subworlds (#1353)

Closes #144.

This builds upon portals support (#1356)

# Demo

    scripts/play.sh --scenario data/scenarios/Testing/144-subworlds/subworld-mapped-robots.yaml --autoplay --speed 2

[![asciicast](https://asciinema.org/a/vC13dW8M1S8t2b1J4XkW80U1q.svg)](https://asciinema.org/a/vC13dW8M1S8t2b1J4XkW80U1q)

# Future work
* Augment portal definitions with an optional "relative orientation" attribute, that can turn the player around when passing through the portal (#1379)
* Specify whether portal performs instant transportation or whether `move down` is required (#1368)

bench/Benchmark.hs

@@ -11,13 +11,15 @@ import Control.Monad.Except (runExceptT)
 import Control.Monad.State (evalStateT, execStateT)
 import Criterion.Main (Benchmark, bench, bgroup, defaultConfig, defaultMainWith, whnfAppIO)
 import Criterion.Types (Config (timeLimit))
+import Data.Map qualified as M
 import Swarm.Game.CESK (emptyStore, initMachine)
 import Swarm.Game.Display (defaultRobotDisplay)
 import Swarm.Game.Location
 import Swarm.Game.Robot (TRobot, mkRobot)
-import Swarm.Game.State (GameState, addTRobot, creativeMode, world)
+import Swarm.Game.State (GameState, addTRobot, creativeMode, multiWorld)
 import Swarm.Game.Step (gameTick)
 import Swarm.Game.Terrain (TerrainType (DirtT))
+import Swarm.Game.Universe (Cosmic (..), SubworldName (DefaultRootSubworld))
 import Swarm.Game.World (WorldFun (..), newWorld)
 import Swarm.Language.Context qualified as Context
 import Swarm.Language.Pipeline (ProcessedTerm)
@@ -73,7 +75,7 @@ circlerProgram =
 
 -- | Initializes a robot with program prog at location loc facing north.
 initRobot :: ProcessedTerm -> Location -> TRobot
-initRobot prog loc = mkRobot () Nothing "" [] (Just loc) north defaultRobotDisplay (initMachine prog Context.empty emptyStore) [] [] False False 0
+initRobot prog loc = mkRobot () Nothing "" [] (Just $ Cosmic DefaultRootSubworld loc) north defaultRobotDisplay (initMachine prog Context.empty emptyStore) [] [] False False 0
 
 -- | Creates a GameState with numRobot copies of robot on a blank map, aligned
 --   in a row starting at (0,0) and spreading east.
@@ -85,7 +87,7 @@ mkGameState robotMaker numRobots = do
     (mapM addTRobot robots)
     ( (initAppState ^. gameState)
         & creativeMode .~ True
-        & world .~ newWorld (WF $ const (fromEnum DirtT, Nothing))
+        & multiWorld .~ M.singleton DefaultRootSubworld (newWorld (WF $ const (fromEnum DirtT, Nothing)))
     )
 
 -- | Runs numGameTicks ticks of the game.

data/scenarios/Testing/00-ORDER.txt

@@ -38,3 +38,4 @@
 1295-density-command.yaml
 1138-structures
 1356-portals
+144-subworlds

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

@@ -0,0 +1,5 @@
+basic-subworld.yaml
+subworld-shared-structures.yaml
+subworld-mapped-robots.yaml
+subworld-located-robots.yaml
+spatial-consistency-enforcement.yaml

data/scenarios/Testing/144-subworlds/_basic-subworld/solution.sw

@@ -0,0 +1,7 @@
+
+def doN = \n. \f. if (n > 0) {f; doN (n - 1) f} {}; end;
+
+doN 8 move;
+f <- grab;
+doN 7 move;
+place f;

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/basic-subworld.yaml

@@ -0,0 +1,108 @@
+version: 1
+name: Subworlds demo
+description: |
+  Surface and underground with portals.
+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"
+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
+      - 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: true
+known: [flower, boulder]
+subworlds:
+  - name: underground
+    default: [blank]
+    palette:
+      '.': [dirt]
+      'f': [dirt, flower]
+      'b': [dirt, boulder]
+      '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..f...P.
+      b..b..b..b
+world:
+  name: root
+  default: [blank]
+  palette:
+    '.': [grass]
+    'B': [grass, null, base]
+    't': [ice, 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.Bt...P.
+    ..........

data/scenarios/Testing/144-subworlds/spatial-consistency-enforcement.yaml

@@ -0,0 +1,93 @@
+version: 1
+name: Subworld spatial consistency enforcement
+description: |
+  Portals annotated to enforce spatial consistency between subworlds
+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
+      - branch predictor
+      - comparator
+      - compass
+      - dictionary
+      - GPS receiver
+      - grabber
+      - lambda
+      - lodestone
+      - logger
+      - strange loop
+      - treads
+known: [boulder]
+subworlds:
+  - name: underground
+    default: [blank]
+    palette:
+      '.': [dirt]
+      'b': [dirt, boulder]
+      '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
+        consistent: true
+    upperleft: [-1, 1]
+    map: |
+      b..b..b..b
+      .P......p.
+      b..b..b..b
+world:
+  name: root
+  default: [blank]
+  palette:
+    '.': [grass]
+    'B': [grass, null, base]
+    '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
+      consistent: true
+  map: |
+    ..........
+    .p.B....P.
+    ..........