react immediately to wakeups

data/scenarios/Challenges/Sokoban/_foresight/solution.sw

@@ -139,7 +139,7 @@ def firstLeg =
     pushUntilBarrier;
 
     wait 4;
-    move;
+    moveUntilBlocked;
     doN 5 (turn left; moveUntilBlocked);
 
     turn right;

data/scenarios/Challenges/_combo-lock/solution.sw

@@ -4,7 +4,6 @@ def moveToLock =
     end;
 
 def cycleCombos = \n.
-    wait 1;
     entityNorth <- scan north;
     let hasGate = case entityNorth (\_. false) (\x. x == "gate") in
     if hasGate {

data/scenarios/Testing/00-ORDER.txt

@@ -46,6 +46,8 @@ Achievements
 1341-command-count.yaml
 1355-combustion.yaml
 1379-single-world-portal-reorientation.yaml
+1322-wait-with-instant.yaml
+1598-detect-entity-change.yaml
 1399-backup-command.yaml
 1430-built-robot-ownership.yaml
 1536-custom-unwalkable-entities.yaml

data/scenarios/Testing/1322-wait-with-instant.yaml

@@ -0,0 +1,72 @@
+version: 1
+name: Using wait with instant
+author: Karl Ostmo
+description: |
+  Observe timing of (instant $ wait 1)
+  interspersed with other commands
+creative: false
+seed: 0
+objectives:
+  - goal:
+      - |
+        Hare must win by three cells
+    condition: |
+      h <- robotnamed "hare";
+      hareloc <- as h {whereami};
+
+      t <- robotnamed "tortoise";
+      tortoiseloc <- as t {whereami};
+
+      let xDiff = fst hareloc - fst tortoiseloc in
+
+      return $ fst hareloc == 0 && xDiff == 3;
+solution: |
+  noop;
+robots:
+  - name: base
+    dir: [1, 0]
+    display:
+      invisible: true
+    devices:
+      - hourglass
+      - logger
+  - name: tortoise
+    system: true
+    display:
+      invisible: false
+      attr: green
+    dir: [1, 0]
+    program: |
+      move; move;
+      move; move;
+      move; move;
+  - name: hare
+    system: true
+    display:
+      invisible: false
+      attr: snow
+    dir: [1, 0]
+    program: |
+      instant (
+        move; move;
+        wait 1;
+        move; move;
+        wait 1;
+        move; move;
+      );
+world:
+  dsl: |
+    {blank}
+  upperleft: [-6, 2]
+  offset: false
+  palette:
+    '.': [grass, erase]
+    'd': [dirt, erase]
+    'B': [grass, erase, base]
+    'T': [grass, erase, tortoise]
+    'H': [grass, erase, hare]
+  map: |
+    B.....d.
+    T.....d.
+    H.....d.
+    ......d.

data/scenarios/Testing/1598-detect-entity-change.yaml

@@ -0,0 +1,94 @@
+version: 1
+name: Entity change detection
+author: Karl Ostmo
+description: |
+  Ensure that a change to an entity can be observed
+  by a system robot within a single tick.
+
+  In this scenario, the base will first `swap` the
+  existing `dial (R)`{=entity} with a `dial (G)`{=entity},
+  then immediately `swap` again with a `dial (B)`{=entity}.
+
+  The system robot should be able to detect the presence
+  of the `dial (G)`{=entity} before it is `swap`ped a second time.
+creative: false
+seed: 0
+objectives:
+  - goal:
+      - |
+        Turn the light green
+    condition: |
+      as base {has "flower"};
+    prerequisite:
+      not: blue_light
+  - id: blue_light
+    teaser: No blue light
+    optional: true
+    goal:
+      - |
+        Turn the light blue
+    condition: |
+      r <- robotnamed "lockbot";
+      as r {ishere "dial (B)"};
+robots:
+  - name: base
+    dir: [1, 0]
+    display:
+      invisible: true
+    devices:
+      - hourglass
+      - fast grabber
+      - logger
+      - treads
+    inventory:
+      - [1, "dial (R)"]
+      - [1, "dial (G)"]
+      - [1, "dial (B)"]
+  - name: lockbot
+    system: true
+    display:
+      invisible: true
+    dir: [1, 0]
+    program: |
+      run "scenarios/Testing/_1598-detect-entity-change/setup.sw"
+    inventory:
+      - [1, flower]
+solution: |
+  wait 2;
+  move;
+  move;
+  swap "dial (G)";
+  swap "dial (B)";
+entities:
+  - name: "dial (R)"
+    display:
+      char: '•'
+      attr: red
+    description:
+      - A red dial
+    properties: [known, pickable]
+  - name: "dial (G)"
+    display:
+      char: '•'
+      attr: green
+    description:
+      - A green dial
+    properties: [known, pickable]
+  - name: "dial (B)"
+    display:
+      char: '•'
+      attr: blue
+    description:
+      - A blue dial
+    properties: [known, pickable]
+world:
+  dsl: |
+    {blank}
+  upperleft: [-1, -1]
+  offset: false
+  palette:
+    '.': [grass, erase]
+    'B': [grass, erase, base]
+    'c': [grass, dial (R), lockbot]
+  map: |
+    B.c

data/scenarios/Testing/_1598-detect-entity-change/setup.sw

@@ -0,0 +1,17 @@
+def doUntilCorrect =
+    herenow <- ishere "dial (G)";
+    if herenow {
+        give base "flower";
+    } {
+        watch down;
+        wait 1000;
+        doUntilCorrect;
+    }
+    end;
+
+def go =
+    instant $
+        doUntilCorrect;
+    end;
+
+go;

scripts/benchmark-against-ancestor.sh

@@ -0,0 +1,25 @@
+#!/bin/bash -xe
+
+# Requires that the working tree be clean.
+
+REFERENCE_COMMIT=${1:-HEAD~}
+
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+cd $SCRIPT_DIR/..
+
+if git diff --quiet --exit-code
+then
+   echo "Working tree is clean. Starting benchmarks..."
+else
+   echo "Working tree is dirty! Quitting."
+   exit 1
+fi
+
+BASELINE_OUTPUT=baseline.csv
+
+git checkout $REFERENCE_COMMIT
+
+scripts/run-benchmarks.sh "--csv $BASELINE_OUTPUT"
+
+git switch -
+scripts/run-benchmarks.sh "--baseline $BASELINE_OUTPUT --fail-if-slower 3"

scripts/benchmark-against-parent.sh

@@ -1,23 +1,6 @@
 #!/bin/bash -xe
 
-# Requires that the working tree be clean.
-
 SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
 cd $SCRIPT_DIR/..
 
-if git diff --quiet --exit-code
-then
-   echo "Working tree is clean. Starting benchmarks..."
-else
-   echo "Working tree is dirty! Quitting."
-   exit 1
-fi
-
-BASELINE_OUTPUT=baseline.csv
-
-git checkout HEAD~
-
-scripts/run-benchmarks.sh "--csv $BASELINE_OUTPUT"
-
-git switch -
-scripts/run-benchmarks.sh "--baseline $BASELINE_OUTPUT --fail-if-slower 3"
+scripts/benchmark-against-ancestor.sh HEAD~