topography sublibrary (#1836)

Towards #1043. The eventual goal of this sublibrary split is to have a self contained library that can compose 2D grids of arbitrary content (perhaps colored pixels, or boolean values). This could be useful outside of the `swarm` game. I would also like to write unit tests for the structure recognizer that are independent of the `Entity` type. # Major Changes ## Direction module * Moved `Swarm.Language.Syntax.Direction` to `swarm-util`, since both `swarm-lang` and `swarm-topology` depend on it, but not on each other. * Removed the re-export of direction things from `Swarm.Language.Syntax` ## Structure module The `Swarm.Game.Scenario.Topography.Structure` module has been split into two: * `Swarm.Game.Scenario.Topography.Structure` * `Swarm.Game.Scenario.Topography.Structure.Type` The former retains the YAML parsing logic. The latter is agnostic of `Enitiy` type and the palette . At some future point, I might want to move the YAML parsing to this sublibrary while still retaining independence of `Entity` type. ## Structure recognizer The structure recognizer is independent of the content of Cells (i.e. it does not need to know what an `Entity` is), except: 1. during initialization 2. when retrieving the original cell content after recognition Type parameters for three kinds of data have been added to the recognizer: 1. `Cell`/`PCell` 2. `Entity` 3. `EntityName` Eventually it may be possible to eliminate one or two of these type parameters, with some refactoring.
2024-07-07 11:16:35 +03:00 · 2024-06-02 13:53:34 -07:00 · 2024-06-02 13:53:34 -07:00 · ca4a2b809d
commit ca4a2b809d
parent 01c45ab968
40 changed files with 343 additions and 244 deletions
--- a/docs/image/sublibrary-graph.svg
+++ b/docs/image/sublibrary-graph.svg
@ -4,106 +4,124 @@
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 <g id="node6" class="node">
 <title>swarm&#45;scenario</title>
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 <title>swarm&#45;engine&#45;&gt;swarm&#45;scenario</title>
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+<text text-anchor="middle" x="75.5" y="-374.3" font-family="Times,serif" font-size="14.00">swarm&#45;topography</text>
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+<!-- swarm&#45;scenario&#45;&gt;swarm&#45;topography -->
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 <title>swarm&#45;lang</title>
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+<text text-anchor="middle" x="147.5" y="-446.3" font-family="Times,serif" font-size="14.00">swarm&#45;util</text>
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--- a/scripts/test/run-benchmarks.sh
+++ b/scripts/test/run-benchmarks.sh
@ -1,7 +1,5 @@
 #!/bin/bash -xe

+cd $(git rev-parse --show-toplevel)

-SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
-cd $SCRIPT_DIR/..
-
-STACK_WORK=.stack-work-bench stack bench swarm:benchmark --benchmark-arguments "--color always $@"
+cabal bench --benchmark-options "--color always $@"
--- a/src/swarm-doc/Swarm/Doc/Keyword.hs
+++ b/src/swarm-doc/Swarm/Doc/Keyword.hs
@ -19,7 +19,7 @@ module Swarm.Doc.Keyword (
 import Data.Text (Text)
 import Data.Text qualified as T
 import Swarm.Doc.Util
-import Swarm.Language.Syntax qualified as Syntax
+import Swarm.Language.Syntax.Direction
 import Swarm.Util (quote)

 -- | An enumeration of the editors supported by Swarm (currently,
@ -42,7 +42,7 @@ keywordsCommands e = editorList e $ map constSyntax commands

 -- | Get formatted list of directions.
 keywordsDirections :: EditorType -> Text
-keywordsDirections e = editorList e $ map Syntax.directionSyntax Syntax.allDirs
+keywordsDirections e = editorList e $ map directionSyntax allDirs

 -- | A list of the names of all the operators in the language.
 operatorNames :: Text
--- a/src/swarm-engine/Swarm/Game/Scenario/Topography/Structure/Recognition/Tracking.hs
+++ b/src/swarm-engine/Swarm/Game/Scenario/Topography/Structure/Recognition/Tracking.hs
@ -26,11 +26,12 @@ import Data.Set qualified as S
 import Linear (V2 (..))
 import Swarm.Game.Entity
 import Swarm.Game.Location
-import Swarm.Game.Scenario.Topography.Structure qualified as Structure
+import Swarm.Game.Scenario (Cell)
 import Swarm.Game.Scenario.Topography.Structure.Recognition
 import Swarm.Game.Scenario.Topography.Structure.Recognition.Log
 import Swarm.Game.Scenario.Topography.Structure.Recognition.Registry
 import Swarm.Game.Scenario.Topography.Structure.Recognition.Type
+import Swarm.Game.Scenario.Topography.Structure.Type qualified as Structure
 import Swarm.Game.State
 import Swarm.Game.State.Substate
 import Swarm.Game.Universe
@ -124,7 +125,7 @@ getWorldRow participatingEnts cLoc (InspectionOffsets (Min offsetLeft) (Max offs
 registerRowMatches ::
  (Has (State GameState) sig m) =>
  Cosmic Location ->
-  AutomatonInfo AtomicKeySymbol StructureSearcher ->
+  AutomatonInfo EntityName (AtomicKeySymbol Entity) (StructureSearcher Cell EntityName Entity) ->
  m ()
 registerRowMatches cLoc (AutomatonInfo participatingEnts horizontalOffsets sm) = do
  entitiesRow <- getWorldRow participatingEnts cLoc horizontalOffsets 0
@ -150,8 +151,8 @@ checkVerticalMatch ::
  Cosmic Location ->
  -- | Horizontal search offsets
  InspectionOffsets ->
-  Position StructureSearcher ->
-  m [FoundStructure]
+  Position (StructureSearcher Cell EntityName Entity) ->
+  m [FoundStructure Cell Entity]
 checkVerticalMatch cLoc (InspectionOffsets (Min searchOffsetLeft) _) foundRow =
  getMatches2D cLoc horizontalFoundOffsets $ automaton2D $ pVal foundRow
 where
@ -163,9 +164,9 @@ getFoundStructures ::
  Hashable keySymb =>
  (Int32, Int32) ->
  Cosmic Location ->
-  StateMachine keySymb StructureWithGrid ->
+  StateMachine keySymb (StructureWithGrid Cell Entity) ->
  [keySymb] ->
-  [FoundStructure]
+  [FoundStructure Cell Entity]
 getFoundStructures (offsetTop, offsetLeft) cLoc sm entityRows =
  map mkFound candidates
 where
@ -181,8 +182,8 @@ getMatches2D ::
  Cosmic Location ->
  -- | Horizontal found offsets (inclusive indices)
  InspectionOffsets ->
-  AutomatonInfo SymbolSequence StructureWithGrid ->
-  m [FoundStructure]
+  AutomatonInfo EntityName (SymbolSequence Entity) (StructureWithGrid Cell Entity) ->
+  m [FoundStructure Cell Entity]
 getMatches2D
  cLoc
  horizontalFoundOffsets@(InspectionOffsets (Min offsetLeft) _)
@ -199,7 +200,7 @@ getMatches2D
 -- The largest structure (by area) shall win.
 registerStructureMatches ::
  (Has (State GameState) sig m) =>
-  [FoundStructure] ->
+  [FoundStructure Cell Entity] ->
  m ()
 registerStructureMatches unrankedCandidates = do
  discovery . structureRecognition . recognitionLog %= (newMsg :)
--- a/src/swarm-engine/Swarm/Game/State.hs
+++ b/src/swarm-engine/Swarm/Game/State.hs
@ -117,11 +117,11 @@ import Swarm.Game.Robot.Concrete
 import Swarm.Game.Scenario
 import Swarm.Game.Scenario.Objective
 import Swarm.Game.Scenario.Status
-import Swarm.Game.Scenario.Topography.Structure qualified as Structure
 import Swarm.Game.Scenario.Topography.Structure.Recognition
 import Swarm.Game.Scenario.Topography.Structure.Recognition.Log
 import Swarm.Game.Scenario.Topography.Structure.Recognition.Precompute
 import Swarm.Game.Scenario.Topography.Structure.Recognition.Type
+import Swarm.Game.Scenario.Topography.Structure.Type qualified as Structure
 import Swarm.Game.State.Landscape
 import Swarm.Game.State.Robot
 import Swarm.Game.State.Substate
@ -525,7 +525,7 @@ zoomWorld swName n = do
 -- cell is encountered.
 ensureStructureIntact ::
  (Has (State GameState) sig m) =>
-  FoundStructure ->
+  FoundStructure Cell Entity ->
  m Bool
 ensureStructureIntact (FoundStructure (StructureWithGrid _ _ grid) upperLeft) =
  allM outer $ zip [0 ..] grid
@ -541,7 +541,7 @@ ensureStructureIntact (FoundStructure (StructureWithGrid _ _ grid) upperLeft) =
 mkRecognizer ::
  (Has (State GameState) sig m) =>
  StaticStructureInfo ->
-  m StructureRecognizer
+  m (StructureRecognizer Cell EntityName Entity)
 mkRecognizer structInfo@(StaticStructureInfo structDefs _) = do
  foundIntact <- mapM (sequenceA . (id &&& ensureStructureIntact)) allPlaced
  let fs = populateStaticFoundStructures . map fst . filter snd $ foundIntact
--- a/src/swarm-engine/Swarm/Game/State/Substate.hs
+++ b/src/swarm-engine/Swarm/Game/State/Substate.hs
@ -100,7 +100,7 @@ import Swarm.Game.Recipe (
  outRecipeMap,
 )
 import Swarm.Game.Robot
-import Swarm.Game.Scenario (GameStateInputs (..))
+import Swarm.Game.Scenario (Cell, GameStateInputs (..))
 import Swarm.Game.Scenario.Objective
 import Swarm.Game.Scenario.Topography.Structure.Recognition
 import Swarm.Game.Scenario.Topography.Structure.Recognition.Registry (emptyFoundStructures)
@ -327,7 +327,7 @@ data Discovery = Discovery
  , _availableCommands :: Notifications Const
  , _knownEntities :: S.Set EntityName
  , _gameAchievements :: Map GameplayAchievement Attainment
-  , _structureRecognition :: StructureRecognizer
+  , _structureRecognition :: StructureRecognizer Cell EntityName Entity
  , _tagMembers :: Map Text (NonEmpty EntityName)
  }

