Parallel and castle fixes

Fixed small errors when castling. Forced parallel to work by making it extend sequential groups. It makes parting the red sea look nice, but it may not be the best way to do it.
Comet-Robotics · Dec 3, 2024 · 2f2f9bb · 2f2f9bb
1 parent 5ec51bc
commit 2f2f9bb
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Showing 4 changed files with 51 additions and 43 deletions.
diff --git a/src/server/command/command.ts b/src/server/command/command.ts
@@ -82,24 +82,6 @@ function isReversable(obj): obj is Reversible<typeof obj> {
     return typeof obj.reverse() === "function";
 }
 
-/**
- * Executes one or more commands in parallel.
- */
-export class ParallelCommandGroup extends CommandGroup {
-    public async execute(): Promise<void> {
-        const promises = this.commands.map((move) => move.execute());
-        return Promise.all(promises).then(null);
-    }
-    public async reverse(): Promise<void> {
-        const promises = this.commands.map((move) => {
-            if (isReversable(move)) {
-                move.reverse();
-            }
-        });
-        return Promise.all(promises).then(null);
-    }
-}
-
 /**
  * Executes one or more commands in sequence, one after another.
  */
@@ -121,3 +103,21 @@ export class SequentialCommandGroup extends CommandGroup {
         return promise;
     }
 }
+
+/**
+ * Executes one or more commands in parallel.
+ */
+export class ParallelCommandGroup extends SequentialCommandGroup {
+    public async execute(): Promise<void> {
+        const promises = this.commands.map((move) => move.execute());
+        return Promise.all(promises).then(null);
+    }
+    public async reverse(): Promise<void> {
+        const promises = this.commands.map((move) => {
+            if (isReversable(move)) {
+                move.reverse();
+            }
+        });
+        return Promise.all(promises).then(null);
+    }
+}
diff --git a/src/server/command/move-piece.ts b/src/server/command/move-piece.ts
@@ -3,6 +3,7 @@ import {
     RobotCommand,
     SequentialCommandGroup,
     Reversible,
+    ParallelCommandGroup,
 } from "./command";
 
 export type ReversibleRobotCommand = RobotCommand &
@@ -18,9 +19,9 @@ export class MovePiece extends SequentialCommandGroup {
         public mainMove: Command,
     ) {
         super([
-            new SequentialCommandGroup(setupMoves),
+            new ParallelCommandGroup(setupMoves),
             mainMove,
-            new SequentialCommandGroup(
+            new ParallelCommandGroup(
                 setupMoves.map((command) =>
                     command
                         .reverse()

