RoboRallyGUI/roborally.py

import random
import sys
random.seed(0)

class Card:
    possible_moves = ['forward', 'forward x2', 'forward x3', 'backward', 'turn left', 'turn right', 'turn around']
    card_counter = 0

    def __init__(self):
        self.number = Card.card_counter
        Card.card_counter += 1
        self.action = random.choice(Card.possible_moves)
        self.priority = random.randint(0, 100)

    def __str__(self):
        return "Card No. " + str(self.number) + " " + self.action + " " + str(self.priority)

    def __repr__(self):
        return self.action + " (" + str(self.priority) + ")"


class CardDeck:
    def __init__(self, n=84):
        self.deck = {}
        # generate cards
        for i in range(0, n):
            self.deck[i] = Card()
        self.dealt = set()
        self.discard_pile = set()

    def draw_cards(self, n=1):
        available = set(self.deck.keys()).difference(self.dealt)
        # print("{} cards are available".format(len(available)))

        if len(available) < n:
            drawn = list(available)  # give out remaining cards
            # print("drawing remaining {} cards".format(len(drawn)))
            self.dealt = self.dealt.union(drawn)

            # put the cards from the discard pile back into the game
            self.dealt = self.dealt - self.discard_pile
            self.discard_pile = set()  # reset the discard pile

            # draw rest of cards
            available = set(self.deck.keys()).difference(self.dealt)
            # print("drawing another {} cards".format(n - len(drawn)))
            drawn += random.sample(available, n - len(drawn))
        else:
            drawn = random.sample(available, n)
        # print("cards drawn: {}".format(drawn))

        self.dealt = self.dealt.union(drawn)

        return [self.deck[i] for i in drawn]

    def return_cards(self, cards):
        self.discard_pile = self.discard_pile.union(set([c.number for c in cards]))
        pass


class Robot:
    # dictionary mapping the current orientation and a turn command to the resulting orientation
    resulting_orientation = {
        '^': {'turn left': '<', 'turn right': '>', 'turn around': 'v'},
        '>': {'turn left': '^', 'turn right': 'v', 'turn around': '<'},
        'v': {'turn left': '>', 'turn right': '<', 'turn around': '^'},
        '<': {'turn left': 'v', 'turn right': '^', 'turn around': '>'},
    }

    # dictionary mapping the current orientation and the target orientation to the necessary turn command
    necessary_turn = {
            '^': {'>': 'turn right', 'v': 'turn around', '<': 'turn left'},
            '>': {'v': 'turn right', '<': 'turn around', '^': 'turn left'},
            'v': {'<': 'turn right', '^': 'turn around', '>': 'turn left'},
            '<': {'^': 'turn right', '>': 'turn around', 'v': 'turn left'},
    }

    # dictionary mapping an orientation to its opposite
    opposites = {'^': 'v', '>': '<', 'v': '^', '<': '>'}

    def __init__(self, x, y, orientation, marker_id, board):
        self.x = x
        self.y = y
        self.orientation = orientation
        self.marker_id = marker_id
        self.damage = 0
        self.collected_flags = set()

        self.board = board

        # mark the tile on the board as occupied
        self.board[(x,y)].occupant = self

    def get_tile(self):
        # return the tile the robot is standing on
        return self.board[(self.x, self.y)]

    def get_adjecent_tile(self, direction):
        # get the tile adjecent to the robot in the given direction
        current_tile = self.get_tile()
        return self.board[current_tile.get_neighbor_coordinates(direction)]

    def get_accessed_tiles(self, count, forward=True):
        # create a list of all tiles the robot would enter if it drives <count> steps forward
        tiles = []
        current_tile = self.get_tile()
        for i in range(1, count + 1):
            if forward:
                current_tile = self.board.get(current_tile.get_neighbor_coordinates(self.orientation))
            else:
                current_tile = self.board.get(current_tile.get_neighbor_coordinates(Robot.opposites[self.orientation]))

            if current_tile is None:
                return tiles
            else:
                tiles.append(current_tile)
        return tiles

