enabled displaying robot position in the web app and setting the

position at the start of the game

app.py

@@ -47,36 +47,41 @@ class Game:
             l.append(zip([p] * len(self.action_stack[p]), self.action_stack[p]))
         chosen_cards = list(zip(*l))
 
-        # apply the chosen commands to the board which generates a list of movement commands to send to the control program
+        # process the chosen commands and generate a list of robot commands to send to the controller program
         cmd_list = self.board.apply_actions(chosen_cards)
 
         if False:
-            # send movements to the program
+            # send movements to the controller program
-            for c in current_actions:
+            for c in cmd_list:
-                if c[0] == 0:
+                self.comm_socket.sendall(c.encode())
-                    print("{}, {}\n".format(c[1].action, 11))
-                    self.comm_socket.sendall("{}, {}\n".format(c[1].action, 11).encode())
-                elif c[0] == 1:
-                    print("{}, {}\n".format(c[1].action, 14))
-                    self.comm_socket.sendall("{}, {}\n".format(c[1].action, 14).encode())
                 data = self.comm_socket.recv(32)
 
-                if data == b'OK\n':
+                if data != b'OK\n':
-                    print("an error occured while processing the commands")
+                    print("an error occurred while processing the commands")
                     self.processing_done = True
                     self.action_stack = {}
                     return
+            # for c in current_actions:
+            #     if c[0] == 0:
+            #         print("{}, {}\n".format(c[1].action, 11))
+            #         self.comm_socket.sendall("{}, {}\n".format(c[1].action, 11).encode())
+            #     elif c[0] == 1:
+            #         print("{}, {}\n".format(c[1].action, 14))
+            #         self.comm_socket.sendall("{}, {}\n".format(c[1].action, 14).encode())
+            #     data = self.comm_socket.recv(32)
+            #
+
 
         time.sleep(0.5)
 
-        #self.comm_socket.send()
-
 
         # clear the action stack for the next round
         self.action_stack = {}
-
         self.processing_done = True
 
+players = {}
+game = Game()
+
 class Player:
     MAX_PLAYERS = 3
     player_counter = 0
@@ -93,15 +98,17 @@ class Player:
             self.action_count = 5
             self.action_chosen = False
 
+            self.robot = None
+
         else:
             print("max players reached!")
 
+    def initialize_robot(self, x, y, orientation, marker_id):
+        self.robot = game.board.create_robot(x, y, orientation, self.id, marker_id)
+
     def draw_new_cards(self):
         self.player_hand += deck.draw_cards(self.max_cards - len(self.player_hand))
 
-players = {}
-game = Game()
-
 
 @app.route('/send_cmds', methods=['POST', 'GET'])
 def send_cmds():
@@ -110,6 +117,11 @@ def send_cmds():
         player_id = session['player_id']
         p = players[player_id]
 
+        if p.robot is None:
+            x = int(request.form.get('x'))
+            y = int(request.form.get('y'))
+            p.initialize_robot(x, y, '>', 11)
+
         if game.register_actions(p.id, p.player_hand[0:p.action_count]):
             p.player_hand = p.player_hand[p.action_count:]  # discard used cards
             p.draw_new_cards()
@@ -149,7 +161,12 @@ def hello_world():
 
 
     if request.method == 'GET':
-        return render_template('drag_example.html', cmds=player_hand, player_id=player_id)
+        robot = players[player_id].robot
+        if robot is not None:
+            robot_pos = (robot.x, robot.y)
+        else:
+            robot_pos = None
+        return render_template('drag_example.html', cmds=player_hand, player_id=player_id, robot_pos=robot_pos)
     elif request.method == 'POST':
         #print(request.form)
 

roborally.py

@@ -78,27 +78,38 @@ class Robot:
     # dictionary mapping an orientation to its opposite
     opposites = {'^': 'v', '>': '<', 'v': '^', '<': '>'}
 
-    def __init__(self, x, y, orientation, id, board):
+    def __init__(self, x, y, orientation, marker_id, board):
         self.x = x
         self.y = y
         self.orientation = orientation
-        self.id = id
+        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.board[(self.x, self.y)]
+        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:
@@ -108,7 +119,7 @@ class Robot:
     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.board[(self.x, self.y)]
+        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
@@ -135,14 +146,14 @@ class Robot:
         # change the orientation of the robot
         self.orientation = Robot.resulting_orientation[self.orientation][type]
 