diff --git a/src/server/robot/path-materializer.ts b/src/server/robot/path-materializer.ts
@@ -557,38 +557,41 @@ export function materializePath(move: Move): Command {
         let rookMove1;
         let rookMove2;
         let rookMove3;
+        let rookPiece;
         if (moveToGridMove(move).from.j === 2) {
+            rookPiece = robotManager.getRobotAtIndices(new GridIndices(2, 2));
             kingMove = new AbsoluteMoveCommand(
                 robotManager.getRobotAtIndices(moveToGridMove(move).from).id,
                 gridIndicesToPosition(new GridIndices(4, 2)),
             );
             rookMove1 = new AbsoluteMoveCommand(
-                robotManager.getRobotAtIndices(new GridIndices(2, 2)).id,
+                rookPiece.id,
                 gridIndicesToPosition(new GridIndices(2, 1)),
             );
             rookMove2 = new AbsoluteMoveCommand(
-                robotManager.getRobotAtIndices(new GridIndices(2, 1)).id,
+                rookPiece.id,
                 gridIndicesToPosition(new GridIndices(5, 1)),
             );
             rookMove3 = new AbsoluteMoveCommand(
-                robotManager.getRobotAtIndices(new GridIndices(5, 1)).id,
+                rookPiece.id,
                 gridIndicesToPosition(new GridIndices(5, 2)),
             );
         } else {
+            rookPiece = robotManager.getRobotAtIndices(new GridIndices(2, 9));
             kingMove = new AbsoluteMoveCommand(
                 robotManager.getRobotAtIndices(moveToGridMove(move).from).id,
                 gridIndicesToPosition(new GridIndices(4, 9)),
             );
             rookMove1 = new AbsoluteMoveCommand(
-                robotManager.getRobotAtIndices(new GridIndices(2, 9)).id,
+                rookPiece.id,
                 gridIndicesToPosition(new GridIndices(2, 10)),
             );
             rookMove2 = new AbsoluteMoveCommand(
-                robotManager.getRobotAtIndices(new GridIndices(2, 10)).id,
+                rookPiece.id,
                 gridIndicesToPosition(new GridIndices(5, 10)),
             );
             rookMove3 = new AbsoluteMoveCommand(
-                robotManager.getRobotAtIndices(new GridIndices(6, 10)).id,
+                rookPiece.id,
                 gridIndicesToPosition(new GridIndices(5, 9)),
             );
         }
@@ -602,39 +605,42 @@ export function materializePath(move: Move): Command {
         let rookMove1;
         let rookMove2;
         let rookMove3;
+        let rookPiece;
         if (moveToGridMove(move).from.j === 2) {
+            rookPiece = robotManager.getRobotAtIndices(new GridIndices(9, 2))
             kingMove = new AbsoluteMoveCommand(
                 robotManager.getRobotAtIndices(moveToGridMove(move).from).id,
-                gridIndicesToPosition(new GridIndices(9, 2)),
+                gridIndicesToPosition(new GridIndices(8, 2)),
             );
             rookMove1 = new AbsoluteMoveCommand(
-                robotManager.getRobotAtIndices(new GridIndices(9, 2)).id,
+                rookPiece.id,
                 gridIndicesToPosition(new GridIndices(9, 1)),
             );
             rookMove2 = new AbsoluteMoveCommand(
-                robotManager.getRobotAtIndices(new GridIndices(9, 1)).id,
-                gridIndicesToPosition(new GridIndices(6, 1)),
+                rookPiece.id,
+                gridIndicesToPosition(new GridIndices(7, 1)),
             );
             rookMove3 = new AbsoluteMoveCommand(
-                robotManager.getRobotAtIndices(new GridIndices(6, 1)).id,
-                gridIndicesToPosition(new GridIndices(9, 2)),
+                rookPiece.id,
+                gridIndicesToPosition(new GridIndices(7, 2)),
             );
         } else {
+            rookPiece = robotManager.getRobotAtIndices(new GridIndices(9, 9));
             kingMove = new AbsoluteMoveCommand(
                 robotManager.getRobotAtIndices(moveToGridMove(move).from).id,
-                gridIndicesToPosition(new GridIndices(9, 9)),
+                gridIndicesToPosition(new GridIndices(9, 8)),
             );
             rookMove1 = new AbsoluteMoveCommand(
-                robotManager.getRobotAtIndices(new GridIndices(9, 9)).id,
+                rookPiece.id,
                 gridIndicesToPosition(new GridIndices(9, 10)),
             );
             rookMove2 = new AbsoluteMoveCommand(
-                robotManager.getRobotAtIndices(new GridIndices(9, 10)).id,
-                gridIndicesToPosition(new GridIndices(6, 10)),
+                rookPiece.id,
+                gridIndicesToPosition(new GridIndices(7, 10)),
             );
             rookMove3 = new AbsoluteMoveCommand(
-                robotManager.getRobotAtIndices(new GridIndices(6, 10)).id,
-                gridIndicesToPosition(new GridIndices(6, 9)),
+                rookPiece.id,
+                gridIndicesToPosition(new GridIndices(7, 9)),
             );
         }
         return new SequentialCommandGroup([

diff --git a/src/server/simulator.ts b/src/server/simulator.ts
@@ -4,15 +4,16 @@ import { Robot } from "./robot/robot";
 import config from "./api/bot-server-config.json";
 import { Packet } from "./utils/tcp-packet";
 import { Position, ZERO_POSITION } from "./robot/position";
-import path from "path";
+//import path from "path";
 import {
     SimulatorUpdateMessage,
-    StackFrame,
+    //StackFrame,
 } from "../common/message/simulator-message";
 import { socketManager } from "./api/managers";
 import { GridIndices } from "./robot/grid-indices";
 import { getStartHeading, Side } from "../common/game-types";
 
+/*
 const srcDir = path.resolve(__dirname, "../");
 
 function getStack(justMyCode = true) {
@@ -56,7 +57,7 @@ const parseErrorStack = (stack: string): StackFrame[] => {
     });
     return frames;
 };
-
+*/
 export class VirtualBotTunnel extends BotTunnel {
     connected = true;
 
@@ -95,7 +96,7 @@ export class VirtualBotTunnel extends BotTunnel {
     }
 
     send(packet: Packet) {
-        const stack = getStack();
+        //const stack = getStack();
 
         // NOTE: need to ensure that all the packets which are used in the Robot class (src/server/robot/robot.ts) are also provided with a matching virtual implementation here
         switch (packet.type) {
@@ -135,7 +136,7 @@ export class VirtualBotTunnel extends BotTunnel {
                 headingRadians: this.headingRadians,
             },
             packet,
-            stack,
+            [],
         );
         VirtualBotTunnel.messages.push({ ts: new Date(), message });
         socketManager.sendToAll(message);