    def is_pushable(self, direction):
        # check if the robot can be pushed in the given direction
        # this is the case if there is a non-blocking tile next to the robot or if there is another robot that is pushable
        robot_tile = self.get_tile()
        neighbor_tile = self.board.get(robot_tile.get_neighbor_coordinates(direction))
        if neighbor_tile is None:   # neighbor tile could not be found -> robot would be pushed out of the board
            return False
        else:
            if neighbor_tile.is_empty():
                return True
            elif neighbor_tile.modifier == '#':   # if there's a wall on the neighbor tile the robot cannot be pushed there
                return False
            else:
                # this means there's another robot on the neighbor tile -> check if it can be pushed away
                return neighbor_tile.occupant.is_pushable(direction)

    def has_opposite_orientation(self, direction):
        opposites = [('^', 'v'), ('>', '<'), ('v', '^'), ('<', '>')]
        return (self.orientation, direction) in opposites

    def get_turn_direction(self, target_orienation):
        return Robot.necessary_turn[self.orientation][target_orienation]

    def get_opposite_orientation(self):
        return Robot.opposites[self.orientation]

    def turn(self, type):
        # change the orientation of the robot
        self.orientation = Robot.resulting_orientation[self.orientation][type]

        return "{}, {}".format(self.marker_id, type)

    def move(self, type):
        # move the robot forward or backward
        # this involves
        tile = self.get_tile()
        if type == 'forward':
            target_tile = self.get_adjecent_tile(self.orientation)

            if target_tile.occupant is not None:
                print("error: target tile is not empty")
                sys.exit(1)

            tile.occupant = None    # delete the robot from the current tile
            target_tile.occupant = self     # place the robot in the next tile
            self.x = target_tile.x
            self.y = target_tile.y

            # return the move for sending to the controller
            return "{}, forward".format(self.marker_id)
        elif type == 'backward':
            opposite_orientation = self.get_opposite_orientation()
            target_tile = self.get_adjecent_tile(opposite_orientation)

            if target_tile.occupant is not None:
                print("error: target tile is not empty")
                sys.exit(1)

            tile.occupant = None  # delete the robot from the current tile
            target_tile.occupant = self  # place the robot in the next tile
            self.x = target_tile.x
            self.y = target_tile.y

            # return the move for sending to the controller
            return "{}, backward".format(self.marker_id)
        else:
            print("error: invalid move")
            sys.exit(1)

    def nop(self):
        # do nothing command
        return "{}, nop".format(self.marker_id)

    def board_element_processable(self):
        # check if we can directly process the board element for the tile the current robot is located on
        tile = self.get_tile()

        if tile.modifier in ['^', '>', 'v', '<']:
            direction = tile.modifier
            neighbor_tile = self.get_adjecent_tile(direction)
            return neighbor_tile.occupant is None   # if the adjacent tile the robot will be pushed into is empty
                                                    # we can execute the push
        return True

    def take_damage(self, count):
        self.damage = min(self.damage + count, 10)

    def heal_damage(self, count):
        self.damage = max(self.damage - count, 0)

    def pick_up_flag(self, flag):
        self.collected_flags.add(flag)

    def __str__(self):
        return str(self.marker_id)


class Tile:
    # possible modifiers:
    #            # : wall   (robot is blocked from moving there)
    # [<, >, ^, v] : conveyors (robot is pushed to the next tile)
    #            + : rotation in positive direction (robot is rotated ccw)
    #            - : rotation in negative direction (robot is rotated cw)
    #            p : pit (robot takes damage)
    #            r : repair station (robot heals damage)
    #    [a,b,c,d] : flag   (robot scores)
    #
    # occupant: Robot that is standing on the tile
    def __init__(self, x, y, modifier=None):
        self.modifier = modifier
        self.occupant = None
        self.x = x
        self.y = y

    def get_neighbor_coordinates(self, direction):
        # get the coordinates of the neighboring tile in the given direction
        if direction == '^':
            return (self.x, self.y - 1)
        elif direction == '>':
            return (self.x + 1, self.y)
        elif direction == 'v':
            return (self.x, self.y + 1)
        elif direction == '<':
            return (self.x - 1, self.y)
        else:
            print("error: unknown direction")
            sys.exit(1)

    def is_empty(self):
        # check if the tile is non-empty and does not contain a wall
        return self.occupant is None and self.modifier != '#'