@ -350,7 +350,7 @@ knownEntities :: Lens' Discovery (S.Set EntityName)
 gameAchievements :: Lens' Discovery (Map GameplayAchievement Attainment)

 -- | Recognizer for robot-constructed structures
-structureRecognition :: Lens' Discovery StructureRecognizer
+structureRecognition :: Lens' Discovery (StructureRecognizer Cell EntityName Entity)

 -- | Map from tags to entities that possess that tag
 tagMembers :: Lens' Discovery (Map Text (NonEmpty EntityName))
--- a/src/swarm-engine/Swarm/Game/Step/Combustion.hs
+++ b/src/swarm-engine/Swarm/Game/Step/Combustion.hs
@ -44,6 +44,7 @@ import Swarm.Language.Context (empty)
 import Swarm.Language.Pipeline (ProcessedTerm)
 import Swarm.Language.Pipeline.QQ (tmQ)
 import Swarm.Language.Syntax
+import Swarm.Language.Syntax.Direction (Direction)
 import Swarm.Language.Text.Markdown qualified as Markdown
 import Swarm.Util hiding (both)
 import System.Clock (TimeSpec)
--- a/src/swarm-engine/Swarm/Game/Step/Const.hs
+++ b/src/swarm-engine/Swarm/Game/Step/Const.hs
@ -94,6 +94,7 @@ import Swarm.Language.Pipeline
 import Swarm.Language.Pretty (prettyText)
 import Swarm.Language.Requirement qualified as R
 import Swarm.Language.Syntax
+import Swarm.Language.Syntax.Direction
 import Swarm.Language.Text.Markdown qualified as Markdown
 import Swarm.Language.Value
 import Swarm.Log
--- a/src/swarm-engine/Swarm/Game/Step/Path/Finding.hs
+++ b/src/swarm-engine/Swarm/Game/Step/Path/Finding.hs
@ -48,6 +48,7 @@ import Swarm.Game.Step.Util
 import Swarm.Game.Step.Util.Inspect
 import Swarm.Game.Universe
 import Swarm.Language.Syntax
+import Swarm.Language.Syntax.Direction
 import Swarm.Util (hoistMaybe)

 -- | Swarm command arguments are converted to idiomatic Haskell
--- a/src/swarm-engine/Swarm/Game/Step/Util.hs
+++ b/src/swarm-engine/Swarm/Game/Step/Util.hs
@ -42,6 +42,7 @@ import Swarm.Game.World.Modify qualified as WM
 import Swarm.Language.Capability
 import Swarm.Language.Requirement qualified as R
 import Swarm.Language.Syntax
+import Swarm.Language.Syntax.Direction (Direction)
 import Swarm.Util hiding (both)
 import System.Random (UniformRange, uniformR)
 import Prelude hiding (Applicative (..), lookup)
--- a/src/swarm-lang/Swarm/Language/Parser/Lex.hs
+++ b/src/swarm-lang/Swarm/Language/Parser/Lex.hs
@ -56,6 +56,7 @@ import Data.Text (Text)
 import Data.Text qualified as T
 import Swarm.Language.Parser.Core
 import Swarm.Language.Syntax
+import Swarm.Language.Syntax.Direction
 import Swarm.Language.Types (baseTyName)
 import Swarm.Util (failT, listEnums, squote)
 import Text.Megaparsec
--- a/src/swarm-lang/Swarm/Language/Parser/Term.hs
+++ b/src/swarm-lang/Swarm/Language/Parser/Term.hs
@ -21,6 +21,7 @@ import Swarm.Language.Parser.Lex
 import Swarm.Language.Parser.Record (parseRecord)
 import Swarm.Language.Parser.Type
 import Swarm.Language.Syntax
+import Swarm.Language.Syntax.Direction
 import Swarm.Language.Types
 import Swarm.Util (failT, findDup)
 import Text.Megaparsec hiding (runParser)
--- a/src/swarm-lang/Swarm/Language/Pretty.hs
+++ b/src/swarm-lang/Swarm/Language/Pretty.hs
@ -32,6 +32,7 @@ import Swarm.Language.Context
 import Swarm.Language.Kindcheck (KindError (..))
 import Swarm.Language.Parser.Util (getLocRange)
 import Swarm.Language.Syntax
+import Swarm.Language.Syntax.Direction
 import Swarm.Language.Typecheck
 import Swarm.Language.Types
 import Swarm.Util (number, showEnum, showLowT, unsnocNE)
--- a/src/swarm-lang/Swarm/Language/Requirement.hs
+++ b/src/swarm-lang/Swarm/Language/Requirement.hs
@ -37,6 +37,7 @@ import Swarm.Language.Capability (Capability (..), constCaps)
 import Swarm.Language.Context (Ctx)
 import Swarm.Language.Context qualified as Ctx
 import Swarm.Language.Syntax
+import Swarm.Language.Syntax.Direction

 -- | A /requirement/ is something a robot must have when it is
 --   built. There are three types:
--- a/src/swarm-lang/Swarm/Language/Syntax.hs
+++ b/src/swarm-lang/Swarm/Language/Syntax.hs
@ -5,15 +5,6 @@
 --
 -- Abstract syntax for terms of the Swarm programming language.
 module Swarm.Language.Syntax (
-  -- * Directions
-  Direction (..),
-  AbsoluteDir (..),
-  RelativeDir (..),
-  PlanarRelativeDir (..),
-  directionSyntax,
-  isCardinal,
-  allDirs,
-
  -- * Constants
  Const (..),
  allConst,
@ -104,7 +95,6 @@ module Swarm.Language.Syntax (
 import Swarm.Language.Syntax.AST
 import Swarm.Language.Syntax.Comments
 import Swarm.Language.Syntax.Constants
-import Swarm.Language.Syntax.Direction
 import Swarm.Language.Syntax.Loc
 import Swarm.Language.Syntax.Pattern
 import Swarm.Language.Syntax.Util
--- a/src/swarm-lang/Swarm/Language/Value.hs
+++ b/src/swarm-lang/Swarm/Language/Value.hs
@ -31,6 +31,7 @@ import Swarm.Language.Context
 import Swarm.Language.Key (KeyCombo, prettyKeyCombo)
 import Swarm.Language.Pretty (prettyText)
 import Swarm.Language.Syntax
+import Swarm.Language.Syntax.Direction

