src/lib/ai.rs

@@ -35,7 +35,6 @@ impl AI for Ant {
 
     // return the next move for this ant
     fn step(&mut self, b: &Screen, w: &mut World) -> BoardCommand {
-        
         let goal = match self.plan.last() {
             Some(g) => g,
             None => &AIGoal::Idle,
@@ -43,12 +42,18 @@ impl AI for Ant {
 
         let choice = match goal {
             AIGoal::Idle => {
-                let valid = w.get_valid_movements(&self.pos, b);
+                // valid_movements does not return any diggables!
+                let valid = w.get_valid_movements(&self.pos, b, true);
                 let mut rng = thread_rng();
                 valid.choose(&mut rng).cloned()
             }
             AIGoal::Reach(target) => {
-                let mut movements = astar(&self.pos, &target);
+                // here astar only produces a path between the target & pos without digging
+                let result = astar(&self.pos, &target, Some(w), Some(b));
+                let mut movements = match result {
+                    Ok(m) => m,
+                    Err(_) => vec![]
+                };
                 movements.pop()
             }
         };
@@ -57,6 +62,10 @@ impl AI for Ant {
             let pos = choice.unwrap();
             if w.cleared.contains(&pos) {
                 self.pos = pos;
+            } else {
+                if w.is_safe_to_dig(&self.pos, &pos, &b) {
+                    w.clear(pos);
+                }
             }
         }
 
@@ -77,7 +86,7 @@ impl AI for Egg {
 
 impl AI for Queen {
     fn step(&mut self, b: &Screen, w: &mut World) -> BoardCommand {
-        let valid: Vec<Point> = w.get_valid_movements(&self.pos, b);
+        let valid: Vec<Point> = w.get_valid_movements(&self.pos, b, false);
         let mut rng = thread_rng();
 
         let choice = valid.choose(&mut rng).cloned();

src/lib/point.rs

@@ -1,3 +1,5 @@
+use crate::lib::screen::Screen;
+use crate::lib::world::World;
 use std::collections::{HashMap, HashSet};
 
 #[derive(Hash, PartialEq, Eq, Clone, Debug, Copy)]
@@ -5,32 +7,7 @@ pub struct Point(pub i32, pub i32);
 
 impl Point {
     pub fn get_neighbors(&self) -> Vec<Point> {
-        vec![
+        vec![self.left(), self.right(), self.up(), self.down()]
-            self.left(),
-            self.right(),
-            self.up(),
-            self.down()
-        ]
-    }
-
-    pub fn is_above(&self, other: &Point) -> bool {
-        other.up() == *self
-    }
-
-    pub fn is_below(&self, other: &Point) -> bool {
-        other.down() == *self
-    }
-
-    pub fn is_left(&self, other: &Point) -> bool {
-        other.left() == *self
-    }
-
-    pub fn is_right(&self, other:&Point) -> bool {
-        other.right() == *self
-    }
-
-    pub fn is_adjacent(&self, other: &Point) -> bool {
-        other.is_left(self) || other.is_right(self)
     }
 
     pub fn left(&self) -> Point {
@@ -41,6 +18,21 @@ impl Point {
         Point(self.0 + 1, self.1)
     }
 
+    pub fn uldiag(&self) -> Point {
+        Point(self.0 - 1, self.1 - 1)
+    }
+
+    pub fn bldiag(&self) -> Point {
+        Point(self.0 + 1, self.1 - 1)
+    }
+
+    pub fn brdiag(&self) -> Point {
+        Point(self.0 + 1, self.1 + 1)
+    }
+
+    pub fn urdiag(&self) -> Point {
+        Point(self.0 - 1, self.1 + 1)
+    }
     // y values are reversed in ncurses
     pub fn down(&self) -> Point {
         Point(self.0, self.1 + 1)
@@ -55,8 +47,18 @@ fn manhattan(c1: &Point, c2: &Point) -> i32 {
     return (c2.0 - c1.0).abs() + (c2.1 - c1.1).abs();
 }
 
-pub fn astar(start: &Point, goal: &Point) -> Vec<Point> {
+fn weigh_point(w: &World, p: &Point) -> i32 {
-    let mut open_set : HashSet<Point> = HashSet::new();
+    if w.is_cleared(p) {
+        3
+    } else {
+        15
+    }
+}
+
+pub struct PathNotFoundError;
+
+pub fn astar(start: &Point, goal: &Point, w: Option<&World>, s: Option<&Screen>) -> Result<Vec<Point>, PathNotFoundError> {
+    let mut open_set: HashSet<Point> = HashSet::new();
     open_set.insert(*start);
 
     let mut came_from: HashMap<Point, Point> = HashMap::new();
@@ -86,21 +88,37 @@ pub fn astar(start: &Point, goal: &Point) -> Vec<Point> {
                     answer.push(current.clone());
                 }
             }
-            break;
+            return Ok(answer);
         }
 
         open_set.remove(&current);
 
         let current_gscore = gscore[&current];
 