    def __str__(self):
        if self.is_empty():
            if self.modifier is None:
                return ' '
            else:
                return self.modifier
        else:
            if self.occupant is None:
                return self.modifier
            else:
                return str(self.occupant)

    def __repr__(self):
        return "({}, {})  occ: {} mod: {}".format(self.x, self.y, self.occupant, self.modifier)


class Board:
    x_dims = 12  # number of tiles in x direction
    y_dims = 6  # number of tiles in y direction

    def __init__(self):
        self.board = {}
        for x in range(Board.x_dims + 2):
            for y in range(Board.y_dims + 2):
                if (x == 0) or (x == Board.x_dims + 1) or (y == 0) or (y == Board.y_dims + 1):
                    # place walls around the board
                    self.board[(x, y)] = Tile(x, y, '#')
                elif y > 2 and y < 6 and x == 7:
                    self.board[(x, y)] = Tile(x, y, '#')
                elif x == 1 and (y >= 1) and (y < 4):
                    self.board[(x, y)] = Tile(x, y, 'v')
                elif y == 4:
                    self.board[(x, y)] = Tile(x, y, '>')
                elif y == 1 and (x >= 2) and (x < 5):
                    self.board[(x, y)] = Tile(x, y, '>')
                elif y == 1 and (x >= 6) and (x <= 8):
                    self.board[(x, y)] = Tile(x, y, '<')
                else:
                    self.board[(x,y)] = Tile(x,y)

        self.board[(5, 1)].modifier = '+'
        self.board[(5, 4)].modifier = '-'
        self.board[(2, 2)].modifier = 'p'
        self.board[(3, 3)].modifier = 'r'

        # place flags near the corners of the board
        self.board[(2,2)].modifier = 'a'
        self.board[(Board.x_dims-1, 2)].modifier = 'b'
        self.board[(Board.x_dims-1, Board.y_dims-1)].modifier = 'c'
        self.board[(2, Board.y_dims-1)].modifier = 'd'


        # self.board[(2, 2)].modifier = '^'
        # self.board[(2, 1)].modifier = '<'

        self.robots = {}
        #self.robots[0] = Robot(1, 1, 'v', 0, self.board)
        #self.robots[1] = Robot(1, 2, 'v', 1, self.board)
        #self.robots[2] = Robot(2, 1, '>', 2, self.board)
        #self.robots[3] = Robot(2, 2, 'v', 3, self.board)
        #self.create_robot(1,1,'>', 7, 11)

    def create_robot(self, x, y, orientation, player_id, marker_id):
        new_robot = Robot(x, y, orientation, marker_id, self.board)
        self.robots[player_id] = new_robot
        return new_robot


    def handle_push(self, direction, pushed_robot, forward=True, pushing_robot=None):
        cmd_list = []
        # push robot out of the way
        if pushed_robot.orientation == direction:
            if forward:
                # the pushed robot can just drive forward
                cmd_list += self.handle_single_action('forward', pushed_robot)
            else:
                # the pushed robot can just drive backward
                cmd_list += self.handle_single_action('backward', pushed_robot)
        elif pushed_robot.has_opposite_orientation(direction):
            if forward:
                # the pushed robot can drive backward
                cmd_list += self.handle_single_action('backward', pushed_robot)
            else:
                # the pushed robot drives forward
                cmd_list += self.handle_single_action('forward', pushed_robot)
        else:
            # we first have to turn the pushed robot s.t. it faces in the same orientation as the
            # pushing robot
            turn_direction = pushed_robot.get_turn_direction(direction)
            cmd_list += self.handle_single_action(turn_direction, pushed_robot)

            if forward:
                # then the pushed robot drives one step forward
                cmd_list += self.handle_single_action('forward', pushed_robot)
            else:
                # if its pushed backward it instead drives on step backward
                cmd_list += self.handle_single_action('backward', pushed_robot)

