Use surveil in move tutorial

data/scenarios/Tutorials/move.yaml

@@ -85,33 +85,33 @@ world:
     'Z': [blank, null, 3P flower]
     # FIRST ROOM
     '┌': [blank, upper left corner]
-    '┐': [blank, upper right corner, 1S down and horizontal wall]
+    '┐': [blank, upper right corner, 1S down and horizontal]
     '└': [blank, lower left corner]
-    '┘': [blank, lower right corner, 1S up and horizontal wall]
+    '┘': [blank, lower right corner, 1S up and horizontal]
     '─': [blank, horizontal wall]
     '│': [blank, vertical wall]
     # SECOND ROOM
     '1': [blank, vertical wall, 1G]
-    '-': [blank, null, 1P horizontal wall]
-    '|': [blank, null, 1P vertical wall]
-    'c': [blank, null, 1P upper right corner, 2S left and vertical wall]
+    '-': [blank, null, 1P horizontal]
+    '|': [blank, null, 1P vertical]
+    'c': [blank, null, 1P upper right, 1S left and vertical]
     'b': [blank, null, 1P lower right corner]
-    'd': [blank, null, 1P horizontal wall, 2S up and horizontal wall]
+    'd': [blank, null, 1P horizontal, 2S up and horizontal]
     # THIRD ROOM
-    '2': [blank, null, 1P horizontal wall, 2G]
-    '~': [blank, null, 2P horizontal wall]
-    '/': [blank, null, 2P vertical wall]
-    'R': [blank, null, 2P upper right corner]
-    'L': [blank, null, 2P upper left corner, 3S down and horizontal wall]
-    'K': [blank, null, 2P vertical wall, 3S left and vertical wall]
+    '2': [blank, null, 1P horizontal, 2G]
+    '~': [blank, null, 2P horizontal]
+    '/': [blank, null, 2P vertical]
+    'R': [blank, null, 2P upper right]
+    'L': [blank, null, 2P upper left, 3S down and horizontal]
+    'K': [blank, null, 2P vertical, 3S left and vertical]
     # FOURTH ROOM
-    '3': [blank, null, 2P vertical wall, 3G]
-    '_': [blank, null, 3P horizontal wall]
-    '\': [blank, null, 3P vertical wall]
-    'A': [blank, null, 3P lower left corner]
+    '3': [blank, null, 2P vertical, 3G]
+    '_': [blank, null, 3P horizontal]
+    '\': [blank, null, 3P vertical]
+    'A': [blank, null, 2P lower left corner]
     'B': [blank, null, 3P lower right corner]
-    'C': [blank, null, 3P upper right corner]
-    'D': [blank, null, 3P upper left corner]
+    'C': [blank, null, 3P upper right]
+    'D': [blank, null, 3P upper left]
   upperleft: [-1, 9]
   map: |
     D_________C
@@ -132,6 +132,7 @@ world:
 # ███████ ██  █  ██ ███████ ██████  ██ ████ ██
 #      ██ ██ ███ ██ ██   ██ ██   ██ ██  ██  ██
 # ███████  ███ ███  ██   ██ ██   ██ ██      ██
+stepsPerTick: 1000
 robots:
   - name: base
     dir: east
@@ -198,109 +199,184 @@ robots:
   #################
   ## HORIZONTAL  ##
   #################
-  - name: 1P horizontal wall
+  - name: 1P horizontal
     system: true
-    program: run "scenarios/Tutorials/move_system.sw"
-  - name: 2P horizontal wall
+    program: |
+      def main = \a. return noop end
+      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
+      main [action="P", entity="horizontal wall", room=1]);
+      m
+  - name: 2P horizontal
     system: true
-    program: run "scenarios/Tutorials/move_system.sw"
-  - name: 3P horizontal wall
+    program: |
+      def main = \a. return noop end
+      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
+      main [action="P", entity="horizontal wall", room=2]);
+      m
+  - name: 3P horizontal
     system: true
-    program: run "scenarios/Tutorials/move_system.sw"
+    program: |
+      def main = \a. return noop end
+      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
+      main [action="P", entity="horizontal wall", room=3]);
+      m
   #################
   ## VERTICAL    ##
   #################
-  - name: 1P vertical wall
+  - name: 1P vertical
     system: true
-    program: run "scenarios/Tutorials/move_system.sw"
-  - name: 2P vertical wall
+    program: |
+      def main = \a. return noop end
+      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
+      main [action="P", entity="vertical wall", room=1]);
+      m
+  - name: 2P vertical
     system: true
-    program: run "scenarios/Tutorials/move_system.sw"
-  - name: 3P vertical wall
+    program: |
+      def main = \a. return noop end
+      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
+      main [action="P", entity="vertical wall", room=2]);
+      m
+  - name: 3P vertical
     system: true
-    program: run "scenarios/Tutorials/move_system.sw"
+    program: |
+      def main = \a. return noop end
+      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
+      main [action="P", entity="vertical wall", room=3]);
+      m
   #################
   ## CORNERS     ##
   #################
   # the order is:
-  # upleft   upright
+  # up left   up right
   #     D+----+C
   #      |    |
   #      |    |
   #     A+----+B
-  # lowleft  lowright
+  # low left  low right
   #########
   ##  A  ##
   #########
-  - name: 1P lower left corner
-    system: true
-    program: run "scenarios/Tutorials/move_system.sw"
   - name: 2P lower left corner
     system: true
-    program: run "scenarios/Tutorials/move_system.sw"
-  - name: 3P lower left corner
-    system: true
-    program: run "scenarios/Tutorials/move_system.sw"
+    program: |
+      def main = \a. return noop end
+      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
+      main [action="P", entity="lower left corner", room=3]);
+      m
   #########
   ##  B  ##
   #########
   - name: 1P lower right corner
     system: true
-    program: run "scenarios/Tutorials/move_system.sw"
+    program: |
+      def main = \a. return noop end