 -- | A /value/ is a term that cannot (or does not) take any more
 --   evaluation steps on its own.
--- a/src/swarm-scenario/Swarm/Game/Display.hs
+++ b/src/swarm-scenario/Swarm/Game/Display.hs
@ -48,7 +48,7 @@ import Data.Text qualified as T
 import Data.Yaml
 import GHC.Generics (Generic)
 import Graphics.Text.Width
-import Swarm.Language.Syntax (AbsoluteDir (..), Direction (..))
+import Swarm.Language.Syntax.Direction (AbsoluteDir (..), Direction (..))
 import Swarm.Util (maxOn, quote)
 import Swarm.Util.Lens (makeLensesNoSigs)
 import Swarm.Util.Yaml (FromJSONE (..), With (runE), getE, liftE, withObjectE)
--- a/src/swarm-scenario/Swarm/Game/Scenario.hs
+++ b/src/swarm-scenario/Swarm/Game/Scenario.hs
@ -102,6 +102,7 @@ import Swarm.Game.Scenario.Topography.Structure.Assembly qualified as Assembly
 import Swarm.Game.Scenario.Topography.Structure.Overlay
 import Swarm.Game.Scenario.Topography.Structure.Recognition.Symmetry
 import Swarm.Game.Scenario.Topography.Structure.Recognition.Type (SymmetryAnnotatedGrid (..))
+import Swarm.Game.Scenario.Topography.Structure.Type qualified as Structure
 import Swarm.Game.Scenario.Topography.WorldDescription
 import Swarm.Game.Terrain
 import Swarm.Game.Universe
--- a/src/swarm-scenario/Swarm/Game/Scenario/Topography/Structure.hs
+++ b/src/swarm-scenario/Swarm/Game/Scenario/Topography/Structure.hs
@ -1,5 +1,6 @@
 {-# LANGUAGE OverloadedStrings #-}
 {-# LANGUAGE RecordWildCards #-}
+{-# OPTIONS_GHC -fno-warn-orphans #-}

 -- |
 -- SPDX-License-Identifier: BSD-3-Clause
@ -11,45 +12,22 @@ module Swarm.Game.Scenario.Topography.Structure where
 import Data.Aeson.Key qualified as Key
 import Data.Aeson.KeyMap qualified as KeyMap
 import Data.Maybe (catMaybes)
-import Data.Set (Set)
 import Data.Text (Text)
 import Data.Text qualified as T
 import Data.Yaml as Y
 import Swarm.Game.Land
 import Swarm.Game.Location
-import Swarm.Game.Scenario.RobotLookup
+import Swarm.Game.Scenario.RobotLookup (RobotMap)
 import Swarm.Game.Scenario.Topography.Area
 import Swarm.Game.Scenario.Topography.Cell
 import Swarm.Game.Scenario.Topography.Navigation.Waypoint
-import Swarm.Game.Scenario.Topography.Placement
 import Swarm.Game.Scenario.Topography.Structure.Overlay
+import Swarm.Game.Scenario.Topography.Structure.Type
 import Swarm.Game.Scenario.Topography.WorldPalette
-import Swarm.Language.Syntax.Direction (AbsoluteDir)
 import Swarm.Util (failT, showT)
 import Swarm.Util.Yaml
 import Witch (into)

-data NamedArea a = NamedArea
-  { name :: StructureName
-  , recognize :: Set AbsoluteDir
-  -- ^ whether this structure should be registered for automatic recognition
-  -- and which orientations shall be recognized.
-  -- The supplied direction indicates which cardinal direction the
-  -- original map's "North" has been re-oriented to.
-  -- E.g., 'DWest' represents a rotation of 90 degrees counter-clockwise.
-  , description :: Maybe Text
-  -- ^ will be UI-facing only if this is a recognizable structure
-  , structure :: a
-  }
-  deriving (Eq, Show, Functor)
-
-isRecognizable :: NamedArea a -> Bool
-isRecognizable = not . null . recognize
-
-type NamedGrid c = NamedArea (Grid c)
-
-type NamedStructure c = NamedArea (PStructure c)
-
 type InheritedStructureDefs = [NamedStructure (Maybe Cell)]

 instance FromJSONE (TerrainEntityMaps, RobotMap) (NamedArea (PStructure (Maybe Cell))) where
@ -61,33 +39,6 @@ instance FromJSONE (TerrainEntityMaps, RobotMap) (NamedArea (PStructure (Maybe C
      <*> v
        ..: "structure"

-data PStructure c = Structure
-  { area :: PositionedGrid c
-  , structures :: [NamedStructure c]
-  -- ^ structure definitions from parents shall be accessible by children
-  , placements :: [Placement]
-  -- ^ earlier placements will be overlaid on top of later placements in the YAML file
-  , waypoints :: [Waypoint]
-  }
-  deriving (Eq, Show)
-
-data Placed c = Placed Placement (NamedStructure c)
-  deriving (Show)
-
-- | For use in registering recognizable pre-placed structures
-data LocatedStructure = LocatedStructure
-  { placedName :: StructureName
-  , upDirection :: AbsoluteDir
-  , cornerLoc :: Location
-  }
-  deriving (Show)
-
-instance HasLocation LocatedStructure where
-  modifyLoc f (LocatedStructure x y originalLoc) =
-    LocatedStructure x y $ f originalLoc
-
-data MergedStructure c = MergedStructure (PositionedGrid c) [LocatedStructure] [Originated Waypoint]
-
 instance FromJSONE (TerrainEntityMaps, RobotMap) (PStructure (Maybe Cell)) where
  parseJSONE = withObjectE "structure definition" $ \v -> do
    pal <- v ..:? "palette" ..!= WorldPalette mempty
--- a/src/swarm-scenario/Swarm/Game/Scenario/Topography/Structure/Recognition/Precompute.hs
+++ b/src/swarm-scenario/Swarm/Game/Scenario/Topography/Structure/Recognition/Precompute.hs
@ -43,6 +43,7 @@ module Swarm.Game.Scenario.Topography.Structure.Recognition.Precompute (

 import Control.Arrow ((&&&))
 import Control.Lens (view)
+import Data.Hashable (Hashable)
 import Data.Int (Int32)
 import Data.List.NonEmpty qualified as NE
 import Data.Map qualified as M
@ -51,28 +52,28 @@ import Data.Semigroup (sconcat)
 import Data.Set qualified as S
 import Data.Set qualified as Set
 import Data.Tuple (swap)
-import Swarm.Game.Entity (Entity, entityName)
+import Swarm.Game.Entity (Entity, EntityName, entityName)
 import Swarm.Game.Scenario (StaticStructureInfo (..))
 import Swarm.Game.Scenario.Topography.Area (Grid (Grid))
-import Swarm.Game.Scenario.Topography.Cell
+import Swarm.Game.Scenario.Topography.Cell (PCell, cellEntity)
 import Swarm.Game.Scenario.Topography.Placement (Orientation (..), applyOrientationTransform)
-import Swarm.Game.Scenario.Topography.Structure
 import Swarm.Game.Scenario.Topography.Structure.Recognition.Registry
 import Swarm.Game.Scenario.Topography.Structure.Recognition.Type
+import Swarm.Game.Scenario.Topography.Structure.Type
 import Swarm.Game.Universe (Cosmic (..))
 import Swarm.Language.Syntax.Direction (AbsoluteDir)
 import Swarm.Util (binTuples, histogram)
 import Swarm.Util.Erasable (erasableToMaybe)
 import Text.AhoCorasick

-getEntityGrid :: Grid (Maybe Cell) -> [SymbolSequence]
+getEntityGrid :: Grid (Maybe (PCell Entity)) -> [SymbolSequence Entity]
 getEntityGrid (Grid cells) = map (map ((erasableToMaybe . cellEntity) =<<)) cells

-allStructureRows :: [StructureWithGrid] -> [StructureRow]
+allStructureRows :: [StructureWithGrid b a] -> [StructureRow b a]
 allStructureRows =
  concatMap getRows
 where
-  getRows :: StructureWithGrid -> [StructureRow]
+  getRows :: StructureWithGrid b a -> [StructureRow b a]
  getRows g = zipWith (StructureRow g) [0 ..] $ entityGrid g

 mkOffsets :: Foldable f => Int32 -> f a -> InspectionOffsets
@ -85,9 +86,11 @@ mkOffsets pos xs =
 -- yield a searcher that can determine whether adjacent
 -- rows constitute a complete structure.
 mkRowLookup ::
-  NE.NonEmpty StructureRow ->
-  AutomatonInfo SymbolSequence StructureWithGrid
-mkRowLookup neList =
+  (Hashable a, Ord en) =>
+  (a -> en) ->
+  NE.NonEmpty (StructureRow b a) ->
+  AutomatonInfo en (SymbolSequence a) (StructureWithGrid b a)
+mkRowLookup nameFunc neList =
  AutomatonInfo participatingEnts bounds sm
 where
  mkSmTuple = entityGrid &&& id
@ -96,10 +99,10 @@ mkRowLookup neList =
  -- All of the unique entities across all of the full candidate structures
  participatingEnts =
    S.fromList $
-      map (view entityName) $
+      map nameFunc $
        concatMap (concatMap catMaybes . fst) tuples