            # afterwards we turn the robot back to the original orientation
            if turn_direction == 'turn left':
                turn_back_direction = 'turn right'
            elif turn_direction == 'turn right':
                turn_back_direction = 'turn left'
            else:
                print("error: invalid turn direction")
                sys.exit(1)
            cmd_list += self.handle_single_action(turn_back_direction, pushed_robot)

        if pushing_robot is not None:
            # now the tile should be empty so the pushing robot can move into the tile
            if forward:
                cmd_list.append(pushing_robot.move('forward'))
            else:
                cmd_list.append(pushing_robot.move('backward'))
        return cmd_list

    def handle_single_action(self, action, robot):
        cmd_list = []
        if 'forward' in action:  # driving forward
            if "x2" in action:
                move_count = 2
            elif "x3" in action:
                move_count = 3
            else:
                move_count = 1
            accessed_tiles = robot.get_accessed_tiles(move_count)

            for tile in accessed_tiles:
                if tile is None:
                    # this case should not happen
                    print("error: unknown state occured")
                    sys.exit(1)
                elif tile.is_empty():
                    # if the tile is empty we can just move there
                    cmd_list.append(robot.move('forward'))
                elif tile.modifier == '#':    # robot hits a wall -> stop the robot
                    cmd_list.append(robot.nop())
                    return cmd_list
                elif any([(tile.x, tile.y) == (r.x, r.y) for r in
                          self.robots.values()]):  # robots hits a tile occupied by another robot
                    pushed_robot = next(filter(lambda r: (tile.x, tile.y) == (r.x, r.y), self.robots.values()))
                    if pushed_robot.is_pushable(robot.orientation):  # check if robot is pushable in the given direction
                        cmd_list += self.handle_push(direction=robot.orientation, pushed_robot=pushed_robot, forward=True, pushing_robot=robot)
                    else:
                        cmd_list.append(robot.nop())
                        return cmd_list
                else:
                    # this case should not happen
                    print("error: unknown state occured")
                    sys.exit(1)
        elif action == 'backward':
            # basically do the same as with forward
            accessed_tiles = robot.get_accessed_tiles(1, forward=False)

            for tile in accessed_tiles:
                if tile is None:
                    # this case should not happen
                    print("error: unknown state occured")
                    sys.exit(1)
                elif tile.is_empty():
                    # if the tile is empty we can just move there
                    cmd_list.append(robot.move('backward'))
                elif tile.modifier == '#':  # robot hits a wall -> stop the robot
                    cmd_list.append(robot.nop())
                    return cmd_list
                elif any([(tile.x, tile.y) == (r.x, r.y) for r in
                          self.robots.values()]):  # robots hits a tile occupied by another robot
                    pushed_robot = next(filter(lambda r: (tile.x, tile.y) == (r.x, r.y), self.robots.values()))
                    if pushed_robot.is_pushable(Robot.opposites[robot.orientation]):  # check if robot is pushable in the given direction
                        cmd_list += self.handle_push(direction=robot.orientation, pushed_robot=pushed_robot, forward=False, pushing_robot=robot)
                    else:
                        cmd_list.append(robot.nop())
                        return cmd_list
                else:
                    # this case should not happen
                    print("error: unknown state occured")
                    sys.exit(1)
        else:   # this means we have a turn action
            cmd_list.append(robot.turn(action))

        return cmd_list

    def handle_board_element(self, robot):
        cmd_list = []
        tile = self.board[(robot.x, robot.y)]
        if tile.modifier is None:
            return cmd_list
        elif tile.modifier in ['^', '>', 'v', '<']:
            # board element pushes the robot to next tile
            if robot.is_pushable(tile.modifier):
                cmd_list += self.handle_push(direction=tile.modifier, pushed_robot=robot, forward=True)
            else:
                cmd_list.append(robot.nop())
        elif tile.modifier == '+':
            cmd_list.append(robot.turn('turn left'))
        elif tile.modifier == '-':
            cmd_list.append(robot.turn('turn right'))
        elif tile.modifier == 'p':
            robot.take_damage(1)
        elif tile.modifier == 'r':
            robot.heal_damage(1)
        elif tile.modifier in 'abcd':
            robot.pick_up_flag(tile.modifier)
        return cmd_list

    def apply_actions(self, cards):
        cmd_list = []
        # apply the actions to the board and generate a list of movement commands

        for i, phase in enumerate(cards): # process register phases
            print("processing phase {}".format(i+1))
            # sort actions by priority
            sorted_actions = sorted(phase, key=lambda a: a[1].priority)

            for a in sorted_actions:
                robot_id = a[0]
                robot = self.robots[robot_id]
                action = a[1].action

                print("robot {} action {}".format(robot, action))

                cmd_list += self.handle_single_action(action, robot)

            print(self)

