this will fail to terminate unless | ||
| a limit is set on the max distance. | ||
| In this scenario, we fall back onto the internal distance limit. | ||
| Normally, it would be very expensive to allow this goal condition | ||
| check to run upon every tick. But in this case, we should | ||
| have won the scenario by the first tick. | ||
| creative: false | ||
| objectives: | ||
| - goal: | ||
| - Flower must not be reachable. | ||
| condition: | | ||
| as base { | ||
| nextDir <- path (inL ()) (inR "flower"); | ||
| return $ case nextDir (\_. true) (\_. false); | ||
| }; | ||
| solution: | | ||
| noop; | ||
| entities: | ||
| - name: wayfinder | ||
| display: | ||
| char: 'w' | ||
| description: | ||
| - Enables `path` command | ||
| properties: [known, portable] | ||
| capabilities: [path] | ||
| robots: | ||
| - name: base | ||
| dir: [1,0] | ||
| devices: | ||
| - treads | ||
| - logger | ||
| - ADT calculator | ||
| - dictionary | ||
| - wayfinder | ||
| world: | ||
| palette: | ||
| 'B': [grass, null, base] | ||
| '.': [grass] | ||
| 'x': [stone, mountain] | ||
| 'f': [grass, flower] | ||
| upperleft: [0, 0] | ||
| map: | | ||
| ......xxxxx | ||
| ......x...x | ||
| ..B...x.f.x | ||
| ......x...x | ||
| ......xxxxx |
34 changes: 34 additions & 0 deletions
34
data/scenarios/Testing/836-pathfinding/836-path-exists-distance-limit-reachable.yaml
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| @@ -0,0 +1,34 @@ | ||
| version: 1 | ||
| name: Builtin pathfinding - entity target | ||
| description: | | ||
| Use distance limit with `path` command | ||
| creative: false | ||
| objectives: | ||
| - goal: | ||
| - Flower must be reachable within 3 cells. | ||
| condition: | | ||
| as base { | ||
| nextDir <- path (inR 3) (inR "flower"); | ||
| return $ case nextDir (\_. false) (\_. true); | ||
| }; | ||
| solution: | | ||
| move; | ||
| robots: | ||
| - name: base | ||
| dir: [1,0] | ||
| devices: | ||
| - treads | ||
| - logger | ||
| - 3D printer | ||
| - dictionary | ||
| - grabber | ||
| world: | ||
| palette: | ||
| 'B': [grass, null, base] | ||
| '.': [grass] | ||
| 'f': [grass, flower] | ||
| upperleft: [0, 0] | ||
| map: | | ||
| ....... | ||
| .B...f. | ||
| ....... |
36 changes: 36 additions & 0 deletions
36
data/scenarios/Testing/836-pathfinding/836-path-exists-distance-limit-unreachable.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,36 @@ | ||
| version: 1 | ||
| name: Builtin pathfinding - entity target | ||
| description: | | ||
| Use distance limit with `path` command | ||
| creative: false | ||
| objectives: | ||
| - goal: | ||
| - Flower must NOT be reachable within 3 cells. | ||
| condition: | | ||
| as base { | ||
| nextDir <- path (inR 3) (inR "flower"); | ||
| return $ case nextDir (\_. true) (\_. false); | ||
| }; | ||
| solution: | | ||
| turn back; | ||
| move; | ||
| robots: | ||
| - name: base | ||
| dir: [1,0] | ||
| devices: | ||
| - treads | ||
| - logger | ||
| - 3D printer | ||
| - dictionary | ||
| - grabber | ||
| world: | ||
| palette: | ||
| 'B': [grass, null, base] | ||
| '.': [grass] | ||
| 'f': [grass, flower] | ||
| upperleft: [0, 0] | ||
| map: | | ||
| ....... | ||
| ..B..f. | ||
| ....... | ||
47 changes: 47 additions & 0 deletions
47
data/scenarios/Testing/836-pathfinding/836-path-exists-find-entity.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,47 @@ | ||
| version: 1 | ||
| name: Builtin pathfinding - entity target | ||
| description: | | ||
| Use `path` command to navigate to an entity | ||
| creative: false | ||
| objectives: | ||
| - goal: | ||
| - Get the flower. | ||
| condition: | | ||
| as base {has "flower";} | ||
| solution: | | ||
| run "scenarios/Testing/836-pathfinding/_836-path-exists/find-entity-solution.sw"; | ||
| entities: | ||
| - name: wayfinder | ||
| display: | ||
| char: 'w' | ||
| description: | ||
| - Enables `path` command | ||
| properties: [known, portable] | ||
| capabilities: [path] | ||
| robots: | ||
| - name: base | ||
| dir: [1,0] | ||
| devices: | ||
| - ADT calculator | ||
| - branch predictor | ||
| - comparator | ||
| - compass | ||
| - dictionary | ||
| - logger | ||
| - grabber | ||
| - treads | ||
| - wayfinder | ||
| known: [flower, mountain] | ||
| world: | ||
| palette: | ||
| 'B': [grass, null, base] | ||
| '.': [grass] | ||
| 'x': [stone, mountain] | ||
| 'f': [grass, flower] | ||
| upperleft: [0, 0] | ||
| map: | | ||
| xxxxfx | ||
| x.Bx.x | ||
| x.xx.x | ||
| x....x | ||
| xxxxxx |
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