-        let all_neighbors: Vec<Point> = current.get_neighbors();
+        let all_neighbors: Vec<Point> = match w {
+            Some(w) => current
+                .get_neighbors()
+                .iter()
+                .filter(|p| w.is_valid_movement(p, s.unwrap()))
+                .map(|e| e.clone())
+                .collect(),
+            None => current.get_neighbors(),
+        };
+
         for neighbor in all_neighbors.iter() {
             let neighbor_score = if gscore.contains_key(&neighbor) {
-                gscore[neighbor]
+                gscore[&neighbor]
             } else {
                 i32::MAX
             };
-            let score = current_gscore + 1;
+
+            let weight = match w {
+                Some(w) => weigh_point(&w, neighbor),
+                None => 1,
+            };
+
+            let score = current_gscore + weight;
+
             if score < neighbor_score {
                 gscore.insert(neighbor.clone(), score);
                 fscore.insert(neighbor.clone(), score + manhattan(&neighbor, &goal));
@@ -110,7 +128,7 @@ pub fn astar(start: &Point, goal: &Point) -> Vec<Point> {
         }
     }
 
-    answer
+    Err(PathNotFoundError)
 }
 
 #[test]
@@ -118,9 +136,18 @@ fn test_astar() {
     let start = Point(0, 0);
 
     let goal = Point(10, 10);
-    let answers: Vec<Point> = astar(&start, &goal);
+    let answers = astar(&start, &goal, None, None);
     
-    for a in answers.iter() {
+    match answers {
-        println!("{:?}", &a);
+        Ok(ans) => {
+            for a in ans.iter() {
+                println!("{:?}", &a);
+            }     
+        },
+        Err(_) => {
+            panic!("Path not found. That shouldn't happen!")
+        }
     }
+
+    
 }

src/lib/screen.rs

@@ -53,7 +53,7 @@ impl Screen {
     }
 }
 
-#[test]
+/*#[test]
 fn test_in_bounds() {
     let x = 20;
     let y = 20;
@@ -74,7 +74,7 @@ fn test_get_valid_movements_board() {
 
     let border = s.get_valid_movements(&Point(19,19));
     assert!(border.len() == 2);
-}
+}*/
 
 pub enum BoardCommand {
     Dig(Point),

src/lib/world.rs

@@ -1,5 +1,5 @@
 use crate::lib::entity::{Ant, Egg, Entities, Food, Queen};
-use crate::lib::point::Point;
+use crate::lib::point::{astar, Point};
 use crate::lib::screen::{BoardCommand, Screen};
 use std::collections::HashSet;
 
@@ -21,12 +21,29 @@ impl World {
         self.cleared.insert(pos);
     }
 
-    pub fn is_valid_movement(&self, current_pos: &Point, target: &Point, b: &Screen) -> bool {
+    // make sure that this is as simple & robust as possible
-        let mut safe = true;
+    // then, use this set of rules when digging
+    // call astar from the suggested dig site to origin (or whatever "home" coordinate")
+    // if route does not exist, do not dig
+    pub fn is_valid_movement(&self, target: &Point, b: &Screen) -> bool {
+        let safe = 
+               !self.cleared.contains(&target.down())
+            || !self.cleared.contains(&target.left())
+            || !self.cleared.contains(&target.right())
+            || !self.cleared.contains(&target.bldiag())
+            || !self.cleared.contains(&target.uldiag())
+            || !self.cleared.contains(&target.brdiag())
+            || !self.cleared.contains(&target.urdiag());
 
+        // can only go to target if
+        // its above or left or right of a not cleared space
+
+        /*
         if target.is_above(current_pos) {
             safe =
-                !self.cleared.contains(&target.left()) || !self.cleared.contains(&target.right());
+                (!self.cleared.contains(&target.left()) || !self.cleared.contains(&target.right()))
+                || (!self.cleared.contains(&current_pos.right()) && self.cleared.contains(&target.right()))
+                || (!self.cleared.contains(&current_pos.left()) && self.cleared.contains(&target.left()));
         }
 
         if target.is_adjacent(current_pos) {
@@ -38,17 +55,69 @@ impl World {
                 safe = !self.cleared.contains(&target.down());
             }
         }
-        b.is_in_bounds(target) && safe
+
+        if target.is_below(current_pos) {
+            safe = true;
+        }*/
+
+        // of course, its only a valid move if you can walk there!
+        b.is_in_bounds(target) && self.cleared.contains(target) && safe
     }
 
