waypoints and portals (#1356)

data/scenarios/Testing/00-ORDER.txt

@@ -36,4 +36,5 @@
 1234-push-command.yaml
 1256-halt-command.yaml
 1295-density-command.yaml
-1138-structures
+1138-structures
+1356-portals

data/scenarios/Testing/1356-portals/00-ORDER.txt

@@ -0,0 +1,3 @@
+automatic-waypoint-patrol.yaml
+portals-and-waypoints.yaml
+portals-flip-and-rotate.yaml

data/scenarios/Testing/1356-portals/_automatic-waypoint-patrol/program.sw

@@ -0,0 +1,49 @@
+def doN = \n. \f. if (n > 0) {f; doN (n - 1) f} {}; end;
+def abs = \n. if (n < 0) {-n} {n} end;
+
+def mapTuple = \f. \t.
+    (f $ fst t, f $ snd t)
+    end;
+
+def sumTuples = \t1. \t2.
+    (fst t1 + fst t2, snd t1 + snd t2);
+    end;
+
+def negateTuple = \t.
+    mapTuple (\x. -x) t;
+    end;
+
+def getRelativeLocation = \absCurrentLoc. \absDestLoc.
+    let negatedLoc = negateTuple absCurrentLoc in
+    return $ sumTuples negatedLoc absDestLoc;
+    end;
+
+def moveTuple = \tup.
+    let x = fst tup in
+    let y = snd tup in
+    turn $ if (x > 0) {east} {west};
+    doN (abs x) move;
+    turn $ if (y > 0) {north} {south};
+    doN (abs y) move;
+    end;
+
+def goToLocation = \currentLoc. \absoluteDestination.
+    relativeDestination <- getRelativeLocation currentLoc absoluteDestination;
+    moveTuple relativeDestination;
+    end;
+
+def visitNextWaypoint = \nextWpIdx.
+    loc <- whereami;
+    nextWaypointQuery <- waypoint "wp" nextWpIdx;
+    goToLocation loc $ snd nextWaypointQuery;
+
+    visitNextWaypoint $ nextWpIdx + 1;
+    end;
+
+def go =
+    waypointQuery <- waypoint "wp" 0;
+    teleport self $ snd waypointQuery;
+    visitNextWaypoint 1;
+    end;
+
+go;

data/scenarios/Testing/1356-portals/_portals-flip-and-rotate/solution.sw

@@ -0,0 +1,61 @@
+def doN = \n. \f. if (n > 0) {f; doN (n - 1) f} {}; end;
+
+def abs = \n. if (n < 0) {-n} {n} end;
+
+def mapTuple = \f. \t.
+    (f $ fst t, f $ snd t)
+    end;
+
+def sumTuples = \t1. \t2.
+    (fst t1 + fst t2, snd t1 + snd t2);
+    end;
+
+def negateTuple = \t.
+    mapTuple (\x. -x) t;
+    end;
+
+def getRelativeLocation = \absCurrentLoc. \absDestLoc.
+    let negatedLoc = negateTuple absCurrentLoc in
+    return $ sumTuples negatedLoc absDestLoc;
+    end;
+
+def moveTuple = \tup.
+    let x = fst tup in
+    let y = snd tup in
+    turn $ if (x > 0) {east} {west};
+    doN (abs x) move;
+    turn $ if (y > 0) {north} {south};
+    doN (abs y) move;
+    end;
+
+def goToLocation = \currentLoc. \absoluteDestination.
+    relativeDestination <- getRelativeLocation currentLoc absoluteDestination;
+    moveTuple relativeDestination;
+    end;
+
+def goToBottom =
+    turn south; doN 14 move;
+    end;
+
+def go =
+    goToLocation (0, 0) (3, -2);
+    goToLocation (0, 0) (12, -2);
+    goToLocation (0, 0) (18, -5);
+    goToLocation (0, 0) (23, -3);
+
+    goToBottom;
+    goToLocation (0, -14) (3, -12);
+    goToBottom;
+    goToLocation (0, -14) (9, -9);
+    goToBottom;
+    goToLocation (0, -14) (18, -9);
+    goToBottom;
+    goToLocation (0, -14) (26, -10);
+
+    turn east;
+    doN 29 move;
+    goToBottom;
+    grab;
+    end;
+
+go;