            # apply the actions caused by board elements at the end of the phase
            self.apply_board_element_actions()

            print(self)

        return cmd_list

    def apply_board_element_actions(self):
        cmd_list = []
        remaining_robots = set(self.robots.values())
        processed_robots = set()

        # first we compute all tiles the robots would enter as a result of board game elements
        target_tiles = {}  # get target tiles for each robot
        for r in remaining_robots:
            tile = r.get_tile()
            if tile.modifier in ['^', '>', 'v', '<']:  # tile would push the robot around
                direction = tile.modifier
                target_tiles[r] = r.get_adjecent_tile(direction)  # save tile the robot would be pushed to

        # now we check if there are any conflicts
        conflicting_tiles = set([x for x in target_tiles.values() if list(target_tiles.values()).count(x) > 1])
        if len(conflicting_tiles) > 0:  # check if any robots would be pushed to the same tile
            # there is a conflict -> skip the board element execution and mark those robots as processed
            conflicting_robots = set(filter(lambda r: target_tiles[r] in conflicting_tiles, target_tiles.keys()))
            processed_robots = processed_robots.union(conflicting_robots)

        # Now we process the board game elements for the robots which have no conflicts.
        # We have to pay attention to the order of the execution in order to avoid robots pushing other robots
        # during this phase.
        # This is done in a loop because we don't know yet which robot goes first. For instance, it may happen that
        # multiple robots are queued on a conveyor belt. Then we first have to move the robot which is furthest down the
        # line, then the second one and so on
        # By doing this in a loop we can automatically determine the correct order by checking for each robot if it can
        # move and then processing the robot such that the next robot can move
        while len(processed_robots) < len(self.robots):
            # update remaining robots to process
            remaining_robots = set(self.robots.values()) - processed_robots

            # check which robots can be moved around
            processable_robots = list(filter(lambda r: r.board_element_processable(), remaining_robots))

            if len(processable_robots) > 0:
                # handle the board game elements for robots that can move
                for current_robot in processable_robots:
                    cmd_list += self.handle_board_element(current_robot)
                    processed_robots.add(current_robot)
            else:
                # this happens if there is a deadlock that cannot be resolved (e.g. caused by a cyclical conveyor belt)
                break

        return cmd_list

    def __str__(self):
        #output = '#' * (Board.x_dims + 2) + '\n'
        output = ''
        for y in range(Board.y_dims+2):
            for x in range(Board.x_dims+2):
                if any((r.x, r.y) == (x,y) for (r_id, r) in self.robots.items()):
                    r = next(filter(lambda r: (r[1].x,r[1].y) == (x,y), self.robots.items()))
                    output += str(r[0])
                else:
                    output += str(self.board[(x, y)])
            output += '\n'
        #output += '#' * (Board.x_dims + 2)
        for r_id, r in self.robots.items():
            output += "Robot {}: {}\n".format(r_id, r.orientation)
        return output

if __name__ == "__main__":
    n = 5

    deck = CardDeck(n=1000)

    player_1_cards = deck.draw_cards(200)
    #player_2_cards = deck.draw_cards(200)
    #player_3_cards = deck.draw_cards(200)
    #player_4_cards = deck.draw_cards(200)

    #player_1_cards = random.sample(list(filter(lambda c: 'turn around' in c.action, deck.deck.values())), n)
    #player_2_cards = random.sample(list(filter(lambda c: 'turn around' in c.action, deck.deck.values())), n)
    #player_3_cards = random.sample(list(filter(lambda c: 'turn around' in c.action, deck.deck.values())), n)
    #player_4_cards = random.sample(list(filter(lambda c: 'turn around' in c.action, deck.deck.values())), n)

    cards_1 = [(0, c) for c in player_1_cards]
    #cards_2 = [(1, c) for c in player_2_cards]
    #cards_3 = [(2, c) for c in player_3_cards]
    #cards_4 = [(3, c) for c in player_4_cards]



    #chosen_cards = list(zip(cards_1, cards_2, cards_3, cards_4))
    chosen_cards = list(zip(cards_1))

    b = Board()
    print(b)

    b.apply_actions(chosen_cards)