-    pub fn get_valid_movements(&self, pos: &Point, b: &Screen) -> Vec<Point> {
+    pub fn is_cleared(&self, pos: &Point) -> bool {
+        self.cleared.contains(pos)
+    }
+
+    pub fn is_safe_to_dig(&self, current_pos: &Point, target: &Point, b: &Screen) -> bool {
+        // create a scenario in which this has been dug out
+        let mut hypothetical_world = self.clone();
+        hypothetical_world.clear(*target);
+        // test if we can return from the target to the beginning
+        // if yes, dig
+        let result = astar(target, &Point(0, 0), Some(&hypothetical_world), Some(b));
+        //let to_current_pos = astar(target, current_pos, Some(&hypothetical_world), Some(b));
+        /*if target.is_above(current_pos) {
+            safe = !self.cleared.contains(&target.up());
+        }
+
+        if target.is_adjacent(current_pos) {
+            safe = !self.cleared.contains(&target.up()) && !self.cleared.contains(&target.down());
+        }
+
+        if target.is_below(current_pos) {
+           safe = !self.cleared.contains(&target.down()) && !self.cleared.contains(&target.left()) && !self.cleared.contains(&target.right());
+        }*/
+        b.is_in_bounds(target) && result.is_ok()
+    }
+
+    pub fn get_diggable(&self, b: &Screen, pos: &Point) -> Vec<Point> {
         let moves = b.get_valid_movements(pos);
         moves
             .iter()
-            .filter(|p| self.is_valid_movement(pos, p, b))
+            .filter(|p| !self.is_cleared(p))
             .map(|p| p.clone())
             .collect()
     }
+
+    pub fn get_valid_movements(
+        &self,
+        pos: &Point,
+        b: &Screen,
+        return_diggables: bool,
+    ) -> Vec<Point> {
+        let moves = b.get_valid_movements(pos);
+        let mut ans: Vec<Point> = moves
+            .iter()
+            .filter(|p| self.is_valid_movement(p, b))
+            .map(|p| p.clone())
+            .collect();
+
+        if return_diggables {
+            ans.extend(self.get_diggable(b, pos));
+        }
+
+        ans
+    }
 }
 
 pub fn render(e: &Entities, w: &World, b: &Screen) {

src/main.rs

@@ -28,13 +28,8 @@ fn main() {
     entities.add_entity(&q);
 
     for i in 0..6 {
-        for j in 0..6 {
+        for j in 0..1 {
-            if j != 1 {
+            world.clear(Point(i, j));
-                world.clear(Point(i, j));
-            } else {
-                world.clear(Point(0, j));
-                world.clear(Point(5, j));
-            }
         }
     }
 
@@ -42,7 +37,7 @@ fn main() {
         // TODO: add way to break out of the loop by hitting a random key
         simulate(&mut entities, &mut world, &mut board);
         render(&entities, &world, &board);
-        sleep(time::Duration::from_millis(1000));
+        sleep(time::Duration::from_millis(100));
         refresh();
     }
     endwin();

tests/ai_test.rs

@@ -1,8 +1,8 @@
-use antf::lib::screen::{Screen, init_screen};
-use antf::lib::point::Point;
 use antf::lib::ai::AIGoal;
-use antf::lib::world::{World, simulate, render};
+use antf::lib::entity::{Ant, Entities, Food, FoodGenerator};
-use antf::lib::entity::{Entities, Ant, Food, FoodGenerator};
+use antf::lib::point::Point;
+use antf::lib::screen::{init_screen, Screen};
+use antf::lib::world::{render, simulate, World};
 
 use ncurses::*;
 use std::thread::sleep;
@@ -12,20 +12,21 @@ use std::time;
 
 #[test]
 fn test_reach_astar() {
-    let mut board = init_screen();//Screen::new(40,40); 
+    let mut board = init_screen(); //Screen::new(40,40);
     let mut world = World::new();
 
+    world.clear(Point(0, 0));
     let mut entities = Entities::new();
 
-    let a = Ant::new(0,0);
+    let a = Ant::new(0, 0);
     let id = entities.add_entity(&a);
 
     let a = entities.data.get_mut(&id).unwrap();
     let ant: &mut Ant = a.downcast_mut::<Ant>().unwrap();
-    ant.plan.push(AIGoal::Reach(Point(10,10)));
+    ant.plan.push(AIGoal::Reach(Point(0, 0)));
-    ant.plan.push(AIGoal::Reach(Point(-10,-10)));
+    ant.plan.push(AIGoal::Reach(Point(20, 20)));
-    ant.plan.push(AIGoal::Reach(Point(10,-10)));
+    ant.plan.push(AIGoal::Reach(Point(0, 0)));
-    ant.plan.push(AIGoal::Reach(Point(-10,10)));
+    ant.plan.push(AIGoal::Reach(Point(20, 20)));
 
     // craps out... need to make sure unwrap() is safe
     for _ in 0..420 {