-  deriveRowOffsets :: StructureRow -> InspectionOffsets
+  deriveRowOffsets :: StructureRow b a -> InspectionOffsets
  deriveRowOffsets (StructureRow (StructureWithGrid _ _ g) rwIdx _) =
    mkOffsets rwIdx g

@ -113,27 +116,27 @@ mkRowLookup neList =
 -- underlying world row against all rows within all structures
 -- (so long as they contain the keyed entity).
 mkEntityLookup ::
-  [StructureWithGrid] ->
-  M.Map Entity (AutomatonInfo AtomicKeySymbol StructureSearcher)
-mkEntityLookup grids =
+  (Hashable a, Ord a, Ord en) =>
+  (a -> en) ->
+  [StructureWithGrid b a] ->
+  M.Map a (AutomatonInfo en (AtomicKeySymbol a) (StructureSearcher b en a))
+mkEntityLookup nameFunc grids =
  M.map mkValues rowsByEntityParticipation
 where
  rowsAcrossAllStructures = allStructureRows grids

  -- The input here are all rows across all structures
  -- that share the same entity sequence.
-  mkSmValue :: SymbolSequence -> NE.NonEmpty SingleRowEntityOccurrences -> StructureSearcher
  mkSmValue ksms singleRows =
    StructureSearcher sm2D ksms singleRows
   where
    structureRowsNE = NE.map myRow singleRows
-    sm2D = mkRowLookup structureRowsNE
+    sm2D = mkRowLookup nameFunc structureRowsNE

-  mkValues :: NE.NonEmpty SingleRowEntityOccurrences -> AutomatonInfo AtomicKeySymbol StructureSearcher
  mkValues neList = AutomatonInfo participatingEnts bounds sm
   where
    participatingEnts =
-      (S.fromList . map (view entityName))
+      (S.fromList . map nameFunc)
        (concatMap (catMaybes . fst) tuples)

    tuples = M.toList $ M.mapWithKey mkSmValue groupedByUniqueRow
@ -144,19 +147,18 @@ mkEntityLookup grids =

  -- The values of this map are guaranteed to contain only one
  -- entry per row of a given structure.
-  rowsByEntityParticipation :: M.Map Entity (NE.NonEmpty SingleRowEntityOccurrences)
  rowsByEntityParticipation =
    binTuples $
      map (myEntity &&& id) $
        concatMap explodeRowEntities rowsAcrossAllStructures

-  deriveEntityOffsets :: PositionWithinRow -> InspectionOffsets
+  deriveEntityOffsets :: PositionWithinRow b a -> InspectionOffsets
  deriveEntityOffsets (PositionWithinRow pos r) =
    mkOffsets pos $ rowContent r

  -- The members of "rowMembers" are of 'Maybe' type; the 'Nothing's
  -- are dropped but accounted for when indexing the columns.
-  explodeRowEntities :: StructureRow -> [SingleRowEntityOccurrences]
+  explodeRowEntities :: Ord a => StructureRow b a -> [SingleRowEntityOccurrences b a]
  explodeRowEntities r@(StructureRow _ _ rowMembers) =
    map f $ M.toList $ binTuples unconsolidated
   where
@ -171,18 +173,23 @@ mkEntityLookup grids =

 -- | Create Aho-Corasick matchers that will recognize all of the
 -- provided structure definitions
-mkAutomatons :: [SymmetryAnnotatedGrid (Maybe Cell)] -> RecognizerAutomatons
+mkAutomatons ::
+  [SymmetryAnnotatedGrid (Maybe (PCell Entity))] ->
+  RecognizerAutomatons (PCell Entity) EntityName Entity
 mkAutomatons xs =
  RecognizerAutomatons
    infos
-    (mkEntityLookup rotatedGrids)
+    (mkEntityLookup (view entityName) rotatedGrids)
 where
  rotatedGrids = concatMap (extractGrids . namedGrid) xs

  process g = StructureInfo g (getEntityGrid $ structure $ namedGrid g) . histogram . concatMap catMaybes . getEntityGrid . structure $ namedGrid g
  infos = M.fromList $ map (name . namedGrid &&& process) xs

-extractOrientedGrid :: NamedGrid (Maybe Cell) -> AbsoluteDir -> StructureWithGrid
+extractOrientedGrid ::
+  NamedGrid (Maybe (PCell Entity)) ->
+  AbsoluteDir ->
+  StructureWithGrid (PCell Entity) Entity
 extractOrientedGrid x d = StructureWithGrid x d $ getEntityGrid g'
 where
  Grid rows = structure x
@ -191,13 +198,13 @@ extractOrientedGrid x d = StructureWithGrid x d $ getEntityGrid g'
 -- | At this point, we have already ensured that orientations
 -- redundant by rotational symmetry have been excluded
 -- (i.e. at Scenario validation time).
-extractGrids :: NamedGrid (Maybe Cell) -> [StructureWithGrid]
+extractGrids :: NamedGrid (Maybe (PCell Entity)) -> [StructureWithGrid (PCell Entity) Entity]
 extractGrids x = map (extractOrientedGrid x) $ Set.toList $ recognize x

 -- | The output list of 'FoundStructure' records is not yet
 -- vetted; the 'ensureStructureIntact' function will subsequently
 -- filter this list.
-lookupStaticPlacements :: StaticStructureInfo -> [FoundStructure]
+lookupStaticPlacements :: StaticStructureInfo -> [FoundStructure (PCell Entity) Entity]
 lookupStaticPlacements (StaticStructureInfo structDefs thePlacements) =
  concatMap f $ M.toList thePlacements
 where
--- a/src/swarm-scenario/Swarm/Game/Scenario/Topography/WorldDescription.hs
+++ b/src/swarm-scenario/Swarm/Game/Scenario/Topography/WorldDescription.hs
@ -27,13 +27,15 @@ import Swarm.Game.Scenario.Topography.Navigation.Waypoint (
 )
 import Swarm.Game.Scenario.Topography.Structure (
  InheritedStructureDefs,
-  LocatedStructure,
-  MergedStructure (MergedStructure),
-  PStructure (Structure),
 )
 import Swarm.Game.Scenario.Topography.Structure qualified as Structure
 import Swarm.Game.Scenario.Topography.Structure.Assembly qualified as Assembly
 import Swarm.Game.Scenario.Topography.Structure.Overlay
+import Swarm.Game.Scenario.Topography.Structure.Type (
+  LocatedStructure,
+  MergedStructure (MergedStructure),
+  PStructure (Structure),
+ )
 import Swarm.Game.Scenario.Topography.WorldPalette
 import Swarm.Game.Universe
 import Swarm.Game.World.Parse ()
--- a/src/swarm-topography/Swarm/Game/Location.hs
+++ b/src/swarm-topography/Swarm/Game/Location.hs
@ -50,7 +50,7 @@ import Data.Map qualified as M
 import Data.Yaml (FromJSON (parseJSON), ToJSON (toJSON))
 import Linear (Additive (..), V2 (..), negated, norm, perp, unangle)
 import Linear.Affine (Affine (..), Point (..), origin)
-import Swarm.Language.Syntax (AbsoluteDir (..), Direction (..), PlanarRelativeDir (..), RelativeDir (..), isCardinal)
+import Swarm.Language.Syntax.Direction (AbsoluteDir (..), Direction (..), PlanarRelativeDir (..), RelativeDir (..), isCardinal)
 import Swarm.Util qualified as Util

 -- $setup
--- a/src/swarm-topography/Swarm/Game/Scenario/Topography/Area.hs
+++ b/src/swarm-topography/Swarm/Game/Scenario/Topography/Area.hs
--- a/src/swarm-topography/Swarm/Game/Scenario/Topography/Navigation/Waypoint.hs
+++ b/src/swarm-topography/Swarm/Game/Scenario/Topography/Navigation/Waypoint.hs
--- a/src/swarm-topography/Swarm/Game/Scenario/Topography/Placement.hs
+++ b/src/swarm-topography/Swarm/Game/Scenario/Topography/Placement.hs
--- a/src/swarm-topography/Swarm/Game/Scenario/Topography/Structure/Assembly.hs
+++ b/src/swarm-topography/Swarm/Game/Scenario/Topography/Structure/Assembly.hs
@ -25,8 +25,8 @@ import Swarm.Game.Location
 import Swarm.Game.Scenario.Topography.Area
 import Swarm.Game.Scenario.Topography.Navigation.Waypoint
 import Swarm.Game.Scenario.Topography.Placement
-import Swarm.Game.Scenario.Topography.Structure
 import Swarm.Game.Scenario.Topography.Structure.Overlay
+import Swarm.Game.Scenario.Topography.Structure.Type
 import Swarm.Language.Syntax.Direction (directionJsonModifier)
 import Swarm.Util (commaList, quote, showT)