data/scenarios/Testing/1356-portals/automatic-waypoint-patrol.yaml

@@ -0,0 +1,73 @@
+version: 1
+name: Querying waypoints
+description: |
+  Demonstrate patrolling between waypoints
+creative: true
+robots:
+  - name: base
+    loc: [0, 0]
+    dir: [1, 0]
+  - name: patroller
+    loc: [5, -4]
+    dir: [1, 0]
+    display:
+      invisible: false
+      attr: robot    
+    program: |
+      run "scenarios/Testing/1356-portals/_automatic-waypoint-patrol/program.sw"
+known: [flower, boulder]
+world:
+  upperleft: [-1, 1]
+  default: [blank]
+  palette:
+    '.': [grass]
+    '*': [stone, flower]
+    '┌': [stone, upper left corner]
+    '┐': [stone, upper right corner]
+    '└': [stone, lower left corner]
+    '┘': [stone, lower right corner]
+    '─': [stone, horizontal wall]
+    '│': [stone, vertical wall]
+  structures:
+    - name: bigbox
+      structure:
+        palette:
+          '.': [dirt]
+          '@': [dirt, boulder]
+          'w':
+            cell: [dirt]
+            waypoint:
+              name: wp
+        map: |
+          @@@
+          @w.
+          @.@
+  placements:
+    - src: bigbox
+      offset: [2, -2]
+      orient:
+        up: "DNorth"
+    - src: bigbox
+      offset: [8, -2]
+      orient:
+        up: "DEast"
+    - src: bigbox
+      offset: [8, -6]
+      orient:
+        up: "DSouth"
+    - src: bigbox
+      offset: [2, -6]
+      orient:
+        up: "DWest"
+  map: |
+    ┌───────────┐
+    │*..*..*..*.│
+    │.*..*..*..*│
+    │..*..*..*..│
+    │*..*..*..*.│
+    │.*..*..*..*│
+    │..*..*..*..│
+    │*..*..*..*.│
+    │.*..*..*..*│
+    │..*..*..*..│
+    └───────────┘

data/scenarios/Testing/1356-portals/portals-and-waypoints.yaml

@@ -0,0 +1,115 @@
+version: 1
+name: Waypoints for nested structures
+description: |
+  Demonstrate behavior of waypoints across structure overlays
+creative: true
+attrs:
+  - name: portal_in
+    fg: "#ff9a00"
+    bg: "#ff5d00"
+  - name: portal_out
+    fg: "#00a2ff"
+    bg: "#0065ff"
+entities:
+  - name: telepad entrance
+    display:
+      attr: portal_in
+      char: "o"
+    description:
+    - Portal entrance
+    properties: [known]
+  - name: telepad exit
+    display:
+      attr: portal_out
+      char: "o"
+    description:
+    - Portal exit
+    properties: [known]
+robots:
+  - name: base
+    loc: [0, 4]
+    dir: [1, 0]
+known: [tree, flower, sand, bit (0), bit (1)]
+world:
+  upperleft: [-4, 7]
+  default: [blank]
+  palette:
+    '.': [grass]
+    '*': [stone, flower]
+    'P': [grass, telepad entrance]
+    'p': [grass, telepad exit]
+    '┌': [stone, upper left corner]
+    '┐': [stone, upper right corner]
+    '└': [stone, lower left corner]
+    '┘': [stone, lower right corner]
+    '─': [stone, horizontal wall]
+    '│': [stone, vertical wall]
+  structures:
+    - name: bitpair
+      structure:
+        palette:
+          'p': [stone, telepad exit]
+          '1': [stone, bit (1)]
+        map: |
+          1
+          p
+        waypoints:
+          - name: bitpair_bottom
+            loc: [0, -1]
+    - name: minibox
+      structure:
+        palette:
+          '.': [stone]
+          's': [stone, sand]
+          'P': [stone, telepad entrance]
+        placements:
+          - src: bitpair
+            offset: [1, 0]
+        waypoints:
+          - name: minibox_corner
+            loc: [0, 0]
+        map: |
+          P.s
+          s.s
+    - name: bigbox
+      structure:
+        palette:
+          '.': [stone]
+          'T': [stone, tree]
+          'w':
+            cell: [dirt, telepad entrance]
+            waypoint:
+              name: bigbox_middle
+        map: |
+          TTTTTT
+          T.TwT.
+          .T.T.T
+          TTTTTT
+  placements:
+    - src: bigbox
+      offset: [1, -1]
+    - src: bigbox
+      offset: [7, -5]
+    - src: minibox
+      offset: [1, -7]
+  waypoints:
+    - name: meadow
+      loc: [12, -1]
+  portals:
+    - entrance: bigbox_middle
+      exitInfo:
+        exit: bitpair_bottom
+    - entrance: minibox_corner
+      exitInfo:
+        exit: meadow
+  map: |
+    ┌────────────┐
+    │*..*..*..*.p│
+    │.*..*..*..*.│
+    │..*..*..*..*│
+    │*..*..*..*..│
+    │.*..*..*..*.│
+    │..*..*..*..*│
+    │*..*..*..*..│
+    │.*..*..*..*.│
+    └────────────┘