+      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
+      main [action="P", entity="lower right corner", room=1]);
+      m
   - name: 2P lower right corner
     system: true
-    program: run "scenarios/Tutorials/move_system.sw"
+    program: |
+      def main = \a. return noop end
+      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
+      main [action="P", entity="lower right corner", room=2]);
+      m
   - name: 3P lower right corner
     system: true
-    program: run "scenarios/Tutorials/move_system.sw"
+    program: |
+      def main = \a. return noop end
+      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
+      main [action="P", entity="lower right corner", room=3]);
+      m
   #########
   ##  C  ##
   #########
-  - name: 1P upper right corner
+  - name: 1P upper right
     system: true
-    program: run "scenarios/Tutorials/move_system.sw"
-  - name: 2P upper right corner
+    program: |
+      def main = \a. return noop end
+      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
+      main [action="P", entity="upper right corner", room=1]);
+      m
+  - name: 2P upper right
     system: true
-    program: run "scenarios/Tutorials/move_system.sw"
-  - name: 3P upper right corner
+    program: |
+      def main = \a. return noop end
+      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
+      main [action="P", entity="upper right corner", room=2]);
+      m
+  - name: 3P upper right
     system: true
-    program: run "scenarios/Tutorials/move_system.sw"
+    program: |
+      def main = \a. return noop end
+      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
+      main [action="P", entity="upper right corner", room=3]);
+      m
   #########
   ##  D  ##
   #########
-  - name: 1P upper left corner
+  - name: 2P upper left
     system: true
-    program: run "scenarios/Tutorials/move_system.sw"
-  - name: 2P upper left corner
-    system: true
-    program: run "scenarios/Tutorials/move_system.sw"
-  - name: 3P upper left corner
+    program: |
+      def main = \a. return noop end
+      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
+      main [action="P", entity="upper left corner", room=2]);
+      m
+  - name: 3P upper left
     system: true
-    program: run "scenarios/Tutorials/move_system.sw"
+    program: |
+      def main = \a. return noop end
+      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
+      main [action="P", entity="upper left corner", room=3]);
+      m
   #################
   ## SEPARATORS  ##
   #################
   # 1
-  - name: 1S down and horizontal wall
+  - name: 1S down and horizontal
     system: true
-    program: run "scenarios/Tutorials/move_system.sw"
-  - name: 1S up and horizontal wall
+    program: |
+      def main = \a. return noop end
+      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
+      main [action="S", entity="down and horizontal wall", room=1]);
+      m
+  - name: 1S up and horizontal
     system: true
-    program: run "scenarios/Tutorials/move_system.sw"
+    program: |
+      def main = \a. return noop end
+      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
+      main [action="S", entity="up and horizontal wall", room=1]);
+      m
   # 2
-  - name: 2S left and vertical wall
+  - name: 1S left and vertical
     system: true
-    program: run "scenarios/Tutorials/move_system.sw"
-  - name: 2S up and horizontal wall
+    program: |
+      def main = \a. return noop end
+      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
+      main [action="S", entity="left and vertical wall", room=2]);
+      m
+  - name: 2S up and horizontal
     system: true
-    program: run "scenarios/Tutorials/move_system.sw"
+    program: |
+      def main = \a. return noop end
+      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
+      main [action="S", entity="up and horizontal wall", room=2]);
+      m
   # 3
-  - name: 3S left and vertical wall
+  - name: 3S left and vertical
     system: true
-    program: run "scenarios/Tutorials/move_system.sw"
-  - name: 3S down and horizontal wall
+    program: |
+      def main = \a. return noop end
+      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
+      main [action="S", entity="left and vertical wall", room=3]);
+      m
+  - name: 3S down and horizontal
     system: true
-    program: run "scenarios/Tutorials/move_system.sw"
+    program: |
+      def main = \a. return noop end
+      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
+      main [action="S", entity="down and horizontal wall", room=3]);
+      m
   #################
   ## GATES       ##
   #################
@@ -322,13 +398,25 @@ robots:
   #################
   - name: 1P flower
     system: true
-    program: run "scenarios/Tutorials/move_system.sw"
+    program: |
+      def main = \a. return noop end
+      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
+      main [action="P", entity="flower", room=1]);
+      m
   - name: 2P flower
     system: true
-    program: run "scenarios/Tutorials/move_system.sw"
+    program: |
+      def main = \a. return noop end
+      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
+      main [action="P", entity="flower", room=2]);
+      m
   - name: 3P flower
     system: true
-    program: run "scenarios/Tutorials/move_system.sw"
+    program: |
+      def main = \a. return noop end
+      m <- instant (run "scenarios/Tutorials/move_surveil.sw";
+      main [action="P", entity="flower", room=3]);
+      m
 entities:
   - name: Win
     display:

