structure recognition enhancements

data/entities.yaml

@@ -633,6 +633,15 @@
     A circuit is needed for constructing various "smart" devices.
   properties: [portable]
 
+- name: blueprint
+  display:
+    attr: blue
+    char: 'B'
+  description:
+  - Locate and analyze structures placed in the world.
+  properties: [portable]
+  capabilities: [structure]
+
 - name: drill bit
   display:
     attr: entity

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

@@ -9,3 +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-browse-structures.yaml

@@ -1,18 +1,18 @@
 version: 1
 name: Structure browser
 description: |
-  Hit F6 to view the recognizable structures.
+  Hit *F6* to view the recognizable structures.
 
   Only the subset of the structures marked with
-  "recognize: true" are browseable.
-  In particular, the "donut" structure is placed
-  in the map but not displayed in the F6 dialog.
+  *recognize: true* are browseable.
+  In particular, the `donut`{=structure} structure is placed
+  in the map but not displayed in the *F6* dialog.
 creative: false
 objectives:
   - teaser: Build structure
     goal:
       - |
-        Build a "precious" structure
+        Build a `precious`{=structure} structure
     condition: |
       foundStructure <- structure "precious" 0;
       return $ case foundStructure (\_. false) (\_. true);

data/scenarios/Testing/1575-structure-recognizer/1575-construction-count.yaml

@@ -7,7 +7,7 @@ objectives:
   - teaser: Build 12 structures
     goal:
       - |
-        Build 12 copies of the "green_jewel" structure
+        Build 12 copies of the `green_jewel`{=structure} structure
     condition: |
       foundGreen <- structure "green_jewel" 0;
       return $ case foundGreen (\_. false) (\x. fst x >= 12);

data/scenarios/Testing/1575-structure-recognizer/1575-ensure-disjoint.yaml

@@ -9,7 +9,7 @@ description: |
   should not be counted until all three are placed.
 creative: false
 objectives:
-  - teaser: Build 2 chessboards
+  - teaser: Build 2 `chessboard`{=structure}s
     prerequisite:
       not: premature_win
     goal:

data/scenarios/Testing/1575-structure-recognizer/1575-ensure-single-recognition.yaml

@@ -6,7 +6,7 @@ description: |
   structure template.
 creative: false
 objectives:
-  - teaser: Build 2 chessboards
+  - teaser: Build 2 `chessboard`{=structure}s
     prerequisite:
       not: premature_win
     goal:

data/scenarios/Testing/1575-structure-recognizer/1575-floorplan-command.yaml

@@ -0,0 +1,75 @@
+version: 1
+name: Floorplan command
+description: |
+  Query the dimensions of a structure
+  template to build one.
+creative: false
+objectives:
+  - teaser: Build structure
+    goal:
+      - |
+        Build a `wooden box`{=structure} structure.
+    condition: |
+      def isRight = \x. case x (\_. false) (\_. true); end;
+      foundBox <- structure "wooden box" 0;
+      return $ isRight foundBox;
+robots:
+  - name: base
+    dir: [1, 0]
+    devices:
+      - ADT calculator
+      - blueprint
+      - branch predictor
+      - comparator
+      - dictionary
+      - grabber
+      - logger
+      - treads
+    inventory:
+      - [100, board]
+solution: |
+  def doN = \n. \f. if (n > 0) {f; doN (n - 1) f} {}; end;
+
+  def mkRow = \width.
+    doN width $ (place "board"; move;);
+    turn back;
+    doN width move;
+    end;
+
+  def mkRows = \height. \width.
+    doN height $ (mkRow width; turn left; move; turn left);
+    end;
+
+  dims <- floorplan "wooden box";
+  let width = fst dims in
+  let height = snd dims in
+
+  mkRows height width;
+structures:
+  - name: wooden box
+    recognize: true
+    structure:
+      palette:
+        'b': [stone, board]
+      map: |
+       bbbbbbb
+       bbbbbbb
+       bbbbbbb
+       bbbbbbb
+       bbbbbbb
+known: [board]
+world:
+  dsl: |
+    {blank}
+  palette:
+    '.': [grass, erase]
+    'B': [grass, erase, base]
+  upperleft: [0, 0]
+  map: |
+    ..........
+    .B........
+    ..........
+    ..........
+    ..........
+    ..........
+    ..........

