Add subworlds

data/scenarios/Testing/00-ORDER.txt

@@ -38,3 +38,4 @@
 1295-density-command.yaml
 1138-structures
 1356-portals
+144-subworlds

data/scenarios/Testing/144-subworlds/00-ORDER.txt

@@ -0,0 +1 @@
+basic-subworld.yaml

data/scenarios/Testing/144-subworlds/basic-subworld.yaml

@@ -0,0 +1,90 @@
+version: 1
+name: Subworlds demo
+description: |
+  Surface and underground with portals.
+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
+    dir: [1, 0]
+    devices:
+      - ADT calculator
+      - branch predictor
+      - comparator
+      - compass
+      - dictionary
+      - GPS receiver
+      - grabber
+      - lambda
+      - lodestone
+      - logger
+      - strange loop
+      - treads
+known: [flower]
+subworlds:
+  - name: underground
+    default: [blank]
+    palette:
+      '.': [dirt]
+      'f': [dirt, flower]
+      'p':
+        cell: [dirt, telepad exit]
+        waypoint:
+          name: portal_out2
+      'P':
+        cell: [dirt, telepad entrance]
+        waypoint:
+          name: portal_in2
+    portals:
+      - entrance: portal_in2
+        exitInfo:
+          exit: portal_out1
+          subworldName: root
+    upperleft: [-1, 1]
+    map: |
+      f..f..f..f
+      .p......P.
+      f..f..f..f
+world:
+  default: [blank]
+  palette:
+    '.': [grass]
+    'B': [grass, null, base]
+    'p':
+      cell: [grass, telepad exit]
+      waypoint:
+        name: portal_out1
+    'P':
+      cell: [grass, telepad entrance]
+      waypoint:
+        name: portal_in1
+  upperleft: [-1, 1]
+  portals:
+    - entrance: portal_in1
+      exitInfo:
+        exit: portal_out2
+        subworldName: underground
+  map: |
+    ..........
+    .p.B....P.
+    ..........

src/Swarm/Doc/Gen.hs

@@ -32,6 +32,7 @@ import Data.Containers.ListUtils (nubOrd)
 import Data.Either.Extra (eitherToMaybe)
 import Data.Foldable (find, toList)
 import Data.List (transpose)
+import Data.List.NonEmpty qualified as NE
 import Data.Map.Lazy (Map)
 import Data.Map.Lazy qualified as Map
 import Data.Maybe (fromMaybe, isJust)
@@ -51,8 +52,8 @@ import Swarm.Game.Failure qualified as F
 import Swarm.Game.Failure.Render qualified as F
 import Swarm.Game.Recipe (Recipe, loadRecipes, recipeInputs, recipeOutputs, recipeRequirements, recipeTime, recipeWeight)
 import Swarm.Game.ResourceLoading (getDataFileNameSafe)
-import Swarm.Game.Robot (equippedDevices, instantiateRobot, robotInventory)
-import Swarm.Game.Scenario (Scenario, loadScenario, scenarioRobots)
+import Swarm.Game.Robot (Robot, equippedDevices, instantiateRobot, robotInventory)
+import Swarm.Game.Scenario (Scenario, loadScenario, scenarioRobots, scenarioWorlds, worldName)
 import Swarm.Game.WorldGen (testWorld2Entites)
 import Swarm.Language.Capability (Capability)
 import Swarm.Language.Capability qualified as Capability
@@ -550,11 +551,14 @@ classicScenario = do
   entities <- loadEntities >>= guardRight "load entities"
   fst <$> loadScenario "data/scenarios/classic.yaml" entities
 
+startingHelper :: Scenario -> Robot
+startingHelper s = instantiateRobot (worldName $ NE.head $ view scenarioWorlds s) 0 . head . view scenarioRobots $ s
+
 startingDevices :: Scenario -> Set Entity
-startingDevices = Set.fromList . map snd . E.elems . view equippedDevices . instantiateRobot 0 . head . view scenarioRobots
+startingDevices = Set.fromList . map snd . E.elems . view equippedDevices . startingHelper
 
 startingInventory :: Scenario -> Map Entity Int
-startingInventory = Map.fromList . map swap . E.elems . view robotInventory . instantiateRobot 0 . head . view scenarioRobots
+startingInventory = Map.fromList . map swap . E.elems . view robotInventory . startingHelper
 
