Allow multiple robots in palette (#711)

- support specifying multiple robots in a cell
- add a test with multiple robots revealing new rooms
  - add T shaped walls
- closes #710

data/entities.yaml

@@ -575,6 +575,22 @@
     - A lower right corner wall.
   properties: [unwalkable, known]
 
+- name: down and horizontal wall
+  display:
+    attr: entity
+    char: '┬'
+  description:
+    - A down and horizontal wall.
+  properties: [unwalkable, known]
+
+- name: up and horizontal wall
+  display:
+    attr: entity
+    char: '┴'
+  description:
+    - A up and horizontal wall.
+  properties: [unwalkable, known]
+
 - name: horizontal wall
   display:
     attr: entity

data/scenarios/README.md

@@ -228,8 +228,9 @@ at various locations.
 
 #### Cells
 
-Each cell of the world is specified by a 1-, 2-, or 3-tuple, for
+Each cell of the world is specified by a list of terrain, optional entity
-example, `[grass]`, `[grass, tree]`, or `[grass, null, base]`.
+and robots present (if any). For example, `[grass]`, `[grass, tree]`,
+or `[grass, null, base]`.
 
 - The first (required) item specifies the terrain.  Currently, valid
   terrain values are `stone`, `dirt`, `grass`, `ice`, or `blank`.
@@ -237,9 +238,9 @@ example, `[grass]`, `[grass, tree]`, or `[grass, null, base]`.
   should be present in the cell.  This may be a built-in entity, or a
   custom entity specified in the `entities` section.  `null` may be
   used to explicitly specify no entity in the cell.
-- The third item (if present) specifies the name of a robot which
+- The third item and later (if present) specifies the names of the robots
-  should be present in the cell.  This must be the name of a robot
+  which should be present in the cell.  These must be names of robots
-  specified in the `robots` section.  A copy of the robot will be
+  specified in the `robots` section.  A copy of each robot will be
   created at each location in the `map` where it is drawn.
 
   Although multiple robots may be in a single location in general,

data/scenarios/Testing/00-ORDER.txt

@@ -13,3 +13,4 @@
 378-objectives.yaml
 684-swap.yaml
 699-movement-fail
+710-multi-robot.yaml

