836-automatic-waypoint-navigation.yaml

version: 1
name: Automatic navigation between waypoints
description: |
  Demonstrate shortest-path patrolling between waypoints
creative: false
solution: |
  run "scenarios/Testing/836-pathfinding/_836-automatic-waypoint-navigation/patrol.sw"
objectives:
  - goal:
      - Collect 64 eggs
    condition: |
      as base {
        eggCount <- count "egg";
        return $ eggCount >= 64;
      };
attrs:
  - name: easter_egg
    fg: "#ffff88"
    bg: "#eebbff"
entities:
  - name: wayfinder
    display:
      char: 'w'
    description:
      - Enables `path` command
    properties: [known, pickable]
    capabilities: [path]
  - name: atlas
    display:
      char: 'a'
    description:
      - Enables `waypoint` command
    properties: [known, pickable]
    capabilities: [waypoint]
  - name: kudzu
    display:
      char: 'k'
      attr: plant
    description:
      - Dense, impassable plant.
    properties: [known, unwalkable, growable]
    growth: [30, 50]
  - name: egg
    display:
      char: 'o'
      attr: easter_egg
    description:
      - A colorful egg laid by the rabbit
    properties: [known, pickable]
    growth: [5, 10]
robots:
  - name: base
    loc: [0, 0]
    dir: east
    devices:
      - ADT calculator
      - atlas
      - branch predictor
      - comparator
      - compass
      - dictionary
      - grabber
      - logger
      - net
      - scanner
      - treads
      - wayfinder
  - name: gardener
    description: Periodically chops down the kudzu plant
    dir: east
    system: true
    devices:
      - ADT calculator
      - branch predictor
      - comparator
      - compass
      - dictionary
      - harvester
      - treads
      - logger
    display:
      invisible: true
    program: |
      run "scenarios/Testing/836-pathfinding/_836-automatic-waypoint-navigation/gardener.sw"
  - name: rabbit
    dir: east
    loc: [2, -2]
    system: true
    devices:
      - treads
      - logger
    inventory:
      - [64, egg]
    display:
      invisible: false
      attr: snow
      char: R
    program: |
      run "scenarios/Testing/836-pathfinding/_836-automatic-waypoint-navigation/rabbit.sw"
known: [flower, boulder, kudzu]
world:
  upperleft: [-1, 1]
  palette:
    '.': [grass]
    'k': [stone, kudzu, gardener]
    '┌': [stone, upper left corner]
    '┐': [stone, upper right corner]
    '└': [stone, lower left corner]
    '┘': [stone, lower right corner]
    '─': [stone, horizontal wall]
    '│': [stone, vertical wall]
  structures:
    - name: cornerbox
      structure:
        palette:
          '.': [dirt]
          '@': [dirt, boulder]
          'w':
            cell: [dirt]
            waypoint:
              name: wp
        map: |
          @@@
          @w.
          @.@
  placements:
    - src: cornerbox
      offset: [2, -2]
      orient:
        up: north
    - src: cornerbox
      offset: [8, -2]
      orient:
        up: east
    - src: cornerbox
      offset: [8, -6]
      orient:
        up: south
    - src: cornerbox
      offset: [2, -6]
      orient:
        up: west
  map: |
    ┌───────────┐
    │...........│
    │...........│
    │.....k.....│
    │...........│
    │...........│
    │...........│
    │.....k.....│
    │...........│
    │...........│
    └───────────┘