--- a/src/swarm-topography/Swarm/Game/Scenario/Topography/Structure/Overlay.hs
+++ b/src/swarm-topography/Swarm/Game/Scenario/Topography/Structure/Overlay.hs
--- a/src/swarm-topography/Swarm/Game/Scenario/Topography/Structure/Recognition.hs
+++ b/src/swarm-topography/Swarm/Game/Scenario/Topography/Structure/Recognition.hs
@ -12,11 +12,14 @@ import Swarm.Game.Scenario.Topography.Structure.Recognition.Log
 import Swarm.Game.Scenario.Topography.Structure.Recognition.Registry
 import Swarm.Game.Scenario.Topography.Structure.Recognition.Type

-data StructureRecognizer = StructureRecognizer
-  { _automatons :: RecognizerAutomatons
-  , _foundStructures :: FoundRegistry
+-- |
+-- The three type parameters, `b`, `en`, and `a`, correspond
+-- to 'Cell', 'EntityName', and 'Entity', respectively.
+data StructureRecognizer b en a = StructureRecognizer
+  { _automatons :: RecognizerAutomatons b en a
+  , _foundStructures :: FoundRegistry b a
  -- ^ Records the top-left corner of the found structure
-  , _recognitionLog :: [SearchLog]
+  , _recognitionLog :: [SearchLog en]
  }
  deriving (Generic)

--- a/src/swarm-topography/Swarm/Game/Scenario/Topography/Structure/Recognition/Log.hs
+++ b/src/swarm-topography/Swarm/Game/Scenario/Topography/Structure/Recognition/Log.hs
@ -9,14 +9,13 @@ import Data.Int (Int32)
 import GHC.Generics (Generic)
 import Servant.Docs (ToSample)
 import Servant.Docs qualified as SD
-import Swarm.Game.Entity (EntityName)
 import Swarm.Game.Location (Location)
 import Swarm.Game.Scenario.Topography.Placement (StructureName)
 import Swarm.Game.Scenario.Topography.Structure.Recognition.Type
 import Swarm.Game.Universe (Cosmic)

-type StructureRowContent = [Maybe EntityName]
-type WorldRowContent = [Maybe EntityName]
+type StructureRowContent en = [Maybe en]
+type WorldRowContent en = [Maybe en]

 data MatchingRowFrom = MatchingRowFrom
  { rowIdx :: Int32
@ -27,21 +26,21 @@ data MatchingRowFrom = MatchingRowFrom
 newtype HaystackPosition = HaystackPosition Int
  deriving (Generic, ToJSON)

-data HaystackContext = HaystackContext
-  { worldRow :: WorldRowContent
+data HaystackContext en = HaystackContext
+  { worldRow :: WorldRowContent en
  , haystackPosition :: HaystackPosition
  }
  deriving (Generic, ToJSON)

-data FoundRowCandidate = FoundRowCandidate
-  { haystackContext :: HaystackContext
-  , structureContent :: StructureRowContent
+data FoundRowCandidate en = FoundRowCandidate
+  { haystackContext :: HaystackContext en
+  , structureContent :: StructureRowContent en
  , rowCandidates :: [MatchingRowFrom]
  }
  deriving (Generic, ToJSON)

-data ParticipatingEntity = ParticipatingEntity
-  { entity :: EntityName
+data ParticipatingEntity en = ParticipatingEntity
+  { entity :: en
  , searchOffsets :: InspectionOffsets
  }
  deriving (Generic, ToJSON)
@ -53,15 +52,15 @@ data IntactPlacementLog = IntactPlacementLog
  }
  deriving (Generic, ToJSON)

-data SearchLog
-  = FoundParticipatingEntity ParticipatingEntity
+data SearchLog en
+  = FoundParticipatingEntity (ParticipatingEntity en)
  | StructureRemoved StructureName
-  | FoundRowCandidates [FoundRowCandidate]
+  | FoundRowCandidates [FoundRowCandidate en]
  | FoundCompleteStructureCandidates [StructureName]
  | IntactStaticPlacement [IntactPlacementLog]
  deriving (Generic)

-instance ToJSON SearchLog where
+instance (ToJSON en) => ToJSON (SearchLog en) where
  toJSON = genericToJSON searchLogOptions

 searchLogOptions :: Options
@ -70,7 +69,7 @@ searchLogOptions =
    { sumEncoding = ObjectWithSingleField
    }

-instance ToSample SearchLog where
+instance ToSample (SearchLog en) where
  toSamples _ = SD.noSamples

 data StructureLocation = StructureLocation StructureName (Cosmic Location)
--- a/src/swarm-topography/Swarm/Game/Scenario/Topography/Structure/Recognition/Registry.hs
+++ b/src/swarm-topography/Swarm/Game/Scenario/Topography/Structure/Recognition/Registry.hs
@ -29,24 +29,27 @@ import Data.Map.NonEmpty (NEMap)
 import Data.Map.NonEmpty qualified as NEM
 import Swarm.Game.Location (Location)
 import Swarm.Game.Scenario.Topography.Placement (StructureName)
-import Swarm.Game.Scenario.Topography.Structure qualified as Structure
 import Swarm.Game.Scenario.Topography.Structure.Recognition.Type
+import Swarm.Game.Scenario.Topography.Structure.Type qualified as Structure
 import Swarm.Game.Universe (Cosmic)
 import Swarm.Util (binTuples, deleteKeys)

 -- | The authoritative source of which built structures currently exist.
-data FoundRegistry = FoundRegistry
-  { _foundByName :: Map StructureName (NEMap (Cosmic Location) StructureWithGrid)
-  , _foundByLocation :: Map (Cosmic Location) FoundStructure
+--
+-- The two type parameters, `b` and `a`, correspond
+-- to 'Cell' and 'Entity', respectively.
+data FoundRegistry b a = FoundRegistry
+  { _foundByName :: Map StructureName (NEMap (Cosmic Location) (StructureWithGrid b a))
+  , _foundByLocation :: Map (Cosmic Location) (FoundStructure b a)
  }

-emptyFoundStructures :: FoundRegistry
+emptyFoundStructures :: FoundRegistry b a
 emptyFoundStructures = FoundRegistry mempty mempty

 -- | We use a 'NEMap' here so that we can use the
 -- safe-indexing function 'indexWrapNonEmpty' in the implementation
 -- of the @structure@ command.
-foundByName :: FoundRegistry -> Map StructureName (NEMap (Cosmic Location) StructureWithGrid)
+foundByName :: FoundRegistry b a -> Map StructureName (NEMap (Cosmic Location) (StructureWithGrid b a))
 foundByName = _foundByName

 -- | This is a worldwide "mask" that prevents members of placed
@ -54,10 +57,10 @@ foundByName = _foundByName
 -- deletion of structures when their elements are removed from the world.
 --
 -- Each recognized structure instance will have @MxN@ entries in this map.
-foundByLocation :: FoundRegistry -> Map (Cosmic Location) FoundStructure
+foundByLocation :: FoundRegistry b a -> Map (Cosmic Location) (FoundStructure b a)
 foundByLocation = _foundByLocation

-removeStructure :: FoundStructure -> FoundRegistry -> FoundRegistry
+removeStructure :: FoundStructure b a -> FoundRegistry b a -> FoundRegistry b a
 removeStructure fs (FoundRegistry byName byLoc) =
  FoundRegistry
    (M.update tidyDelete structureName byName)
@ -71,7 +74,7 @@ removeStructure fs (FoundRegistry byName byLoc) =
  -- Swarm.Game.State.removeRobotFromLocationMap
  tidyDelete = NEM.nonEmptyMap . NEM.delete upperLeft

