validate subworld names of explicitly located robots (#1875)

## Demo
```
scripts/test/run-tests.sh --test-options '--pattern "1875-robot-subworld-location"'
```
and
```
scripts/play.sh -i data/scenarios/Testing/144-subworlds/subworld-shared-structures.yaml --autoplay
```

data/scenarios/Testing/144-subworlds/subworld-shared-structures.yaml

@@ -1,7 +1,7 @@
 version: 1
 name: Subworld shared structures
 description: |
-  Traverse floors of the tower
+  Traverse the floors of the tower, then grab the flower in the middle
 attrs:
   - name: portal_in
     fg: "#ff9a00"
@@ -9,6 +9,12 @@ attrs:
   - name: portal_out
     fg: "#00a2ff"
     bg: "#0065ff"
+objectives:
+  - goal:
+      - |
+        Visit all of the floors
+    condition: |
+      as base {has "flower"}
 entities:
   - name: telepad entrance
     display:
@@ -27,7 +33,9 @@ entities:
 robots:
   - name: base
     dir: east
-    loc: [0, 0]
+    loc:
+      subworld: root
+      loc: [0, 0]
     devices:
       - ADT calculator
       - branch predictor
@@ -41,6 +49,20 @@ robots:
       - logger
       - strange loop
       - treads
+solution: |
+  def doN = \n. \f. if (n > 0) {f; doN (n - 1) f} {}; end;
+
+  doN 4 (
+    doN 4 move;
+    turn right;
+    doN 4 move;
+  );
+
+  doN 2 move;
+  turn right;
+  doN 2 move;
+
+  grab;
 known: [flower]
 structures:
   - name: minibox
@@ -87,17 +109,18 @@ subworlds:
         waypoint:
           name: portal_in
     placements:
-      - src: flowers
-        offset: [1, 1]
       - src: minibox
         offset: [0, 0]
         orient:
           up: west
+      - src: flowers
+        offset: [1, 1]
     portals:
       - entrance: portal_in
         exitInfo:
           exit: portal_out
           subworldName: floor2
+        reorient: back
     upperleft: [0, 0]
     map: |
       .....
@@ -119,17 +142,18 @@ subworlds:
         waypoint:
           name: portal_in
     placements:
-      - src: flowers
-        offset: [1, 0]
       - src: minibox
         offset: [0, 0]
         orient:
           up: south
+      - src: flowers
+        offset: [1, 0]
     portals:
       - entrance: portal_in
         exitInfo:
           exit: portal_out
           subworldName: floor3
+        reorient: back
     upperleft: [0, 0]
     map: |
       .....
@@ -151,17 +175,18 @@ subworlds:
         waypoint:
           name: portal_in
     placements:
-      - src: flowers
-        offset: [1, -2]
       - src: minibox
         offset: [0, 0]
         orient:
           up: east
+      - src: flowers
+        offset: [1, -2]
     portals:
       - entrance: portal_in
         exitInfo:
           exit: portal_out
           subworldName: root
+        reorient: back
     upperleft: [0, 0]
     map: |
       .....
@@ -171,20 +196,21 @@ subworlds:
       .....
 world:
   name: root
-  default: [blank]
   palette:
     '.': [grass]
+    'B': [grass, null, base]
   upperleft: [0, 0]
   placements:
-    - src: flowers
-      offset: [0, -2]
     - src: minibox
       offset: [0, 0]
+    - src: flowers
+      offset: [0, -2]
   portals:
     - entrance: portal_in
       exitInfo:
         exit: portal_out
         subworldName: floor1
+      reorient: back
   map: |
     .....
     .....

data/scenarios/Testing/_Validation/1875-robot-subworld-location.yaml

@@ -0,0 +1,16 @@
+version: 1
+name: Robot location in nonexistent named subworld
+description: |
+  Robot specifies an explicit "planar" location, which uses
+  the "default" subworld name. However, since the root subworld
+  has been given a name, we object that the subworld specified by
+  the robot doesn't exist.
+robots:
+  - name: base
+    loc: [0, 0]
+world:
+  name: mySubworld
+  palette:
+    '.': [grass]
+  map: |-
+    .

