Pathfinding command #1523

kostmo · 2023-09-14T08:04:30Z

Closes #836

Tests

scripts/run-tests.sh  --test-arguments '--pattern "Pathfinding"'

Demo

scripts/play.sh -i data/scenarios/Testing/836-pathfinding/836-automatic-waypoint-navigation.yaml --autoplay

data/scenarios/Testing/836-pathfinding/836-automatic-waypoint-navigation.yaml

src/Swarm/Game/Step/Pathfinding.hs

xsebek · 2023-09-17T12:35:21Z

@kostmo could you please test this on the sheep challenge? I would be interested to know how this performs.

Also based on the signature it returns just the first step direction right? I guess the intent is to check for existence of a path, but won't that be too slow with repeated calls?

I apologise if those questions are answered in code somewhere, I am in mountains on my phone. Either way it would be nice to have some more info in the PR description.

kostmo · 2023-09-18T04:49:13Z

src/Swarm/Game/Step/Pathfinding.hs

+-- = Design considerations
+-- One possible design of the @path@ command entailed storing a computed
+-- shortest path and providing a mechanism to retrieve parts of it later
+-- without recomputing the whole thing.
+-- However, in general the playfield can be dynamic and obstructions may
+-- appear that invalidate a given computed shortest path.
+-- Therefore, there can be limited value in caching a computed path for use
+-- across ticks.
+--
+-- Instead, in the current implementation a complete path is computed
+-- internally upon invoking the @path@ command, and just the direction of the
+-- first "move" along that path is returned as a result to the caller.
+--
+-- == Max distance
+--
+-- We allow the caller to supply a max distance, but also impose an internal maximum
+-- distance to prevent programming errors from irrecoverably freezing the game.


FYI some design rationale

kostmo · 2023-09-18T04:49:54Z

@kostmo could you please test this on the sheep challenge? I would be interested to know how this performs.

Done: #1537

Also based on the signature it returns just the first step direction right? I guess the intent is to check for existence of a path, but won't that be too slow with repeated calls?

Empirically, it seems to be fine. More rationale is here.

xsebek

The sheep challenge simplification looks great! 👍

src/Swarm/Game/Step/Pathfinding.hs

* allow per-robot specifying certain entities as unwalkable * add test * Use 'path' command to check goal in sheep scenario (#1537)

xsebek · 2023-09-28T08:42:59Z

@kostmo it would be helpful if the PR notes mentioned new mkRobot argument.

It's addition just broke my CI tests in #1529. Besides it's not a bad thing, I would love to look at PR description and think "hey, what a nice new feature!" It also would be good to mention this new feature in CHANGELOG.

kostmo force-pushed the feature/pathfinding branch 2 times, most recently from 3e2002a to 6404d7a Compare September 16, 2023 06:57

restyled-io bot mentioned this pull request Sep 16, 2023

Restyle [WIP] [Draft] Pathfinding command #1526

Closed

kostmo force-pushed the feature/pathfinding branch 2 times, most recently from f07a66a to d59335f Compare September 17, 2023 00:02

kostmo changed the title ~~[WIP] [Draft] Pathfinding command~~ Pathfinding command Sep 17, 2023

kostmo force-pushed the feature/pathfinding branch 2 times, most recently from 2cfc025 to 7483350 Compare September 17, 2023 02:03

kostmo requested review from byorgey and xsebek September 17, 2023 02:03

kostmo marked this pull request as ready for review September 17, 2023 02:03

kostmo force-pushed the feature/pathfinding branch from 7483350 to d383cec Compare September 17, 2023 02:13