Allow for empty cells in structure modification hook mask

data/scenarios/Testing/1575-structure-recognizer/00-ORDER.txt

@@ -9,4 +9,5 @@
 1575-remove-structure.yaml
 1575-swap-structure.yaml
 1575-placement-occlusion.yaml
+1575-interior-entity-placement.yaml
 1575-floorplan-command.yaml

data/scenarios/Testing/1575-structure-recognizer/1575-interior-entity-placement.yaml

@@ -0,0 +1,111 @@
+version: 1
+name: Structure recognition - interior space
+description: |
+  Entities can be added and removed
+  on empty cells within the rectangular
+  boundary of an already-placed structure without
+  affecting its recognition status.
+
+  Additionally, recognition of statically-placed
+  structures at scenario initialization is also
+  unaffected by interior entities.
+
+  However, any such "contaminating" entities
+  will prevent the recognition of a structure
+  when constructed by a robot.
+creative: false
+objectives:
+  - teaser: Replace rock
+    prerequisite: grab_rock
+    goal:
+      - |
+        Place the `rock`{=entity} entity back inside the `pigpen`{=structure}.
+    condition: |
+      foundBox <- structure "pigpen" 0;
+      case foundBox (\_. return false) (\struc.
+        let structPos = snd struc in
+        j <- robotnamed "judge";
+        as j {
+          structBounds <- floorplan "pigpen";
+
+          // Move to bottom-left corner
+          teleport self structPos;
+
+          rockCount <- resonate "rock" ((0, 0), structBounds);
+          return $ rockCount > 0;
+        }
+      );
+  - teaser: Grab rock
+    id: grab_rock
+    prerequisite: prerecognized
+    goal:
+      - |
+        Grab an entity from inside a `pigpen`{=structure} structure.
+    condition: |
+      as base {
+        has "rock";
+      }
+  - teaser: Prerecognize
+    id: prerecognized
+    goal:
+      - |
+        `pigpen`{=structure} structure should be recognized upon initialization,
+        even with an extraneous entity within its bounds.
+    condition: |
+      def isRight = \x. case x (\_. false) (\_. true); end;
+      foundBox <- structure "pigpen" 0;
+      return $ isRight foundBox;
+robots:
+  - name: base
+    dir: [1, 0]
+    devices:
+      - ADT calculator
+      - blueprint
+      - grabber
+      - logger
+      - treads
+  - name: judge
+    dir: [1, 0]
+    system: true
+    display:
+      invisible: true
+solution: |
+  move; move;
+  x <- grab;
+  move;
+  place x;
+structures:
+  - name: pigpen
+    recognize: true
+    structure:
+      palette:
+        'b': [stone, board]
+      mask: '.'
+      map: |
+       bbbb
+       b..b
+       b..b
+       bbbb
+known: [board, rock]
+world:
+  dsl: |
+    {blank}
+  placements:
+    - src: pigpen
+      offset: [1, 0]
+    - src: pigpen
+      offset: [3, -6]
+  palette:
+    '.': [grass, erase]
+    'B': [grass, erase, base]
+    'r': [grass, rock]
+    'j': [grass, erase, judge]
+  upperleft: [-7, 3]
+  map: |
+    j.....
+    ......
+    B.r...
+    ......
+    ......
+
+

src/Swarm/Game/Scenario/Topography/Structure/Recognition/Type.hs

@@ -25,6 +25,7 @@ import Data.Function (on)
 import Data.Int (Int32)
 import Data.List.NonEmpty qualified as NE
 import Data.Map (Map)
+import Data.Maybe (catMaybes)
 import Data.Ord (Down (Down))
 import Data.Semigroup (Max, Min)
 import GHC.Generics (Generic)
@@ -211,8 +212,12 @@ instance Ord FoundStructure where
     f1 = computeArea . getAreaDimensions . entityGrid . structureWithGrid
     f2 = Down . upperLeftCorner
 
+-- | Yields coordinates that are occupied by an entity of a placed structure.
+-- Cells within the rectangular bounds of the structure that are unoccupied
+-- are not included.
 genOccupiedCoords :: FoundStructure -> [Cosmic Location]
 genOccupiedCoords (FoundStructure swg loc) =
-  [loc `offsetBy` V2 x (negate y) | x <- [0 .. w - 1], y <- [0 .. h - 1]]
+  catMaybes . concat . zipWith mkRow [0 ..] $ entityGrid swg
  where
-  AreaDimensions w h = getAreaDimensions $ entityGrid swg
+  mkCol y x ent = loc `offsetBy` V2 x (negate y) <$ ent
+  mkRow rowIdx = zipWith (mkCol rowIdx) [0 ..]

src/Swarm/Game/State.hs

@@ -1321,10 +1321,12 @@ ensureStructureIntact (FoundStructure (StructureWithGrid _ grid) upperLeft) =
   allM outer $ zip [0 ..] grid
  where
   outer (y, row) = allM (inner y) $ zip [0 ..] row
-  inner y (x, cell) =
-    fmap (== cell) $
-      entityAt $
-        upperLeft `offsetBy` V2 x (negate y)
+  inner y (x, maybeTemplateEntity) = case maybeTemplateEntity of
+    Nothing -> return True
+    Just _ ->
+      fmap (== maybeTemplateEntity) $
+        entityAt $
+          upperLeft `offsetBy` V2 x (negate y)
 
 mkRecognizer ::
   (Has (State GameState) sig m) =>

test/integration/Main.hs

@@ -376,6 +376,7 @@ testScenarioSolutions rs ui =
             , testSolution Default "Testing/1575-structure-recognizer/1575-remove-structure"
             , testSolution Default "Testing/1575-structure-recognizer/1575-swap-structure"
             , testSolution Default "Testing/1575-structure-recognizer/1575-placement-occlusion"
+            , testSolution Default "Testing/1575-structure-recognizer/1575-interior-entity-placement"
             , testSolution Default "Testing/1575-structure-recognizer/1575-floorplan-command"
             ]
         ]