 -- | Ignore utility entities that are just used for tutorials and challenges.
 ignoredEntities :: Set Text

src/Swarm/Game/Log.hs

@@ -34,6 +34,7 @@ import Data.Text (Text)
 import GHC.Generics (Generic)
 import Swarm.Game.CESK (TickNumber)
 import Swarm.Game.Location (Location)
+import Swarm.Game.Universe (Cosmo)
 
 -- | Severity of the error - critical errors are bugs
 --   and should be reported as Issues.
@@ -61,8 +62,11 @@ data LogEntry = LogEntry
   -- ^ The name of the robot that generated the entry.
   , _leRobotID :: Int
   -- ^ The ID of the robot that generated the entry.
-  , _leLocation :: Location
+  , _leLocation :: Maybe (Cosmo Location)
   -- ^ Location of the robot at log entry creation.
+  -- "Nothing" represents omnipresence for the purpose of proximity.
+  -- TODO: Define a type isomorphic to Maybe that makes this explict.
+  -- C.f. "cosmoMeasure" which will have its own type that means the opposite.
   , _leText :: Text
   -- ^ The text of the log entry.
   }

src/Swarm/Game/Robot.hs

@@ -94,6 +94,7 @@ import Swarm.Game.Display (Display, curOrientation, defaultRobotDisplay, invisib
 import Swarm.Game.Entity hiding (empty)
 import Swarm.Game.Location (Heading, Location, toDirection)
 import Swarm.Game.Log
+import Swarm.Game.Universe
 import Swarm.Language.Capability (Capability)
 import Swarm.Language.Context qualified as Ctx
 import Swarm.Language.Requirement (ReqCtx)
@@ -167,7 +168,7 @@ data RobotPhase
 --   concrete robot we must have a location.
 type family RobotLocation (phase :: RobotPhase) :: * where
   RobotLocation 'TemplateRobot = Maybe Location
-  RobotLocation 'ConcreteRobot = Location
+  RobotLocation 'ConcreteRobot = Cosmo Location
 
 -- | Robot templates have no ID; concrete robots definitely do.
 type family RobotID (phase :: RobotPhase) :: * where
@@ -269,13 +270,13 @@ robotDisplay = lens getDisplay setDisplay
 --   a getter, since when changing a robot's location we must remember
 --   to update the 'robotsByLocation' map as well.  You can use the
 --   'updateRobotLocation' function for this purpose.
-robotLocation :: Getter Robot Location
+robotLocation :: Getter Robot (Cosmo Location)
 
 -- | Set a robot's location.  This is unsafe and should never be
 --   called directly except by the 'updateRobotLocation' function.
 --   The reason is that we need to make sure the 'robotsByLocation'
 --   map stays in sync.
-unsafeSetRobotLocation :: Location -> Robot -> Robot
+unsafeSetRobotLocation :: Cosmo Location -> Robot -> Robot
 unsafeSetRobotLocation loc r = r {_robotLocation = loc}
 
 -- | A template robot's location.  Unlike 'robotLocation', this is a
@@ -308,11 +309,11 @@ robotID :: Getter Robot RID
 --    if the robot template didn't have a location already, just set
 --    the location to (0,0) by default.  If you want a different location,
 --    set it via 'trobotLocation' before calling 'instantiateRobot'.
-instantiateRobot :: RID -> TRobot -> Robot
-instantiateRobot i r =
+instantiateRobot :: SubworldName -> RID -> TRobot -> Robot
+instantiateRobot swName i r =
   r
     { _robotID = i
-    , _robotLocation = fromMaybe zero (_robotLocation r)
+    , _robotLocation = Cosmo swName $ fromMaybe zero $ _robotLocation r
     }
 
 -- | The ID number of the robot's parent, that is, the robot that

src/Swarm/Game/Scenario.hs

@@ -33,7 +33,8 @@ module Swarm.Game.Scenario (
   scenarioEntities,
   scenarioRecipes,
   scenarioKnown,
-  scenarioWorld,
+  scenarioWorlds,
+  scenarioNavigation,
   scenarioRobots,
   scenarioObjectives,
   scenarioSolution,
@@ -45,18 +46,23 @@ module Swarm.Game.Scenario (
   getScenarioPath,
 ) where
 
