instant entity change detection

data/scenarios/Testing/00-ORDER.txt

@@ -45,7 +45,9 @@ Achievements
 1341-command-count.yaml
 1355-combustion.yaml
 1379-single-world-portal-reorientation.yaml
+1322-wait-with-instant.yaml
+1598-detect-entity-change.yaml
 1399-backup-command.yaml
 1430-built-robot-ownership.yaml
 1536-custom-unwalkable-entities.yaml
-1535-ping
+1535-ping

data/scenarios/Testing/1322-wait-with-instant.yaml

@@ -0,0 +1,73 @@
+version: 1
+name: Using wait with instant
+author: Karl Ostmo
+description: |
+  Observe timing of (instant $ wait 1)
+  interspersed with other commands
+creative: false
+seed: 0
+objectives:
+  - goal:
+      - |
+        Hare must win by three cells
+    condition: |
+      h <- robotnamed "hare";
+      hareloc <- as h {whereami};
+
+      t <- robotnamed "tortoise";
+      tortoiseloc <- as t {whereami};
+
+      let xDiff = fst hareloc - fst tortoiseloc in
+
+      return $ fst hareloc == 0 && xDiff == 3;
+solution: |
+  noop;
+robots:
+  - name: base
+    dir: [1, 0]
+    display:
+      invisible: true
+    devices:
+      - hourglass
+      - logger
+  - name: tortoise
+    system: true
+    display:
+      invisible: false
+      attr: green
+    dir: [1, 0]
+    program: |
+      move; move;
+      move; move;
+      move; move;
+  - name: hare
+    system: true
+    display:
+      invisible: false
+      attr: snow
+    dir: [1, 0]
+    program: |
+      instant (
+        move; move;
+        wait 1;
+        move; move;
+        wait 1;
+        move; move;
+      );
+world:
+  dsl: |
+    {blank}
+  upperleft: [-6, 2]
+  offset: false
+  palette:
+    '.': [grass, erase]
+    'd': [dirt, erase]
+    'B': [grass, erase, base]
+    'T': [grass, erase, tortoise]
+    'H': [grass, erase, hare]
+  map: |
+    B.....d.
+    T.....d.
+    H.....d.
+    ......d.
+    

data/scenarios/Testing/1598-detect-entity-change.yaml

@@ -0,0 +1,89 @@
+version: 1
+name: Entity change detection
+author: Karl Ostmo
+description: |
+  Ensure that a change to an entity can be observed
+  by a system robot within a single tick.
+creative: true
+seed: 0
+objectives:
+  - goal:
+      - |
+        Turn the light green
+    condition: |
+      as base {has "flower"};
+    prerequisite:
+      not: blue_light
+  - id: blue_light
+    teaser: No blue light
+    optional: true
+    goal:
+      - |
+        Turn the light blue
+    condition: |
+      r <- robotnamed "lockbot";
+      as r {ishere "dial (B)"};
+robots:
+  - name: base
+    dir: [1, 0]
+    display:
+      invisible: true
+    devices:
+      - hourglass
+      - fast grabber
+      - logger
+      - treads
+    inventory:
+      - [1, "dial (R)"]
+      - [1, "dial (G)"]
+      - [1, "dial (B)"]
+  - name: lockbot
+    system: true
+    display:
+      invisible: true
+    dir: [1, 0]
+    program: |
+      run "scenarios/Testing/_1598-detect-entity-change/setup.sw"
+    inventory:
+      - [1, flower]
+solution: |
+    wait 8;
+    move;
+    move;
+    swap "dial (G)";
+    //wait 0;
+    swap "dial (B)";
+entities:
+  - name: "dial (R)"
+    display:
+      char: '•'
+      attr: red
+    description:
+      - A red dial
+    properties: [known, portable]
+  - name: "dial (G)"
+    display:
+      char: '•'
+      attr: green
+    description:
+      - A green dial
+    properties: [known, portable]
+  - name: "dial (B)"
+    display:
+      char: '•'
+      attr: blue
+    description:
+      - A blue dial
+    properties: [known, portable]
+world:
+  dsl: |
+    {blank}
+  upperleft: [-1, -1]
+  offset: false
+  palette:
+    '.': [grass, erase]
+    'B': [grass, erase, base]
+    'c': [grass, dial (R), lockbot]
+  map: |
+    B.c
+    

data/scenarios/Testing/_1598-detect-entity-change/setup.sw

@@ -0,0 +1,17 @@
+def doUntilCorrect =
+    herenow <- ishere "dial (G)";
+    if herenow {
+        give base "flower";
+    } {
+        watch down;
+        wait 1000;
+        doUntilCorrect;
+    }
+    end;
+
+def go =
+    instant $
+        doUntilCorrect;
+    end;
+
+go;

src/Swarm/Game/State.hs

@@ -1020,20 +1020,22 @@ activateRobot rid = internalActiveRobots %= IS.insert rid
 wakeUpRobotsDoneSleeping :: (Has (State GameState) sig m) => m ()
 wakeUpRobotsDoneSleeping = do
   time <- use $ temporal . ticks
-  mrids <- internalWaitingRobots . at time <<.= Nothing
+  waitingMap <- use waitingRobots
+  let (beforeMap, maybeAt, _) = M.splitLookup time waitingMap
+      mrids = NE.nonEmpty $ concat $ fromMaybe [] maybeAt : M.elems beforeMap
   case mrids of
     Nothing -> return ()
     Just rids -> do
       robots <- use robotMap
-      let aliveRids = filter (`IM.member` robots) rids
+      let aliveRids = filter (`IM.member` robots) $ NE.toList rids
       internalActiveRobots %= IS.union (IS.fromList aliveRids)
 
       forM_ aliveRids $ \rid ->
         wakeLog %= (WakeLogEvent rid time DoneSleeping :)
 
       -- These robots' wake times may have been moved "forward"
       -- by 'wakeWatchingRobots'.
-      clearWatchingRobots rids
+      clearWatchingRobots $ NE.toList rids
 
 -- | Clear the "watch" state of all of the
 -- awakened robots
@@ -1086,7 +1088,8 @@ wakeWatchingRobots loc = do
 
       -- Step 4: Re-add the watching bots to be awakened at the next tick:
       wakeableBotIds = map fst wakeTimes
-      newWakeTime = addTicks 1 currentTick
+      -- newWakeTime = addTicks 1 currentTick
+      newWakeTime = currentTick
       newInsertions = M.singleton newWakeTime wakeableBotIds
 
   forM_ wakeableBotIds $ \rid ->

test/integration/Main.hs

@@ -334,6 +334,8 @@ testScenarioSolutions rs ui =
         , testSolution Default "Testing/144-subworlds/subworld-located-robots"
         , testSolution Default "Testing/1355-combustion"
         , testSolution Default "Testing/1379-single-world-portal-reorientation"
+        , testSolution Default "Testing/1322-wait-with-instant"
+        , testSolution Default "Testing/1598-detect-entity-change"
         , testSolution Default "Testing/1399-backup-command"
         , testSolution Default "Testing/1536-custom-unwalkable-entities"
         , testGroup