data/scenarios/Testing/710-multi-robot.yaml

@@ -0,0 +1,249 @@
+name: Multiple robots in palette
+description: |
+  Using multiple robots in palette to open new rooms.
+  See the lowright/upright robots in the second room.
+  https://github.com/swarm-game/swarm/issues/710
+objectives:
+  - goal:
+      - Move to the end of the room.
+    condition: |
+      r <- robotNamed "check1";
+      as r {has "Win"}
+  - goal:
+      - Move to the end of the second room.
+    condition: |
+      r <- robotNamed "check2";
+      as r {has "Win"}
+  - goal:
+      - Move to the end of the third room.
+    condition: |
+      r <- robotNamed "check3";
+      as r {has "Win"}
+solution: |
+  move;move;move; move;move;move; move;move;move;
+world:
+  default: [blank]
+  palette:
+    '.': [blank]
+    # FIRST ROOM
+    '┌': [blank, upper left corner]
+    '└': [blank, lower left corner]
+    '─': [blank, horizontal wall]
+    '│': [blank, vertical wall]
+    '┐': [blank, upper right corner, upright0]
+    '┘': [blank, lower right corner, lowright0]
+    # SECOND ROOM
+    '1': [blank, vertical wall, gate1]
+    '-': [blank, "1", horizon]
+    'u': [blank, "1", upright, upright1]
+    'l': [blank, "1", lowright, lowright1]
+    '2': [blank, "1", vertice, gate2]
+    # THIRD ROOM
+    '~': [blank, "2", horizon]
+    '/': [blank, "2", vertice]
+    'U': [blank, "2", upright]
+    'L': [blank, "2", lowright]
+  upperleft: [-1, 1]
+  map: |
+    ┌────┐--u~~U
+    │....1..2../
+    └────┘--l~~L
+
+robots:
+  - name: base
+    dir: [1,0]
+    loc: [0,0]
+    devices:
+      - treads
+      - logger
+  - name: check1
+    dir: [0,0]
+    loc: [3,0]
+    system: true
+    display:
+      invisible: true
+    program: |
+      def until = \c. b <- c; if b {} {until c} end;
+      l <- whereami;
+      until (
+        try {
+          loc <- as base {whereami};
+          return (loc == l)
+        } { return false }
+      );
+      create "Win"
+  - name: check2
+    dir: [0,0]
+    loc: [6,0]
+    system: true
+    display:
+      invisible: true
+    program: |
+      def until = \c. b <- c; if b {} {until c} end;
+      l <- whereami;
+      until (
+        try {
+          loc <- as base {whereami};
+          return (loc == l)
+        } { return false }
+      );
+      create "Win"
+  - name: check3
+    dir: [0,0]
+    loc: [9,0]
+    system: true
+    display:
+      invisible: true
+    program: |
+      def until = \c. b <- c; if b {} {until c} end;
+      l <- whereami;
+      until (
+        try {
+          loc <- as base {whereami};
+          return (loc == l)
+        } { return false }
+      );
+      create "Win"
+  - name: horizon
+    dir: [0,0]
+    system: true
+    display:
+      invisible: true
+    inventory: [[1,horizontal wall]]
+    program: |
+      def until = \c. b <- c; if b {} {until c} end;
+      n <- (s <- scan down; case s (\_. fail "Fatal error: missing room number!") return);
+      c1 <- robotNamed ("check" ++ n);
+      until (as c1 {has "Win"});
+      swap "horizontal wall"
+  - name: vertice
+    dir: [0,0]
+    system: true
+    display:
+      invisible: true
+    inventory: [[1,vertical wall]]
+    program: |
+      def until = \c. b <- c; if b {} {until c} end;
+      n <- (s <- scan down; case s (\_. fail "Fatal error: missing room number!") return);
+      c1 <- robotNamed ("check" ++ n);
+      until (as c1 {has "Win"});
+      swap "vertical wall"
+  - name: upright
+    dir: [0,0]
+    system: true
+    display:
+      invisible: true
+    inventory: [[1,upper right corner]]
+    program: |
+      def until = \c. b <- c; if b {} {until c} end;
+      n <- (s <- scan down; case s (\_. fail "Fatal error: missing room number!") return);
+      c1 <- robotNamed ("check" ++ n);
+      until (as c1 {has "Win"});
+      swap "upper right corner"
+  - name: lowright
+    dir: [0,0]
+    system: true
+    display:
+      invisible: true
+    inventory: [[1,lower right corner]]
+    program: |
+      def until = \c. b <- c; if b {} {until c} end;
+      n <- (s <- scan down; case s (\_. fail "Fatal error: missing room number!") return);
+      c1 <- robotNamed ("check" ++ n);
+      until (as c1 {has "Win"});
+      swap "lower right corner"
+  - name: upleft
+    dir: [0,0]
+    system: true
+    display:
+      invisible: true
+    inventory: [[1,upper left corner]]
+    program: |
+      def until = \c. b <- c; if b {} {until c} end;
+      n <- (s <- scan down; case s (\_. fail "Fatal error: missing room number!") return);
+      c1 <- robotNamed ("check" ++ n);
+      until (as c1 {has "Win"});
+      swap "upper left corner"
+  - name: upright0
+    dir: [0,0]
+    system: true
+    display:
+      invisible: true
+    inventory: [[1,down and horizontal wall]]
+    program: |
+      def until = \c. b <- c; if b {} {until c} end;
+      c1 <- robotNamed "check1";
+      until (as c1 {has "Win"});
+      swap "down and horizontal wall"
+  - name: lowright0
+    dir: [0,0]
+    system: true
+    display:
+      invisible: true
+    inventory: [[1,up and horizontal wall]]
+    program: |
+      def until = \c. b <- c; if b {} {until c} end;
+      c1 <- robotNamed "check1";
+      until (as c1 {has "Win"});
+      swap "up and horizontal wall"
+  - name: upright1
+    dir: [0,0]
+    system: true
+    display:
+      invisible: true
+    inventory: [[1,down and horizontal wall]]
+    program: |
+      def until = \c. b <- c; if b {} {until c} end;
+      c1 <- robotNamed "check2";
+      until (as c1 {has "Win"});
+      swap "down and horizontal wall"
+  - name: lowright1
+    dir: [0,0]
+    system: true
+    display:
+      invisible: true
+    inventory: [[1,up and horizontal wall]]
+    program: |
+      def until = \c. b <- c; if b {} {until c} end;
+      c1 <- robotNamed "check2";
+      until (as c1 {has "Win"});
+      swap "up and horizontal wall"
+  - name: gate1
+    dir: [0,0]
+    system: true
+    display:
+      invisible: true
+    program: |
+      def until = \c. b <- c; if b {} {until c} end;
+      c1 <- robotNamed "check1";
+      until (as c1 {has "Win"});
+      grab
+  - name: gate2
+    dir: [0,0]
+    system: true
+    display:
+      invisible: true
+    program: |
+      def until = \c. b <- c; if b {} {until c} end;
+      c1 <- robotNamed "check2";
+      until (as c1 {has "Win"});
+      grab
+entities:
+  - name: Win
+    display:
+      char: W
+      attr: gold
+    description:
+      - This entity signals that the objective has been met.
+  - name: "1"
+    display:
+      char: W
+      invisible: true
+    description:
+      - This entity is used to mean that the robot should check the 1st objective.
+  - name: "2"
+    display:
+      char: W
+      invisible: true
+    description:
+      - This entity is used to mean that the robot should check the 2nd objective.

