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, wall]
    'c': [blank, wall, corner0]
    # SECOND ROOM
    '1': [blank, wall, gate1]
    '-': [blank, "1", wally]
    'u': [blank, "1", wally, corner1]
    '2': [blank, "1", wally, gate2]
    # THIRD ROOM
    '~': [blank, "2", wally]
  upperleft: [-1, 1]
  map: |
    +++++c--u~~~
    +....1..2..~
    +++++c--u~~~
robots:
  - name: base
    dir: east
    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};
          pure (loc == l)
        } { pure 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};
          pure (loc == l)
        } { pure 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};
          pure (loc == l)
        } { pure false }
      );
      create "Win"
  - name: wally
    dir: [0, 0]
    system: true
    display:
      invisible: true
    inventory: [[1, wall]]
    program: |
      def until = \c. b <- c; if b {} {until c} end;
      n <- (s <- scan down; case s (\_. fail "Fatal error: missing room number!") pure);
      c1 <- robotNamed ("check" ++ n);
      until (as c1 {has "Win"});
      swap "wall"
  - name: corner0
    dir: [0, 0]
    system: true
    display:
      invisible: true
    inventory: [[1, wall]]
    program: |
      def until = \c. b <- c; if b {} {until c} end;
      c1 <- robotNamed "check1";
      until (as c1 {has "Win"});
      swap "wall"
  - name: corner1
    dir: [0, 0]
    system: true
    display:
      invisible: true
    inventory: [[1, wall]]
    program: |
      def until = \c. b <- c; if b {} {until c} end;
      c1 <- robotNamed "check2";
      until (as c1 {has "Win"});
      swap "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.