710-multi-robot.yaml

version: 1
name: Multiple robots in palette
description: |
  Using multiple robots in palette to open new rooms.
  See the lowright/upright robots in the second room.
  https://github.com/swarm-game/swarm/issues/710
objectives:
  - goal:
      - Move to the end of the room.
    condition: |
      r <- robotNamed "check1";
      as r {has "Win"}
  - goal:
      - Move to the end of the second room.
    condition: |
      r <- robotNamed "check2";
      as r {has "Win"}
  - goal:
      - Move to the end of the third room.
    condition: |
      r <- robotNamed "check3";
      as r {has "Win"}
solution: |
  move;move;move; move;move;move; move;move;move;
world:
  palette:
    '.': [blank]
    # FIRST ROOM
    '┌': [blank, upper left corner]
    '└': [blank, lower left corner]
    '─': [blank, horizontal wall]
    '│': [blank, vertical wall]
    '┐': [blank, upper right corner, upright0]
    '┘': [blank, lower right corner, lowright0]
    # SECOND ROOM
    '1': [blank, vertical wall, gate1]
    '-': [blank, "1", horizon]
    'u': [blank, "1", upright, upright1]
    'l': [blank, "1", lowright, lowright1]
    '2': [blank, "1", vertice, gate2]
    # THIRD ROOM
    '~': [blank, "2", horizon]
    '/': [blank, "2", vertice]
    'U': [blank, "2", upright]
    'L': [blank, "2", lowright]
  upperleft: [-1, 1]
  map: |
    ┌────┐--u~~U
    │....1..2../
    └────┘--l~~L

robots:
  - name: base
    dir: [1,0]
    loc: [0,0]
    devices:
      - treads
      - logger
  - name: check1
    dir: [0,0]
    loc: [3,0]
    system: true
    display:
      invisible: true
    program: |
      def until = \c. b <- c; if b {} {until c} end;
      l <- whereami;
      until (
        try {
          loc <- as base {whereami};
          return (loc == l)
        } { return false }
      );
      create "Win"
  - name: check2
    dir: [0,0]
    loc: [6,0]
    system: true
    display:
      invisible: true
    program: |
      def until = \c. b <- c; if b {} {until c} end;
      l <- whereami;
      until (
        try {
          loc <- as base {whereami};
          return (loc == l)
        } { return false }
      );
      create "Win"
  - name: check3
    dir: [0,0]
    loc: [9,0]
    system: true
    display:
      invisible: true
    program: |
      def until = \c. b <- c; if b {} {until c} end;
      l <- whereami;
      until (
        try {
          loc <- as base {whereami};
          return (loc == l)
        } { return false }
      );
      create "Win"
  - name: horizon
    dir: [0,0]
    system: true
    display:
      invisible: true
    inventory: [[1,horizontal wall]]
    program: |
      def until = \c. b <- c; if b {} {until c} end;
      n <- (s <- scan down; case s (\_. fail "Fatal error: missing room number!") return);
      c1 <- robotNamed ("check" ++ n);
      until (as c1 {has "Win"});
      swap "horizontal wall"
  - name: vertice
    dir: [0,0]
    system: true
    display:
      invisible: true
    inventory: [[1,vertical wall]]
    program: |
      def until = \c. b <- c; if b {} {until c} end;
      n <- (s <- scan down; case s (\_. fail "Fatal error: missing room number!") return);
      c1 <- robotNamed ("check" ++ n);
      until (as c1 {has "Win"});
      swap "vertical wall"
  - name: upright
    dir: [0,0]
    system: true
    display:
      invisible: true
    inventory: [[1,upper right corner]]
    program: |
      def until = \c. b <- c; if b {} {until c} end;
      n <- (s <- scan down; case s (\_. fail "Fatal error: missing room number!") return);
      c1 <- robotNamed ("check" ++ n);
      until (as c1 {has "Win"});
      swap "upper right corner"
  - name: lowright
    dir: [0,0]
    system: true
    display:
      invisible: true
    inventory: [[1,lower right corner]]
    program: |
      def until = \c. b <- c; if b {} {until c} end;
      n <- (s <- scan down; case s (\_. fail "Fatal error: missing room number!") return);
      c1 <- robotNamed ("check" ++ n);
      until (as c1 {has "Win"});
      swap "lower right corner"
  - name: upleft
    dir: [0,0]
    system: true
    display:
      invisible: true
    inventory: [[1,upper left corner]]
    program: |
      def until = \c. b <- c; if b {} {until c} end;
      n <- (s <- scan down; case s (\_. fail "Fatal error: missing room number!") return);
      c1 <- robotNamed ("check" ++ n);
      until (as c1 {has "Win"});
      swap "upper left corner"
  - name: upright0
    dir: [0,0]
    system: true
    display:
      invisible: true
    inventory: [[1,down and horizontal wall]]
    program: |
      def until = \c. b <- c; if b {} {until c} end;
      c1 <- robotNamed "check1";
      until (as c1 {has "Win"});
      swap "down and horizontal wall"
  - name: lowright0
    dir: [0,0]
    system: true
    display:
      invisible: true
    inventory: [[1,up and horizontal wall]]
    program: |
      def until = \c. b <- c; if b {} {until c} end;
      c1 <- robotNamed "check1";
      until (as c1 {has "Win"});
      swap "up and horizontal wall"
  - name: upright1
    dir: [0,0]
    system: true
    display:
      invisible: true
    inventory: [[1,down and horizontal wall]]
    program: |
      def until = \c. b <- c; if b {} {until c} end;
      c1 <- robotNamed "check2";
      until (as c1 {has "Win"});
      swap "down and horizontal wall"
  - name: lowright1
    dir: [0,0]
    system: true
    display:
      invisible: true
    inventory: [[1,up and horizontal wall]]
    program: |
      def until = \c. b <- c; if b {} {until c} end;
      c1 <- robotNamed "check2";
      until (as c1 {has "Win"});
      swap "up and horizontal wall"
  - name: gate1
    dir: [0,0]
    system: true
    display:
      invisible: true
    program: |
      def until = \c. b <- c; if b {} {until c} end;
      c1 <- robotNamed "check1";
      until (as c1 {has "Win"});
      grab
  - name: gate2
    dir: [0,0]
    system: true
    display:
      invisible: true
    program: |
      def until = \c. b <- c; if b {} {until c} end;
      c1 <- robotNamed "check2";
      until (as c1 {has "Win"});
      grab
entities:
  - name: Win
    display:
      char: W
      attr: gold
    description:
      - This entity signals that the objective has been met.
  - name: "1"
    display:
      char: W
      invisible: true
    description:
      - This entity is used to mean that the robot should check the 1st objective.
  - name: "2"
    display:
      char: W
      invisible: true
    description:
      - This entity is used to mean that the robot should check the 2nd objective.