-addFound :: FoundStructure -> FoundRegistry -> FoundRegistry
+addFound :: FoundStructure b a -> FoundRegistry b a -> FoundRegistry b a
 addFound fs@(FoundStructure swg loc) (FoundRegistry byName byLoc) =
  FoundRegistry
    (M.insertWith (<>) k (NEM.singleton loc swg) byName)
@ -84,7 +87,7 @@ addFound fs@(FoundStructure swg loc) (FoundRegistry byName byLoc) =
 --
 -- Each of these shall have been re-checked in case
 -- a subsequent placement occludes them.
-populateStaticFoundStructures :: [FoundStructure] -> FoundRegistry
+populateStaticFoundStructures :: [FoundStructure b a] -> FoundRegistry b a
 populateStaticFoundStructures allFound =
  FoundRegistry byName byLocation
 where
--- a/src/swarm-topography/Swarm/Game/Scenario/Topography/Structure/Recognition/Symmetry.hs
+++ b/src/swarm-topography/Swarm/Game/Scenario/Topography/Structure/Recognition/Symmetry.hs
@ -12,8 +12,8 @@ import Data.Set qualified as Set
 import Data.Text qualified as T
 import Swarm.Game.Scenario.Topography.Area (Grid (Grid))
 import Swarm.Game.Scenario.Topography.Placement (Orientation (..), applyOrientationTransform)
-import Swarm.Game.Scenario.Topography.Structure qualified as Structure
 import Swarm.Game.Scenario.Topography.Structure.Recognition.Type (RotationalSymmetry (..), SymmetryAnnotatedGrid (..))
+import Swarm.Game.Scenario.Topography.Structure.Type qualified as Structure
 import Swarm.Language.Syntax.Direction (AbsoluteDir (DSouth, DWest), getCoordinateOrientation)
 import Swarm.Util (commaList, failT, histogram, showT)

--- a/src/swarm-topography/Swarm/Game/Scenario/Topography/Structure/Recognition/Type.hs
+++ b/src/swarm-topography/Swarm/Game/Scenario/Topography/Structure/Recognition/Type.hs
@ -31,14 +31,12 @@ import Data.Semigroup (Max, Min)
 import Data.Set (Set)
 import GHC.Generics (Generic)
 import Linear (V2 (..))
-import Swarm.Game.Entity (Entity, EntityName)
 import Swarm.Game.Location (Location)
 import Swarm.Game.Scenario.Topography.Area
-import Swarm.Game.Scenario.Topography.Cell
 import Swarm.Game.Scenario.Topography.Placement (StructureName)
-import Swarm.Game.Scenario.Topography.Structure (NamedGrid)
+import Swarm.Game.Scenario.Topography.Structure.Type (NamedGrid)
 import Swarm.Game.Universe (Cosmic, offsetBy)
-import Swarm.Language.Syntax (AbsoluteDir)
+import Swarm.Language.Syntax.Direction (AbsoluteDir)
 import Text.AhoCorasick (StateMachine)

 -- | A "needle" consisting of a single cell within
@ -50,7 +48,7 @@ import Text.AhoCorasick (StateMachine)
 -- @
 -- aab
 -- @
-type AtomicKeySymbol = Maybe Entity
+type AtomicKeySymbol a = Maybe a

 -- | A "needle" consisting row of cells within the haystack
 -- (a sequence of rows) to be searched.
@ -61,15 +59,15 @@ type AtomicKeySymbol = Maybe Entity
 -- @
 -- aab
 -- @
-type SymbolSequence = [AtomicKeySymbol]
+type SymbolSequence a = [AtomicKeySymbol a]

 -- | This is returned as a value of the 1-D searcher.
 -- It contains search automatons customized to the 2-D structures
 -- that may possibly contain the row found by the 1-D searcher.
-data StructureSearcher = StructureSearcher
-  { automaton2D :: AutomatonInfo SymbolSequence StructureWithGrid
-  , needleContent :: SymbolSequence
-  , singleRowItems :: NE.NonEmpty SingleRowEntityOccurrences
+data StructureSearcher b en a = StructureSearcher
+  { automaton2D :: AutomatonInfo en (SymbolSequence a) (StructureWithGrid b a)
+  , needleContent :: SymbolSequence a
+  , singleRowItems :: NE.NonEmpty (SingleRowEntityOccurrences b a)
  }

 -- |
@ -83,10 +81,10 @@ data StructureSearcher = StructureSearcher
 -- @
 --
 -- Its '_position' is @2@.
-data PositionWithinRow = PositionWithinRow
+data PositionWithinRow b a = PositionWithinRow
  { _position :: Int32
  -- ^ horizontal index of the entity within the row
-  , structureRow :: StructureRow
+  , structureRow :: StructureRow b a
  }

 -- Represents all of the locations that particular entity
@ -100,10 +98,10 @@ data PositionWithinRow = PositionWithinRow
 -- @
 --
 -- this record will contain two entries in its 'entityOccurrences' field.
-data SingleRowEntityOccurrences = SingleRowEntityOccurrences
-  { myRow :: StructureRow
-  , myEntity :: Entity
-  , entityOccurrences :: NE.NonEmpty PositionWithinRow
+data SingleRowEntityOccurrences b a = SingleRowEntityOccurrences
+  { myRow :: StructureRow b a
+  , myEntity :: a
+  , entityOccurrences :: NE.NonEmpty (PositionWithinRow b a)
  , expandedOffsets :: InspectionOffsets
  }

@ -119,19 +117,25 @@ data SingleRowEntityOccurrences = SingleRowEntityOccurrences
 -- @
 --
 -- it's 'rowIndex' is @2@.
-data StructureRow = StructureRow
-  { wholeStructure :: StructureWithGrid
+--
+-- The two type parameters, `b` and `a`, correspond
+-- to 'Cell' and 'Entity', respectively.
+data StructureRow b a = StructureRow
+  { wholeStructure :: StructureWithGrid b a
  , rowIndex :: Int32
  -- ^ vertical index of the row within the structure
-  , rowContent :: SymbolSequence
+  , rowContent :: SymbolSequence a
  }

 -- | The original definition of a structure, bundled
 -- with its grid of cells having been extracted for convenience.
-data StructureWithGrid = StructureWithGrid
-  { originalDefinition :: NamedGrid (Maybe Cell)
+--
+-- The two type parameters, `b` and `a`, correspond
+-- to 'Cell' and 'Entity', respectively.
+data StructureWithGrid b a = StructureWithGrid
+  { originalDefinition :: NamedGrid (Maybe b)
  , rotatedTo :: AbsoluteDir
-  , entityGrid :: [SymbolSequence]
+  , entityGrid :: [SymbolSequence a]
  }
  deriving (Eq)

@ -151,10 +155,10 @@ data SymmetryAnnotatedGrid a = SymmetryAnnotatedGrid
  deriving (Show)

 -- | Structure definitions with precomputed metadata for consumption by the UI
-data StructureInfo = StructureInfo
-  { annotatedGrid :: SymmetryAnnotatedGrid (Maybe Cell)
-  , entityProcessedGrid :: [SymbolSequence]
-  , entityCounts :: Map Entity Int
+data StructureInfo b a = StructureInfo
+  { annotatedGrid :: SymmetryAnnotatedGrid (Maybe b)
+  , entityProcessedGrid :: [SymbolSequence a]
+  , entityCounts :: Map a Int
  }

 -- | For all of the rows that contain a given entity
@ -187,8 +191,8 @@ instance Semigroup InspectionOffsets where
 -- | Each automaton shall be initialized to recognize
 -- a certain subset of structure rows, that may either
 -- all be within one structure, or span multiple structures.
-data AutomatonInfo k v = AutomatonInfo
-  { _participatingEntities :: Set EntityName
+data AutomatonInfo en k v = AutomatonInfo
+  { _participatingEntities :: Set en
  , _inspectionOffsets :: InspectionOffsets
  , _automaton :: StateMachine k v
  }
@ -198,11 +202,11 @@ makeLenses ''AutomatonInfo

 -- | The complete set of data needed to identify applicable
 -- structures, based on a just-placed entity.
-data RecognizerAutomatons = RecognizerAutomatons
-  { _originalStructureDefinitions :: Map StructureName StructureInfo
+data RecognizerAutomatons b en a = RecognizerAutomatons
+  { _originalStructureDefinitions :: Map StructureName (StructureInfo b a)
  -- ^ all of the structures that shall participate in automatic recognition.
  -- This list is used only by the UI and by the 'Floorplan' command.
-  , _automatonsByEntity :: Map Entity (AutomatonInfo AtomicKeySymbol StructureSearcher)
+  , _automatonsByEntity :: Map a (AutomatonInfo en (AtomicKeySymbol a) (StructureSearcher b en a))
  }
  deriving (Generic)