+import Control.Arrow ((&&&))
 import Control.Lens hiding (from, (.=), (<.>))
 import Control.Monad (filterM)
 import Control.Monad.Except (ExceptT (..), MonadIO, liftIO, runExceptT, withExceptT)
 import Control.Monad.Trans.Except (except)
 import Data.Aeson
 import Data.Either.Extra (eitherToMaybe, maybeToEither)
+import Data.List.NonEmpty (NonEmpty ((:|)))
+import Data.List.NonEmpty qualified as NE
+import Data.Map qualified as M
 import Data.Maybe (catMaybes, isNothing, listToMaybe)
 import Data.Text (Text)
 import Data.Text qualified as T
 import Swarm.Game.Entity
 import Swarm.Game.Failure
 import Swarm.Game.Failure.Render
+import Swarm.Game.Location
 import Swarm.Game.Recipe
 import Swarm.Game.ResourceLoading (getDataFileNameSafe)
 import Swarm.Game.Robot (TRobot)
@@ -65,7 +71,9 @@ import Swarm.Game.Scenario.Objective.Validation
 import Swarm.Game.Scenario.RobotLookup
 import Swarm.Game.Scenario.Style
 import Swarm.Game.Scenario.Topography.Cell
+import Swarm.Game.Scenario.Topography.Navigation.Portal
 import Swarm.Game.Scenario.Topography.WorldDescription
+import Swarm.Game.Universe
 import Swarm.Language.Pipeline (ProcessedTerm)
 import Swarm.Util (failT)
 import Swarm.Util.Lens (makeLensesNoSigs)
@@ -91,7 +99,8 @@ data Scenario = Scenario
   , _scenarioEntities :: EntityMap
   , _scenarioRecipes :: [Recipe Entity]
   , _scenarioKnown :: [Text]
-  , _scenarioWorld :: WorldDescription
+  , _scenarioWorlds :: NonEmpty WorldDescription
+  , _scenarioNavigation :: Navigation (M.Map SubworldName) Location
   , _scenarioRobots :: [TRobot]
   , _scenarioObjectives :: [Objective]
   , _scenarioSolution :: Maybe ProcessedTerm
@@ -122,6 +131,24 @@ instance FromJSONE EntityMap Scenario where
       rs <- v ..: "robots"
       let rsMap = buildRobotMap rs
 
+      rootWorld <- localE (,rsMap) (v ..: "world")
+      subworlds <- localE (,rsMap) (v ..:? "subworlds" ..!= [])
+
+      let allWorlds = rootWorld :| subworlds
+          mergedWaypoints =
+            M.fromList $
+              map (worldName &&& runIdentity . waypoints . navigation) $
+                NE.toList allWorlds
+
+      mergedPortals <-
+        validatePortals
+          . Navigation mergedWaypoints
+          . M.unions
+          $ map (portals . navigation)
+          $ NE.toList allWorlds
+
+      let mergedNavigation = Navigation mergedWaypoints mergedPortals
+
       Scenario
         <$> liftE (v .: "version")
         <*> liftE (v .: "name")
@@ -133,7 +160,8 @@ instance FromJSONE EntityMap Scenario where
         <*> pure em
         <*> v ..:? "recipes" ..!= []
         <*> pure known
-        <*> localE (,rsMap) (v ..: "world")
+        <*> pure allWorlds
+        <*> pure mergedNavigation
         <*> pure rs
         <*> (liftE (v .:? "objectives" .!= []) >>= validateObjectives)
         <*> liftE (v .:? "solution")
@@ -178,8 +206,11 @@ scenarioRecipes :: Lens' Scenario [Recipe Entity]
 --   not have to scan them.
 scenarioKnown :: Lens' Scenario [Text]
 
--- | The starting world for the scenario.
-scenarioWorld :: Lens' Scenario WorldDescription
+-- | The subworlds of the scenario.
+scenarioWorlds :: Lens' Scenario (NonEmpty WorldDescription)
+
+-- | Waypoints and inter-world portals
+scenarioNavigation :: Lens' Scenario (Navigation (M.Map SubworldName) Location)
 
 -- | The starting robots for the scenario.  Note this should
 --   include the base.