data/scenarios/Tutorials/move_surveil.sw

@@ -0,0 +1,66 @@
+def repeat : Int -> (Int -> Cmd Unit) -> Cmd Unit =
+  \n. \c. if (n == 0) {} {c n; repeat (n-1) c}
+end
+
+def elif = \b.\t.\e. {if b t e} end
+def else = \e. e end
+
+def act_lazy: Text -> Text -> Cmd (Cmd Unit) = \a.\e. instant $
+    if (a == "S") {
+        if (e != "") { create e } {};
+        return (swap e; log $ a ++ ": " ++ e)
+    } $elif (a == "G") {
+        return (grab; log a)
+    } $elif (a == "P") {
+        if (e != "") { create e } {};
+        return (place e; log $ a ++ ": " ++ e)
+    } $else {
+        return (fail $ "Finished waiting for check but I don't know what to do: '" ++ a ++ "'")
+    }
+end
+
+def position: Int -> (Int * Int) = \room.
+    if (room == 1) {
+        (3,0)
+    } $elif (room == 2) {
+        (7,1)
+    } $elif (room == 3) {
+        (6,4)
+    } $else {
+        fail $ "unknown room: " ++ format room
+    }
+end
+
+def room_changes = \room. if (room == 1) {1} {2} end
+
+def main: [action: Text, entity: Text, room: Int] -> Cmd (Cmd Unit) = \args.
+    let pos = position args.room in
+    log $ format args;
+    target <- as self {teleport self pos; scan down};
+    log $ "at position" ++ format pos ++ ": " ++ format target;
+    act <- act_lazy args.action args.entity;
+    return (
+        // first room optimization - actively wait for one tick to see if the change occured
+        target2 <- as self {teleport self pos; scan down};
+        if (args.room == 1 && target == target2) {
+            turn forward
+        } {};
+        let changes = room_changes args.room in
+        has_changed <-
+            if (target != target2) {
+                log "changed in first tick - skipping one wait";
+                return true
+            } $else {
+                target3 <- as self {teleport self pos; scan down};
+                if (target != target3) { log "changed in second tick - skipping one wait" }{};
+                return $ target != target3
+            };
+        let changed = if has_changed {1} {0} in
+        repeat (changes - changed) (\i.
+            log $ "sleeping until " ++ format pos ++ " changes (countdown: " ++ format i ++ ")";
+            surveil pos;
+            wait 1000000;
+        );
+        act
+    )
+end

test/integration/Main.hs

@@ -194,7 +194,7 @@ testScenarioSolutions rs ui key =
     [ testGroup
         "Tutorial"
         [ testTutorialSolution Default "Tutorials/backstory"
-        , testTutorialSolution (Sec 3) "Tutorials/move"
+        , testTutorialSolution (Sec 10) "Tutorials/move"
         , testTutorialSolution Default "Tutorials/craft"
         , testTutorialSolution Default "Tutorials/grab"
         , testTutorialSolution Default "Tutorials/place"