@ -210,8 +214,11 @@ makeLenses ''RecognizerAutomatons

 -- | Final output of the search process.
 -- These are the elements that are stored in the 'FoundRegistry'.
-data FoundStructure = FoundStructure
-  { structureWithGrid :: StructureWithGrid
+--
+-- The two type parameters, `b` and `a`, correspond
+-- to 'Cell' and 'Entity', respectively.
+data FoundStructure b a = FoundStructure
+  { structureWithGrid :: StructureWithGrid b a
  , upperLeftCorner :: Cosmic Location
  }
  deriving (Eq)
@ -226,7 +233,7 @@ data FoundStructure = FoundStructure
 -- Since the natural order of coordinates increases as described,
 -- we need to invert it with 'Down' so that this ordering is by
 -- increasing preference.
-instance Ord FoundStructure where
+instance (Eq b, Eq a) => Ord (FoundStructure b a) where
  compare = compare `on` (f1 &&& f2)
   where
    f1 = computeArea . getAreaDimensions . entityGrid . structureWithGrid
@ -235,7 +242,7 @@ instance Ord FoundStructure where
 -- | Yields coordinates that are occupied by an entity of a placed structure.
 -- Cells within the rectangular bounds of the structure that are unoccupied
 -- are not included.
-genOccupiedCoords :: FoundStructure -> [Cosmic Location]
+genOccupiedCoords :: FoundStructure b a -> [Cosmic Location]
 genOccupiedCoords (FoundStructure swg loc) =
  concatMap catMaybes . zipWith mkRow [0 ..] $ entityGrid swg
 where
--- a/src/swarm-topography/Swarm/Game/Scenario/Topography/Structure/Type.hs
+++ b/src/swarm-topography/Swarm/Game/Scenario/Topography/Structure/Type.hs
@ -0,0 +1,63 @@
+-- |
+-- SPDX-License-Identifier: BSD-3-Clause
+--
+-- Definitions of "structures" for use within a map
+-- as well as logic for combining them.
+module Swarm.Game.Scenario.Topography.Structure.Type where
+
+import Data.Set (Set)
+import Data.Text (Text)
+import Swarm.Game.Location
+import Swarm.Game.Scenario.Topography.Area
+import Swarm.Game.Scenario.Topography.Navigation.Waypoint
+import Swarm.Game.Scenario.Topography.Placement
+import Swarm.Game.Scenario.Topography.Structure.Overlay
+import Swarm.Language.Syntax.Direction (AbsoluteDir)
+
+data NamedArea a = NamedArea
+  { name :: StructureName
+  , recognize :: Set AbsoluteDir
+  -- ^ whether this structure should be registered for automatic recognition
+  -- and which orientations shall be recognized.
+  -- The supplied direction indicates which cardinal direction the
+  -- original map's "North" has been re-oriented to.
+  -- E.g., 'DWest' represents a rotation of 90 degrees counter-clockwise.
+  , description :: Maybe Text
+  -- ^ will be UI-facing only if this is a recognizable structure
+  , structure :: a
+  }
+  deriving (Eq, Show, Functor)
+
+isRecognizable :: NamedArea a -> Bool
+isRecognizable = not . null . recognize
+
+type NamedGrid c = NamedArea (Grid c)
+
+type NamedStructure c = NamedArea (PStructure c)
+
+data PStructure c = Structure
+  { area :: PositionedGrid c
+  , structures :: [NamedStructure c]
+  -- ^ structure definitions from parents shall be accessible by children
+  , placements :: [Placement]
+  -- ^ earlier placements will be overlaid on top of later placements in the YAML file
+  , waypoints :: [Waypoint]
+  }
+  deriving (Eq, Show)
+
+data Placed c = Placed Placement (NamedStructure c)
+  deriving (Show)
+
+-- | For use in registering recognizable pre-placed structures
+data LocatedStructure = LocatedStructure
+  { placedName :: StructureName
+  , upDirection :: AbsoluteDir
+  , cornerLoc :: Location
+  }
+  deriving (Show)
+
+instance HasLocation LocatedStructure where
+  modifyLoc f (LocatedStructure x y originalLoc) =
+    LocatedStructure x y $ f originalLoc
+
+data MergedStructure c = MergedStructure (PositionedGrid c) [LocatedStructure] [Originated Waypoint]
--- a/src/swarm-topography/Swarm/Game/Universe.hs
+++ b/src/swarm-topography/Swarm/Game/Universe.hs
--- a/src/swarm-tui/Swarm/TUI/Model/Structure.hs
+++ b/src/swarm-tui/Swarm/TUI/Model/Structure.hs
@ -10,12 +10,14 @@ module Swarm.TUI.Model.Structure where
 import Brick.Focus
 import Brick.Widgets.List qualified as BL
 import Control.Lens (makeLenses)
+import Swarm.Game.Entity (Entity)
+import Swarm.Game.Scenario (Cell)
 import Swarm.Game.Scenario.Topography.Structure.Recognition.Type
 import Swarm.TUI.Model.Name
 import Swarm.Util (listEnums)

 data StructureDisplay = StructureDisplay
-  { _structurePanelListWidget :: BL.List Name StructureInfo
+  { _structurePanelListWidget :: BL.List Name (StructureInfo Cell Entity)
  -- ^ required for maintaining the selection/navigation
  -- state among list items
  , _structurePanelFocus :: FocusRing Name
--- a/src/swarm-tui/Swarm/TUI/View/Structure.hs
+++ b/src/swarm-tui/Swarm/TUI/View/Structure.hs
@ -19,14 +19,15 @@ import Data.Map.Strict qualified as M
 import Data.Set qualified as Set
 import Data.Text qualified as T
 import Data.Vector qualified as V
-import Swarm.Game.Entity (entityDisplay)
+import Swarm.Game.Entity (Entity, entityDisplay)
+import Swarm.Game.Scenario (Cell)
 import Swarm.Game.Scenario.Topography.Area
 import Swarm.Game.Scenario.Topography.Placement
-import Swarm.Game.Scenario.Topography.Structure qualified as Structure
 import Swarm.Game.Scenario.Topography.Structure.Recognition (foundStructures)
 import Swarm.Game.Scenario.Topography.Structure.Recognition.Precompute (getEntityGrid)
 import Swarm.Game.Scenario.Topography.Structure.Recognition.Registry (foundByName)
 import Swarm.Game.Scenario.Topography.Structure.Recognition.Type
+import Swarm.Game.Scenario.Topography.Structure.Type qualified as Structure
 import Swarm.Game.State
 import Swarm.Game.State.Substate
 import Swarm.Language.Syntax.Direction (directionJsonModifier)
@ -39,7 +40,7 @@ import Swarm.Util (commaList)

 -- | Render a two-pane widget with structure selection on the left
 -- and single-structure details on the right.
-structureWidget :: GameState -> StructureInfo -> Widget n
+structureWidget :: GameState -> StructureInfo Cell Entity -> Widget n
 structureWidget gs s =
  vBox
    [ hBox
@ -121,7 +122,7 @@ structureWidget gs s =
  cells = getEntityGrid $ Structure.structure d
  renderOneCell = maybe (txt " ") (renderDisplay . view entityDisplay)

-makeListWidget :: [StructureInfo] -> BL.List Name StructureInfo
+makeListWidget :: [StructureInfo Cell Entity] -> BL.List Name (StructureInfo Cell Entity)
 makeListWidget structureDefinitions =
  BL.listMoveTo 0 $ BL.list (StructureWidgets StructuresList) (V.fromList structureDefinitions) 1

@ -163,7 +164,7 @@ renderStructuresDisplay gs structureDisplay =

 drawSidebarListItem ::
  Bool ->
-  StructureInfo ->
+  StructureInfo Cell Entity ->
  Widget Name
 drawSidebarListItem _isSelected (StructureInfo annotated _ _) =
  txt . getStructureName . Structure.name $ namedGrid annotated
--- a/src/swarm-util/Swarm/Language/Syntax/Direction.hs
+++ b/src/swarm-util/Swarm/Language/Syntax/Direction.hs
--- a/src/swarm-web/Swarm/Web.hs
+++ b/src/swarm-web/Swarm/Web.hs
@ -64,6 +64,7 @@ import Servant.Docs (ToCapture)
 import Servant.Docs qualified as SD
 import Servant.Docs.Internal qualified as SD (renderCurlBasePath)
 import Swarm.Doc.Command
+import Swarm.Game.Entity (EntityName)
 import Swarm.Game.Robot
 import Swarm.Game.Scenario.Objective
 import Swarm.Game.Scenario.Objective.Graph
@ -104,7 +105,7 @@ type SwarmAPI =
    :<|> "goals" :> "graph" :> Get '[JSON] (Maybe GraphInfo)
    :<|> "goals" :> "uigoal" :> Get '[JSON] GoalTracking
    :<|> "goals" :> Get '[JSON] WinCondition
-    :<|> "recognize" :> "log" :> Get '[JSON] [SearchLog]
+    :<|> "recognize" :> "log" :> Get '[JSON] [SearchLog EntityName]
    :<|> "recognize" :> "found" :> Get '[JSON] [StructureLocation]
    :<|> "code" :> "render" :> ReqBody '[PlainText] T.Text :> Post '[PlainText] T.Text
    :<|> "code" :> "run" :> ReqBody '[PlainText] T.Text :> Post '[PlainText] T.Text
@ -210,7 +211,7 @@ goalsHandler appStateRef = do
  appState <- liftIO (readIORef appStateRef)
  return $ appState ^. gameState . winCondition