-        return "{}, {}".format(self.id, type)
+        return "{}, {}".format(self.marker_id, type)
 
     def move(self, type):
         # move the robot forward or backward
         # this involves
-        tile = self.board[(self.x, self.y)]
+        tile = self.get_tile()
         if type == 'forward':
-            target_tile = self.board[tile.get_neighbor_coordinates(self.orientation)]
+            target_tile = self.get_adjecent_tile(self.orientation)
 
             if target_tile.occupant is not None:
                 print("error: target tile is not empty")
@@ -154,10 +165,10 @@ class Robot:
             self.y = target_tile.y
 
             # return the move for sending to the controller
-            return "{}, forward".format(self.id)
+            return "{}, forward".format(self.marker_id)
         elif type == 'backward':
             opposite_orientation = self.get_opposite_orientation()
-            target_tile = self.board[tile.get_neighbor_coordinates(opposite_orientation)]
+            target_tile = self.get_adjecent_tile(opposite_orientation)
 
             if target_tile.occupant is not None:
                 print("error: target tile is not empty")
@@ -169,24 +180,50 @@ class Robot:
             self.y = target_tile.y
 
             # return the move for sending to the controller
-            return "{}, backward".format(self.id)
+            return "{}, backward".format(self.marker_id)
         else:
             print("error: invalid move")
             sys.exit(1)
 
     def nop(self):
         # do nothing command
-        return "{}, nop".format(self.id)
+        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.id)
+        return str(self.marker_id)
 
 
 class Tile:
     # possible modifiers:
-    # conveyors: <, >, ^, v
+    #            # : wall   (robot is blocked from moving there)
-    # repair station: r
+    # [<, >, ^, v] : conveyors (robot is pushed to the next tile)
-    # flag: f<number>
+    #            + : 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
@@ -238,16 +275,46 @@ class Board:
                 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(3, 1, '>', 0, self.board)
+        #self.robots[0] = Robot(1, 1, 'v', 0, self.board)
-        self.robots[1] = Robot(2, 1, 'v', 1, 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 = []
@@ -366,12 +433,24 @@ class Board:
     def handle_board_element(self, robot):
         cmd_list = []
         tile = self.board[(robot.x, robot.y)]
-        if tile.modifier in ['^', '>', 'v', '<']:
+        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):
@@ -392,14 +471,59 @@ class Board:
 
                 cmd_list += self.handle_single_action(action, robot)
 
-            # apply the actions caused by board elements at the end of the phase
-            for robot_id in self.robots:
-                robot = self.robots[robot_id]
-                cmd_list += self.handle_board_element(robot)
-
-            print(cmd_list)
             print(self)
-            pass
+
+            # 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):
@@ -407,29 +531,41 @@ class Board:
         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 in self.robots.values()):
+                if any((r.x, r.y) == (x,y) for (r_id, r) in self.robots.items()):
-                    r = list(filter(lambda r: (r.x,r.y) == (x,y), self.robots.values()))[0]
+                    r = next(filter(lambda r: (r[1].x,r[1].y) == (x,y), self.robots.items()))
-                    output += str(r.id)
+                    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()
+    deck = CardDeck(n=1000)
 
-    player_1_cards = random.sample(list(filter(lambda c: 'backward' in c.action, deck.deck.values())), n)
+    player_1_cards = deck.draw_cards(200)
-    player_2_cards = random.sample(list(filter(lambda c: 'turn around' in c.action, deck.deck.values())), n)
+    #player_2_cards = deck.draw_cards(200)
-    #player_1_cards = deck.draw_cards(40)
+    #player_3_cards = deck.draw_cards(200)
-    #player_2_cards = deck.draw_cards(40)
+    #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_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))
+
+
+    #chosen_cards = list(zip(cards_1, cards_2, cards_3, cards_4))
+    chosen_cards = list(zip(cards_1))
 
     b = Board()
     print(b)