Check HOPE even further (not only on next place)

vojtajina · May 30, 2011 · 8fb0979 · 8fb0979
1 parent 6f383da
commit 8fb0979
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Showing 2 changed files with 66 additions and 4 deletions.
diff --git a/src/hide-seek.lisp b/src/hide-seek.lisp
@@ -46,10 +46,10 @@
 	  ; can't see any person
 	  (cond
 	    ; there is a HOPE on left, check it
-	    ((equal (what-is-on-left? body) 'HOPE)
+	    ((hope-on-left? body)
 	     (prog1 'TURNLEFT (set-in-action body 'BACK-RIGHT)))
 	    ; there is a HOPE on right, check it
-	    ((equal (what-is-on-right? body) 'HOPE)
+	    ((hope-on-right? body)
 	     (prog1 'TURNRIGHT (set-in-action body 'BACK-LEFT)))
 	    ; CLEAN - time to check left / right
 	    ((equal (jinavojt-body-in-action body) 'CLEAN)
@@ -92,9 +92,9 @@
 		('BACK-RIGHT (prog1 'TURNRIGHT (set-in-action body NIL)))
 		(otherwise (cond
 		  ; todo: local var for what-is-on-* calls
-		  ((equal (what-is-on-left? body) 'HOPE)
+		  ((hope-on-left? body)
 		   (prog1 'TURNLEFT (set-in-action body 'NO-TURN-RIGHT)))
-		  ((equal (what-is-on-right? body) 'HOPE)
+		  ((hope-on-right? body)
 		   (prog1 'TURNRIGHT (set-in-action body 'NO-TURN-LEFT)))
 		  ((equal (what-is-on-left? body) 'SEEN)
 		   (prog1 'TURNRIGHT (set-in-action body 'NO-TURN-LEFT)))
@@ -138,18 +138,45 @@
 (defun loc-on-right (location heading)
   (xy-add location (rotate-heading-right heading)))
 
+; returns what is on NEXT place on left (HOPE/SEEN/NIL)
 (defun what-is-on-left? (body)
   (let ((map (jinavojt-body-map body))
         (heading (jinavojt-body-heading body))
         (loc (jinavojt-body-loc body)))
        (what-is-on-loc? (loc-on-left loc heading) map (rotate-heading-left heading))))
 
+; returns what is on NEXT place on right (HOPE/SEEN/NIL)
 (defun what-is-on-right? (body)
   (let ((map (jinavojt-body-map body))
         (heading (jinavojt-body-heading body))
         (loc (jinavojt-body-loc body)))
        (what-is-on-loc? (loc-on-right loc heading) map (rotate-heading-right heading))))
 
+; is HOPE on first known object in left direction ?
+(defun hope-on-left? (body)
+  (let ((map (jinavojt-body-map body))
+	(heading (object-heading body))
+	(loc (object-loc body)))
+    (equal 'HOPE (first-known-in-direction (loc-on-left loc heading)
+					   map
+					   (rotate-heading-left heading)))))
+
+; is HOPE on first known object in right direction ?
+(defun hope-on-right? (body)
+  (let ((map (jinavojt-body-map body))
+	(heading (object-heading body))
+	(loc (object-loc body)))
+    (equal 'HOPE (first-known-in-direction (loc-on-right loc heading)
+					   map
+					   (rotate-heading-right heading)))))
+
+; returns first known (SEEN/HOPE) in given direction
+(defun first-known-in-direction (location map heading)
+  (let ((next (what-is-on-loc? location map heading)))
+	(if (null next)
+          (first-known-in-direction (xy-add location heading) map heading)
+	  next)))
+
 ; returns
 ; - NIL = unknown
 ; - HOPE = bush, not seen from this direction yet

diff --git a/test/hide-seek.lisp b/test/hide-seek.lisp
@@ -195,6 +195,16 @@
 		   (remove-heading-from-list NIL '(0 -1)))
 )
 
+(define-test hope-on-*-should-check-first-known-in-direction
+  (setq body (make-jinavojt-body)
+	map (jinavojt-body-map body))
+  (setf (aref map 1 1) 'HOPE)
+  (setf (object-loc body) (@ 5 1))
+  (setf (object-heading body) (@ 0 1))
+
+  (assert-true (hope-on-left? body))
+  (assert-false (hope-on-right? body))
+)
 
 ;;; ===============================================================
 ;;; HIGHER LEVEL TESTS
@@ -251,6 +261,12 @@
 				:bspec '((at edge WALL)
 					 (at (2 2) BUSH)
 					 (at (4 2) BUSH)))))
+    ; env for testing HOPE on next known on left/right
+    (6 (setq env (make-hs-world :max-steps 10
+				:start (@ 4 1)
+				:bspec '((at edge WALL)
+					 (at (4 2) BUSH)))))
+
   )
   (initialize env)
   (setq agent (first (environment-agents env)))
@@ -327,3 +343,22 @@
 	  'CLEAN)
     (assert-equal 'FORW (fake-decide env)))))
 
+(define-test should-always-check-when-hope-on-further-right
+  ; even if hope is not on next, could be further
+  (stress 10 (lambda ()
+    (setq env (create-fake-env 6))
+    (fake-step env 'LEFT)
+    (fake-step env 'LEFT)
+    (fake-step env 'LEFT)
+    (fake-step env 'FORW)
+    (assert-equal 'TURNRIGHT (fake-decide env)))))
+
+(define-test should-always-check-when-hope-on-further-left
+  ; even if hope is not on next, could be further
+  (stress 10 (lambda ()
+    (setq env (create-fake-env 6))
+    (fake-step env 'RIGHT)
+    (fake-step env 'RIGHT)
+    (fake-step env 'RIGHT)
+    (fake-step env 'FORW)
+    (assert-equal 'TURNLEFT (fake-decide env)))))