-recogLogHandler :: ReadableIORef AppState -> Handler [SearchLog]
+recogLogHandler :: ReadableIORef AppState -> Handler [SearchLog EntityName]
 recogLogHandler appStateRef = do
  appState <- liftIO (readIORef appStateRef)
  return $ appState ^. gameState . discovery . structureRecognition . recognitionLog
--- a/swarm.cabal
+++ b/swarm.cabal
@ -152,7 +152,6 @@ library swarm-lang
    Swarm.Language.Syntax.CommandMetadata
    Swarm.Language.Syntax.Comments
    Swarm.Language.Syntax.Constants
-    Swarm.Language.Syntax.Direction
    Swarm.Language.Syntax.Loc
    Swarm.Language.Syntax.Pattern
    Swarm.Language.Syntax.Util
@ -201,6 +200,50 @@ library swarm-lang
    -- See discussion in #415
    StrictData

+library swarm-topography
+  import: stan-config, common, ghc2021-extensions
+  visibility: public
+  -- cabal-gild: discover src/swarm-topography
+  exposed-modules:
+    Swarm.Game.Location
+    Swarm.Game.Scenario.Topography.Area
+    Swarm.Game.Scenario.Topography.Navigation.Waypoint
+    Swarm.Game.Scenario.Topography.Placement
+    Swarm.Game.Scenario.Topography.Structure.Assembly
+    Swarm.Game.Scenario.Topography.Structure.Overlay
+    Swarm.Game.Scenario.Topography.Structure.Recognition
+    Swarm.Game.Scenario.Topography.Structure.Recognition.Log
+    Swarm.Game.Scenario.Topography.Structure.Recognition.Registry
+    Swarm.Game.Scenario.Topography.Structure.Recognition.Symmetry
+    Swarm.Game.Scenario.Topography.Structure.Recognition.Type
+    Swarm.Game.Scenario.Topography.Structure.Type
+    Swarm.Game.Universe
+
+  other-modules: Paths_swarm
+  autogen-modules: Paths_swarm
+  build-depends:
+    AhoCorasick >=0.0.4 && <0.0.5,
+    aeson >=2.2 && <2.3,
+    base >=4.14 && <4.20,
+    containers >=0.6.2 && <0.8,
+    extra >=1.7 && <1.8,
+    lens,
+    linear >=1.21.6 && <1.24,
+    nonempty-containers >=0.3.4 && <0.3.5,
+    servant-docs >=0.12 && <0.14,
+    text >=1.2.4 && <2.2,
+    yaml >=0.11 && <0.11.12.0,
+
+  build-depends:
+    swarm:swarm-util
+
+  hs-source-dirs: src/swarm-topography
+  default-language: Haskell2010
+  default-extensions:
+    -- Avoid unexpected unevaluated thunk buildup
+    -- See discussion in #415
+    StrictData
+
 library swarm-scenario
  import: stan-config, common, ghc2021-extensions
  visibility: public
@ -216,7 +259,6 @@ library swarm-scenario
    Swarm.Game.Failure
    Swarm.Game.Ingredients
    Swarm.Game.Land
-    Swarm.Game.Location
    Swarm.Game.Recipe
    Swarm.Game.ResourceLoading
    Swarm.Game.Robot
@ -228,28 +270,17 @@ library swarm-scenario
    Swarm.Game.Scenario.Objective.Validation
    Swarm.Game.Scenario.RobotLookup
    Swarm.Game.Scenario.Style
-    Swarm.Game.Scenario.Topography.Area
    Swarm.Game.Scenario.Topography.Cell
    Swarm.Game.Scenario.Topography.Center
    Swarm.Game.Scenario.Topography.EntityFacade
    Swarm.Game.Scenario.Topography.Navigation.Portal
-    Swarm.Game.Scenario.Topography.Navigation.Waypoint
-    Swarm.Game.Scenario.Topography.Placement
    Swarm.Game.Scenario.Topography.Structure
-    Swarm.Game.Scenario.Topography.Structure.Assembly
-    Swarm.Game.Scenario.Topography.Structure.Overlay
-    Swarm.Game.Scenario.Topography.Structure.Recognition
-    Swarm.Game.Scenario.Topography.Structure.Recognition.Log
    Swarm.Game.Scenario.Topography.Structure.Recognition.Precompute
-    Swarm.Game.Scenario.Topography.Structure.Recognition.Registry
-    Swarm.Game.Scenario.Topography.Structure.Recognition.Symmetry
-    Swarm.Game.Scenario.Topography.Structure.Recognition.Type
    Swarm.Game.Scenario.Topography.WorldDescription
    Swarm.Game.Scenario.Topography.WorldPalette
    Swarm.Game.State.Config
    Swarm.Game.State.Landscape
    Swarm.Game.Terrain
-    Swarm.Game.Universe
    Swarm.Game.World
    Swarm.Game.World.Abstract
    Swarm.Game.World.Compile
@ -289,7 +320,6 @@ library swarm-scenario
    linear >=1.21.6 && <1.24,
    megaparsec >=9.6.1 && <9.7,
    murmur3 >=1.0.4 && <1.1,
-    nonempty-containers >=0.3.4 && <0.3.5,
    palette >=0.3 && <0.4,
    parser-combinators >=1.2 && <1.4,
    prettyprinter >=1.7.0 && <1.8,
@ -305,6 +335,7 @@ library swarm-scenario

  build-depends:
    swarm:swarm-lang,
+    swarm:swarm-topography,
    swarm:swarm-util,

  hs-source-dirs: src/swarm-scenario
@ -405,6 +436,7 @@ library swarm-engine
  build-depends:
    swarm:swarm-lang,
    swarm:swarm-scenario,
+    swarm:swarm-topography,
    swarm:swarm-util,

  hs-source-dirs: src/swarm-engine
@ -449,6 +481,7 @@ library swarm-web
    swarm:swarm-engine,
    swarm:swarm-lang,
    swarm:swarm-scenario,
+    swarm:swarm-topography,
    swarm:swarm-tui,
    swarm:swarm-util,

@ -520,6 +553,7 @@ library swarm-util
  exposed-modules:
    Control.Carrier.Accum.FixedStrict
    Data.BoolExpr.Simplify
+    Swarm.Language.Syntax.Direction
    Swarm.Util
    Swarm.Util.Effect
    Swarm.Util.Erasable
@ -545,6 +579,7 @@ library swarm-util
    extra >=1.7 && <1.8,
    filepath >=1.4 && <1.5,
    fused-effects >=1.1.1.1 && <1.2,
+    hashable >=1.3.4 && <1.5,
    lens >=4.19 && <5.4,
    minimorph >=0.3 && <0.4,
    mtl >=2.2.2 && <2.4,
@ -699,6 +734,7 @@ library swarm-tui
    swarm:swarm-engine,
    swarm:swarm-lang,
    swarm:swarm-scenario,
+    swarm:swarm-topography,
    swarm:swarm-util,

  hs-source-dirs: src/swarm-tui
@ -745,7 +781,10 @@ executable swarm-scene
  build-depends:
    base,
    optparse-applicative >=0.16 && <0.19,
+
+  build-depends:
    swarm:swarm-scenario,
+    swarm:swarm-topography,

  hs-source-dirs: app/scene
  default-language: Haskell2010
@ -836,6 +875,7 @@ test-suite swarm-unit
    swarm:swarm-engine,
    swarm:swarm-lang,
    swarm:swarm-scenario,
+    swarm:swarm-topography,
    swarm:swarm-tui,
    swarm:swarm-util,

@ -907,12 +947,15 @@ benchmark benchmark
    extra,
    lens,
    mtl,
+    tasty-bench >=0.3.1 && <0.4,
+    text,
+
+  build-depends:
    swarm:swarm-engine,
    swarm:swarm-lang,
    swarm:swarm-scenario,
+    swarm:swarm-topography,
    swarm:swarm-util,
-    tasty-bench >=0.3.1 && <0.4,
-    text,

  default-language: Haskell2010
  ghc-options:
--- a/test/unit/TestCommand.hs
+++ b/test/unit/TestCommand.hs
@ -12,7 +12,7 @@ import Data.Text (Text)
 import Graphics.Vty.Input.Events qualified as V
 import Swarm.Game.Location
 import Swarm.Language.Key
-import Swarm.Language.Syntax
+import Swarm.Language.Syntax.Direction
 import Test.QuickCheck qualified as QC
 import Test.Tasty
 import Test.Tasty.HUnit