src/swarm-scenario/Swarm/Game/Scenario.hs

@@ -69,7 +69,7 @@ import Control.Carrier.Throw.Either (runThrow)
 import Control.Effect.Lift (Lift, sendIO)
 import Control.Effect.Throw
 import Control.Lens hiding (from, (.=), (<.>))
-import Control.Monad (filterM, unless, (<=<))
+import Control.Monad (filterM, forM_, unless, (<=<))
 import Data.Aeson
 import Data.List.NonEmpty (NonEmpty ((:|)))
 import Data.List.NonEmpty qualified as NE
@@ -89,7 +89,7 @@ import Swarm.Game.Land
 import Swarm.Game.Location
 import Swarm.Game.Recipe
 import Swarm.Game.ResourceLoading (getDataFileNameSafe)
-import Swarm.Game.Robot (TRobot)
+import Swarm.Game.Robot (TRobot, trobotLocation, trobotName)
 import Swarm.Game.Scenario.Objective
 import Swarm.Game.Scenario.Objective.Validation
 import Swarm.Game.Scenario.RobotLookup
@@ -112,7 +112,7 @@ import Swarm.Language.Pipeline (ProcessedTerm)
 import Swarm.Language.Pretty (prettyText)
 import Swarm.Language.Syntax (Syntax)
 import Swarm.Language.Text.Markdown (Document)
-import Swarm.Util (binTuples, failT)
+import Swarm.Util (binTuples, commaList, failT, quote)
 import Swarm.Util.Effect (ignoreWarnings, throwToMaybe, withThrow)
 import Swarm.Util.Lens (makeLensesNoSigs)
 import Swarm.Util.Yaml
@@ -352,6 +352,18 @@ instance FromJSONE ScenarioInputs Scenario where
           , T.intercalate ", " $ map renderWorldName dupedNames
           ]
 
+      -- Validate robot locations
+      forM_ rs $ \r -> forM_ (r ^. trobotLocation) $ \rLoc ->
+        unless ((rLoc ^. subworld) `M.member` worldsByName)
+          . failT
+          $ [ "Robot"
+            , quote $ r ^. trobotName
+            , "specifies location in nonexistent subworld"
+            , renderQuotedWorldName (rLoc ^. subworld) <> "."
+            , "Valid subworlds are:"
+            , commaList $ map renderQuotedWorldName $ M.keys worldsByName
+            ]
+
       let mergedWaypoints =
             M.fromList $
               map (worldName &&& runIdentity . waypoints . navigation) $

src/swarm-scenario/Swarm/Game/Universe.hs

@@ -16,6 +16,7 @@ import Data.Yaml (FromJSON, ToJSON, Value (Object), parseJSON, withText, (.:))
 import GHC.Generics (Generic)
 import Linear (V2 (..))
 import Swarm.Game.Location
+import Swarm.Util (quote)
 
 -- * Referring to subworlds
 
@@ -30,6 +31,11 @@ renderWorldName = \case
   SubworldName s -> s
   DefaultRootSubworld -> "<default>"
 
+renderQuotedWorldName :: SubworldName -> Text
+renderQuotedWorldName = \case
+  SubworldName s -> quote s
+  DefaultRootSubworld -> "<default>"
+
 -- * Universal location
 
 -- | The swarm universe consists of locations

test/integration/Main.hs

@@ -353,6 +353,7 @@ testScenarioSolutions rs ui =
         , testSolution Default "Testing/144-subworlds/basic-subworld"
         , testSolution Default "Testing/144-subworlds/subworld-mapped-robots"
         , testSolution Default "Testing/144-subworlds/subworld-located-robots"
+        , testSolution Default "Testing/144-subworlds/subworld-shared-structures"
         , testSolution Default "Testing/1355-combustion"
         , testSolution Default "Testing/1379-single-world-portal-reorientation"
         , testSolution Default "Testing/1322-wait-with-instant"