data/scenarios/Testing/1575-structure-recognizer/1575-handle-overlapping.yaml

@@ -8,7 +8,7 @@ objectives:
   - teaser: Build structure
     goal:
       - |
-        Build a "precious" structure
+        Build a `precious`{=structure} structure
     condition: |
       foundStructure <- structure "precious" 0;
       return $ case foundStructure (\_. false) (\_. true);

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...
+    ......
+    ......
+
+

data/scenarios/Testing/1575-structure-recognizer/1575-nested-structure-definition.yaml

@@ -10,8 +10,8 @@ objectives:
     prerequisite: grab_tree
     goal:
       - |
-        Replace tree after grabbing.
-        Structure should be recognized again.
+        Replace `tree`{=entity} after grabbing.
+        The `double ring`{=structure} structure should be recognized again.
     condition: |
       foundStructure <- structure "double ring" 0;
       return $ case foundStructure (\_. false) (\_. true);
@@ -29,7 +29,7 @@ objectives:
     id: grab_tree
     goal:
       - |
-        Grab a tree
+        Grab a `tree`{=entity}
     condition: |
       as base {
         has "tree";

data/scenarios/Testing/1575-structure-recognizer/1575-overlapping-tiebreaker-by-location.yaml

@@ -10,7 +10,7 @@ objectives:
       not: wrong_structure
     goal:
       - |
-        Build a structure
+        Build a `topleft`{=structure} structure
     condition: |
       foundStructure <- structure "topleft" 0;
       return $ case foundStructure (\_. false) (\_. true);
@@ -19,7 +19,7 @@ objectives:
     optional: true
     goal:
       - |
-        The "bottomright" structure shouldn't be recognized.
+        The `bottomright`{=structure} structure shouldn't be recognized.
     condition: |
       foundStructure <- structure "bottomright" 0;
       return $ case foundStructure (\_. false) (\_. true);

data/scenarios/Testing/1575-structure-recognizer/1575-placement-occlusion.yaml

@@ -11,7 +11,7 @@ objectives:
       not: complete_red_structure
     goal:
       - |
-        Build a "green_jewel" structure
+        Build a `green_jewel`{=structure} structure
     condition: |
       def isRight = \x. case x (\_. false) (\_. true); end;
 
@@ -22,7 +22,7 @@ objectives:
     teaser: Complete red structure
     goal:
       - |
-        A "red_jewel" structure should not be recognized
+        A `red_jewel`{=structure} structure should not be recognized
     condition: |
       def isRight = \x. case x (\_. false) (\_. true); end;
 

data/scenarios/Testing/1575-structure-recognizer/1575-remove-structure.yaml

@@ -17,7 +17,7 @@ objectives:
     teaser: Complete structure
     goal:
       - |
-        Build a structure
+        Build a `chessboard`{=structure} structure
     condition: |
       foundStructure <- structure "chessboard" 0;
       return $ case foundStructure (\_. false) (\_. true);

data/scenarios/Testing/1575-structure-recognizer/1575-swap-structure.yaml

@@ -9,7 +9,7 @@ objectives:
     prerequisite: complete_green_structure
     goal:
       - |
-        Build a "blue_jewel" structure
+        Build a `blue_jewel`{=structure} structure
     condition: |
       def isRight = \x. case x (\_. false) (\_. true); end;
 
@@ -22,7 +22,7 @@ objectives:
     prerequisite: complete_red_structure
     goal:
       - |
-        Build a "green_jewel" structure
+        Build a `green_jewel`{=structure} structure
     condition: |
       def isRight = \x. case x (\_. false) (\_. true); end;
 
