Boolean expressions of objective prerequisites

Closes #795

.gitignore

@@ -14,6 +14,7 @@ stan.html
 
 .swarm_history
 
+*.orig
 *.aux
 *.log
 docs/ott/*.tex

data/scenarios/Challenges/Ranching/gated-paddock.yaml

@@ -274,6 +274,7 @@ objectives:
       } {
           return false;
       }
+    id: enclose_sheep
   - goal:
       - |
         Safe! Your sheep are now hungry.
@@ -311,6 +312,10 @@ objectives:
           end;
 
       anySheep (has "clover") 3;
+    id: feed_sheep
+    prerequisite:
+      logic:
+        id: enclose_sheep
   - goal:
       - |
         Yum! Contented, well-fed sheep may drop wool.
@@ -323,6 +328,9 @@ objectives:
       as base {
         has "sweater";
       };
+    prerequisite:
+      logic:
+        id: feed_sheep
 robots:
   - name: base
     dir: [0, 1]

data/scenarios/Challenges/bucket-brigade.yaml

@@ -66,6 +66,7 @@ objectives:
         You'll have to make do...
     condition: |
       as base {has "coal lump"}
+    id: deliver_coal_lump
   - goal:
       - Your base got some coal!
       - Now fashion more of it into a "coal briquette", and place it
@@ -75,6 +76,9 @@ objectives:
     condition: |
       hauler <- robotnamed "hauler";
       as hauler {has "coal briquette"}
+    prerequisite:
+      logic:
+        id: deliver_coal_lump
 solution: |
   run "scenarios/Challenges/_bucket-brigade/brigade.sw"
 entities:

data/scenarios/Testing/00-ORDER.txt

@@ -14,6 +14,7 @@
 684-swap.yaml
 699-movement-fail
 858-inventory
+795-prerequisite
 710-multi-robot.yaml
 920-meet.yaml
 955-heading.yaml

data/scenarios/Testing/378-objectives.yaml

@@ -10,10 +10,14 @@ objectives:
         n <- as base {count "tree"};
         return (n >= 3)
       } { return false }
+    id: get_trees
   - goal:
       - Nice job.  Now, build a harvester.
     condition: |
       try { as base {has "harvester"} } {return false}
+    prerequisite:
+      logic:
+        id: get_trees
 solution: |
   build {turn right; move; move; grab; move; grab; move; grab; turn back; move; move; move; move};
   wait 16;

data/scenarios/Testing/795-prerequisite/00-ORDER.txt

@@ -0,0 +1,4 @@
+795-prerequisite-or.yaml
+795-prerequisite-and.yaml
+795-prerequisite-mutually-exclusive.yaml
+795-prerequisite-cycle-with-not.yaml

data/scenarios/Testing/795-prerequisite/795-prerequisite-and.yaml

@@ -0,0 +1,50 @@
+version: 1
+name: |
+  Prerequisite objectives: AND
+description: |
+  Complete an objective with a prerequisite of either of two other objectives.
+objectives:
+  - goal:
+      - Achieve both of two other objectives
+    condition: |
+      return true;
+    prerequisite:
+      previewable: true
+      logic:
+        and:
+          - id: have_furnace
+          - id: have_gear
+  - goal:
+      - Make a "furnace".
+    condition: |
+      as base {has "furnace"};
+    id: have_furnace
+    optional: true
+  - goal:
+      - Make a "wooden gear".
+    condition: |
+      as base {has "wooden gear"};
+    id: have_gear
+    optional: true
+solution: |
+  make "furnace";
+  make "wooden gear";
+robots:
+  - name: base
+    display:
+      char: 'Ω'
+      attr: robot
+    dir: [0, 1]
+    devices:
+      - workbench
+      - grabber
+    inventory:
+      - [2, board]
+      - [5, rock]
+world:
+  default: [blank]
+  palette:
+    'x': [grass, null, base]
+  upperleft: [0, 0]
+  map: |
+    x

data/scenarios/Testing/795-prerequisite/795-prerequisite-cycle-with-not.yaml

@@ -0,0 +1,46 @@
+version: 1
+name: |
+  Prerequisite objectives: non-dependency cycle due to the NOT
+description: |
+  This should NOT be rejected by the parser.
+  The two objectives do reference each other,
+  but the NOT is a distinct reference from the non-negated goal.
+objectives:
+  - goal:
+      - Make a "furnace".
+    condition: |
+      as base {has "furnace"};
+    id: have_furnace
+    prerequisite:
+      logic:
+        not:
+          id: have_gear
+  - goal:
+      - Make a "wooden gear".
+    condition: |
+      as base {has "wooden gear"};
+    id: have_gear
+    prerequisite:
+      logic:
+        id: have_furnace
+solution: |
+  make "wooden gear";
+  make "furnace";
+robots:
+  - name: base
+    display:
+      char: 'Ω'
+      attr: robot
+    dir: [0, 1]
+    devices:
+      - workbench
+    inventory:
+      - [2, board]
+      - [5, rock]
+world:
+  default: [blank]
+  palette:
+    'x': [grass, null, base]
+  upperleft: [0, 0]
+  map: |
+    x