src/Swarm/Game/Scenario.hs

@@ -54,6 +54,7 @@ import Control.Carrier.Lift (Lift, sendIO)
 import Control.Carrier.Throw.Either (Throw, throwError)
 import Control.Lens hiding (from, (<.>))
 import Control.Monad (filterM, when)
+import Control.Monad.Extra (mapMaybeM)
 import Data.Aeson.Key qualified as Key
 import Data.Aeson.KeyMap (KeyMap)
 import Data.Aeson.KeyMap qualified as KeyMap
@@ -153,7 +154,7 @@ getRobot = getThing "robot" M.lookup
 data Cell = Cell
   { cellTerrain :: TerrainType
   , cellEntity :: Maybe Entity
-  , cellRobot :: Maybe TRobot
+  , cellRobots :: [TRobot]
   }
   deriving (Eq, Show)
 
@@ -164,7 +165,7 @@ data Cell = Cell
 instance FromJSONE (EntityMap, RobotMap) Cell where
   parseJSONE = withArrayE "tuple" $ \v -> do
     let tup = V.toList v
-    when (null tup || length tup > 3) $ fail "palette entry must have length 1, 2, or 3"
+    when (null tup) $ fail "palette entry must nonzero length (terrain, optional entity and then robots if any)"
 
     terr <- liftE $ parseJSON (head tup)
 
@@ -174,13 +175,13 @@ instance FromJSONE (EntityMap, RobotMap) Cell where
         meName <- liftE $ parseJSON @(Maybe Text) e
         traverse (localE fst . getEntity) meName
 
-    rob <- case tup ^? ix 2 of
+    let name2rob r = do
-      Nothing -> return Nothing
+          mrName <- liftE $ parseJSON @(Maybe Text) r
-      Just r -> do
+          traverse (localE snd . getRobot) mrName
-        mrName <- liftE $ parseJSON @(Maybe Text) r
-        traverse (localE snd . getRobot) mrName
 
-    return $ Cell terr ent rob
+    robs <- mapMaybeM name2rob (drop 2 tup)
+
+    return $ Cell terr ent robs
 
 ------------------------------------------------------------
 -- World description

src/Swarm/Game/State.hs

@@ -808,7 +808,7 @@ scenarioToGameState scenario userSeed toRun g = do
 -- | Take a world description, parsed from a scenario file, and turn
 --   it into a list of located robots and a world function.
 buildWorld :: EntityMap -> WorldDescription -> ([TRobot], Seed -> WorldFun Int Entity)
-buildWorld em (WorldDescription {..}) = (robots, first fromEnum . wf)
+buildWorld em WorldDescription {..} = (robots, first fromEnum . wf)
  where
   rs = fromIntegral $ length area
   cs = fromIntegral $ length (head area)
@@ -831,11 +831,10 @@ buildWorld em (WorldDescription {..}) = (robots, first fromEnum . wf)
     area
       & traversed Control.Lens.<.> traversed %@~ (,) -- add (r,c) indices
       & concat
-      & mapMaybe
+      & concatMap
-        ( \((fromIntegral -> r, fromIntegral -> c), Cell _ _ robot) ->
+        ( \((fromIntegral -> r, fromIntegral -> c), Cell _ _ robotList) ->
-            robot
+            let robotWithLoc = trobotLocation ?~ W.coordsToLoc (Coords (ulr + r, ulc + c))
-              & traverse . trobotLocation
+             in map robotWithLoc robotList
-              ?~ W.coordsToLoc (Coords (ulr + r, ulc + c))
         )
 
 -- | Create an initial game state for a specific scenario.

test/integration/Main.hs

@@ -206,6 +206,7 @@ testScenarioSolution _ci _em =
         , testSolution Default "Testing/699-movement-fail/699-move-blocked"
         , testSolution Default "Testing/699-movement-fail/699-move-liquid"
         , testSolution Default "Testing/699-movement-fail/699-teleport-blocked"
+        , testSolution Default "Testing/710-multi-robot"
         ]
     ]
  where