swarm/example/BFS-clear.sw
2022-09-26 20:10:12 +00:00

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// Quickly harvesting an entire forest in parallel using breadth-first
// search, with robots spawning more robots. Fun, though not very practical
// in classic mode.
def repeat : int -> cmd unit -> cmd unit = \n.\c.
if (n == 0)
{}
{c ; repeat (n-1) c}
end;
def while : cmd bool -> cmd unit -> cmd unit = \test.\c.
b <- test;
if b {c ; while test c} {}
end;
def getX : cmd int =
pos <- whereami;
return (fst pos);
end;
def getY : cmd int =
pos <- whereami;
return (snd pos);
end;
def gotoX : int -> cmd unit = \tgt.
cur <- getX;
if (cur == tgt)
{}
{if (cur < tgt)
{turn east}
{turn west};
try {move} {turn south; move};
gotoX tgt
}
end;
def gotoY : int -> cmd unit = \tgt.
cur <- getY;
if (cur == tgt)
{}
{if (cur < tgt)
{turn north}
{turn south};
try {move} {turn east; move};
gotoY tgt
}
end;
def goto : int -> int -> cmd unit = \x. \y. gotoX x; gotoY y; gotoX x; gotoY y end;
def spawnfwd : {cmd unit} -> cmd unit = \c.
try {
move;
b <- isHere "tree";
if b
{ build c; return () }
{};
turn back;
move
} { turn back }
end;
def clear : cmd unit =
grab;
repeat 4 (
spawnfwd {clear};
turn left
);
goto 0 0;
give base "tree";
selfdestruct;
end;
def start : cmd robot = build {turn west; repeat 7 move; clear} end