data/scenarios/Testing/795-prerequisite/795-prerequisite-mutually-exclusive.yaml

@@ -0,0 +1,60 @@
+version: 1
+name: |
+  Prerequisite objectives: OR
+description: |
+  Complete an objective with a prerequisite of either of two other objectives.
+objectives:
+  - goal:
+      - Achieve one of two other objectives
+    condition: |
+      return true;
+    prerequisite:
+      previewable: true
+      logic:
+        or:
+          - and:
+            - id: have_furnace
+            - not:
+                id: have_flower
+          - and:
+            - id: have_gear
+            - id: have_flower
+  - goal:
+      - Make a "furnace".
+    condition: |
+      as base {has "furnace"};
+    id: have_furnace
+    optional: true
+  - goal:
+      - Make a "wooden gear".
+    condition: |
+      as base {has "wooden gear"};
+    id: have_gear
+    optional: true
+  - goal:
+      - Possess a "flower".
+    condition: |
+      as base {has "flower"};
+    id: have_flower
+    optional: true
+solution: |
+  make "furnace"
+robots:
+  - name: base
+    display:
+      char: 'Ω'
+      attr: robot
+    dir: [0, 1]
+    devices:
+      - workbench
+      - grabber
+    inventory:
+      - [2, board]
+      - [5, rock]
+world:
+  default: [blank]
+  palette:
+    'x': [grass, flower, base]
+  upperleft: [0, 0]
+  map: |
+    x

data/scenarios/Testing/795-prerequisite/795-prerequisite-or.yaml

@@ -0,0 +1,49 @@
+version: 1
+name: |
+  Prerequisite objectives: OR
+description: |
+  Complete an objective with a prerequisite of either of two other objectives.
+objectives:
+  - goal:
+      - Achieve one of two other objectives
+    condition: |
+      return true;
+    prerequisite:
+      previewable: true
+      logic:
+        or:
+          - id: have_furnace
+          - id: have_gear
+  - goal:
+      - Make a "furnace".
+    condition: |
+      as base {has "furnace"};
+    id: have_furnace
+    optional: true
+  - goal:
+      - Make a "wooden gear".
+    condition: |
+      as base {has "wooden gear"};
+    id: have_gear
+    optional: true
+solution: |
+  make "wooden gear"
+robots:
+  - name: base
+    display:
+      char: 'Ω'
+      attr: robot
+    dir: [0, 1]
+    devices:
+      - workbench
+      - grabber
+    inventory:
+      - [2, board]
+      - [5, rock]
+world:
+  default: [blank]
+  palette:
+    'x': [grass, flower, base]
+  upperleft: [0, 0]
+  map: |
+    x

data/scenarios/Testing/_Validation/795-prerequisite-cycle.yaml

@@ -0,0 +1,42 @@
+version: 1
+name: |
+  Prerequisite objectives: dependency cycle
+description: |
+  This should be rejected by the parser.
+objectives:
+  - goal:
+      - Make a "furnace".
+    condition: |
+      as base {has "furnace"};
+    id: have_furnace
+    prerequisite:
+      logic:
+        id: have_gear
+  - goal:
+      - Make a "wooden gear".
+    condition: |
+      as base {has "wooden gear"};
+    id: have_gear
+    prerequisite:
+      logic:
+        id: have_furnace
+solution: |
+  make "wooden gear"
+robots:
+  - name: base
+    display:
+      char: 'Ω'
+      attr: robot
+    dir: [0, 1]
+    devices:
+      - workbench
+    inventory:
+      - [2, board]
+      - [5, rock]
+world:
+  default: [blank]
+  palette:
+    'x': [grass, null, base]
+  upperleft: [0, 0]
+  map: |
+    x

data/scenarios/Testing/_Validation/795-prerequisite-nonexistent-reference.yaml

@@ -0,0 +1,40 @@
+version: 1
+name: |
+  Prerequisite objectives: Nonexistent reference
+description: |
+  This scenario should be unparseable due to typo "shave_furnace" vs "have_furnace"
+objectives:
+  - goal:
+      - Achieve one of two other objectives
+    condition: |
+      return true;
+    prerequisite:
+      logic:
+        id: shave_furnace
+  - goal:
+      - Make a "furnace".
+    condition: |
+      as base {has "furnace"};
+    id: have_furnace
+    optional: true
+solution: |
+  make "furnace"
+robots:
+  - name: base
+    display:
+      char: 'Ω'
+      attr: robot
+    dir: [0, 1]
+    devices:
+      - workbench
+      - grabber
+    inventory:
+      - [2, board]
+      - [5, rock]
+world:
+  default: [blank]
+  palette:
+    'x': [grass, flower, base]
+  upperleft: [0, 0]
+  map: |
+    x