@@ -33,7 +33,7 @@ objectives:
     teaser: Complete red structure
     goal:
       - |
-        Build a "red_jewel" structure
+        Build a `red_jewel`{=structure} structure
     condition: |
       def isRight = \x. case x (\_. false) (\_. true); end;
 

editors/emacs/swarm-mode.el

@@ -88,6 +88,7 @@
                "whereami"
                "waypoint"
                "structure"
+               "floorplan"
                "detect"
                "resonate"
                "density"

editors/vim/swarm.vim

@@ -1,6 +1,6 @@
 syn keyword Keyword def end let in require
 syn keyword Builtins self parent base if inl inr case fst snd force undefined fail not format chars split charat tochar key
-syn keyword Command noop wait selfdestruct move backup path push stride turn grab harvest ignite place ping give equip unequip make has equipped count drill use build salvage reprogram say listen log view appear create halt time scout whereami waypoint structure detect resonate density sniff chirp watch surveil heading blocked scan upload ishere isempty meet meetall whoami setname random run return try swap atomic instant installkeyhandler teleport as robotnamed robotnumbered knows
+syn keyword Command noop wait selfdestruct move backup path push stride turn grab harvest ignite place ping give equip unequip make has equipped count drill use build salvage reprogram say listen log view appear create halt time scout whereami waypoint structure floorplan detect resonate density sniff chirp watch surveil heading blocked scan upload ishere isempty meet meetall whoami setname random run return try swap atomic instant installkeyhandler teleport as robotnamed robotnumbered knows
 syn keyword Direction east north west south down forward left back right
 syn keyword Type int text dir bool cmd void unit actor
 

editors/vscode/syntaxes/swarm.tmLanguage.json

@@ -58,7 +58,7 @@
 				},
 				{
 				"name": "keyword.other",
-				"match": "\\b(?i)(self|parent|base|if|inl|inr|case|fst|snd|force|undefined|fail|not|format|chars|split|charat|tochar|key|noop|wait|selfdestruct|move|backup|path|push|stride|turn|grab|harvest|ignite|place|ping|give|equip|unequip|make|has|equipped|count|drill|use|build|salvage|reprogram|say|listen|log|view|appear|create|halt|time|scout|whereami|waypoint|structure|detect|resonate|density|sniff|chirp|watch|surveil|heading|blocked|scan|upload|ishere|isempty|meet|meetall|whoami|setname|random|run|return|try|swap|atomic|instant|installkeyhandler|teleport|as|robotnamed|robotnumbered|knows)\\b"
+				"match": "\\b(?i)(self|parent|base|if|inl|inr|case|fst|snd|force|undefined|fail|not|format|chars|split|charat|tochar|key|noop|wait|selfdestruct|move|backup|path|push|stride|turn|grab|harvest|ignite|place|ping|give|equip|unequip|make|has|equipped|count|drill|use|build|salvage|reprogram|say|listen|log|view|appear|create|halt|time|scout|whereami|waypoint|structure|floorplan|detect|resonate|density|sniff|chirp|watch|surveil|heading|blocked|scan|upload|ishere|isempty|meet|meetall|whoami|setname|random|run|return|try|swap|atomic|instant|installkeyhandler|teleport|as|robotnamed|robotnumbered|knows)\\b"
 				}
 			]
 			},

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

@@ -159,7 +159,7 @@ mkAutomatons xs =
   grids = map extractGrid xs
 
   process g = StructureInfo g . histogram . concatMap catMaybes $ entityGrid g
-  infos = map process grids
+  infos = M.fromList $ map (name . originalDefinition &&& process) grids
 
 extractGrid :: NamedGrid (Maybe Cell) -> StructureWithGrid
 extractGrid x = StructureWithGrid x $ getEntityGrid $ structure x