public IEnumerable <Command> Solve1(State state)
{
var map = state.Map;
var distsFromCenter = map.DistsFromCenter;
var distsFromCenterTimer = 0;
var distsFromCenterTimerResetPeriod = Math.Max(10, 1 + (map.CellsToVisit.Count() / this.recalcDistsFromCenterCount));
var bfs = new BfsState(state.Map);
// for debugging purposes
// var history = new List<(Command, State)>();
Command Next(Command cmd)
{
var newState = state.Next(cmd) ?? throw new InvalidOperationException("Generated invalid move!");
var wrappedDiff = newState.WrappedCellsCount - state.WrappedCellsCount;
state = newState;
distsFromCenterTimer += wrappedDiff;
if (distsFromCenterTimer >= distsFromCenterTimerResetPeriod)
{
distsFromCenter = new DistsFromCenter(state);
distsFromCenterTimer = 0;
}
// history.Add((cmd, state));
return(cmd);
}
while (state.WrappedCellsCount != map.CellsToVisit.Count)
{
Bfs(distsFromCenter);
if (state.HaveManipulatorExtensions())
{
yield return(Next(this.manipStrategy.Grow(state)));
continue;
}
foreach (var cmd in bfs.Path)
{
// During walking we've found extension thingy - let's take it then!
if (state.HaveManipulatorExtensions())
{
yield return(Next(this.manipStrategy.Grow(state)));
break;
}
yield return(Next(cmd));
}
}
void Bfs(DistsFromCenter distsFromCenter)
{
var bot = state.GetBot(0);
++bfs.Generation;
bfs.Queue.Clear();
bfs.Queue.Enqueue((bot.X, bot.Y, bot.Dir));
bfs.Nodes[bot.X, bot.Y, bot.Dir] = new BfsState.Node(bfs.Generation, -1, 0);
int?maxDepth = null;
(int, int, int, bool isExtensionBooster, int numVis, int distFromCenter)? bestDest = null;
while (bfs.Queue.Count > 0)
{
var(x, y, dir) = bfs.Queue.Dequeue();
var depth = bfs.Nodes[x, y, dir].Depth;
if (bfs.Nodes[x, y, dir].Generation != bfs.Generation)
{
throw new Exception("oops");
}
if (maxDepth != null && depth > maxDepth.Value)
{
if (bestDest == null)
{
throw new InvalidOperationException();
}
var(destX, destY, destDir, destIsExtensionBooster, destNumVis, bestDistFromCenter) = bestDest.Value;
FindBackwardPath(destX, destY, destDir);
return;
}
// path found, but search a bit more for deeper fruits
var isExtensionBooster = map[x, y] == Map.Cell.ManipulatorExtension && !state.IsPickedUp(x, y);
var(numVis, distFromCenter) = state.MaxUnwrappedVisibleDistFromCenter(x, y, dir, distsFromCenter);
if (numVis > 0 || isExtensionBooster)
{
if (maxDepth == null)
{
maxDepth = depth + this.bfsExtraDepth;
}
if (bestDest == null ||
Quality(isExtensionBooster, numVis, distFromCenter) > Quality(bestDest.Value.isExtensionBooster, bestDest.Value.numVis, bestDest.Value.distFromCenter))
{
bestDest = (x, y, dir, isExtensionBooster, numVis, distFromCenter);
}
}
for (var i = 0; i < Move.All.Length; ++i)
{
var move = Move.All[i];
var nx = x + move.Dx;
var ny = y + move.Dy;
if (map.IsFree(nx, ny) && bfs.Nodes[nx, ny, dir].Generation != bfs.Generation)
{
bfs.Nodes[nx, ny, dir] = new BfsState.Node(bfs.Generation, i, depth + 1);
bfs.Queue.Enqueue((nx, ny, dir));
}
}
for (var i = 0; i < Turn.All.Length; ++i)
{
var ddir = Turn.All[i].Ddir;
var ndir = (dir + ddir) & 3;
if (bfs.Nodes[x, y, ndir].Generation != bfs.Generation)
{
bfs.Nodes[x, y, ndir] = new BfsState.Node(bfs.Generation, -ddir, depth + 1);
bfs.Queue.Enqueue((x, y, ndir));
}
}
}
var(finalX, finalY, finalDir, p1, p2, p3) =
bestDest ?? throw new InvalidOperationException("Couldn't find any path with BFS!");
FindBackwardPath(finalX, finalY, finalDir);
int Quality(bool isBooster, int numVis, int distFromCenter1) =>
(isBooster ? 10000 : 0) + (this.numVisCoeff * numVis) + (10 * distFromCenter1);
}
void FindBackwardPath(int x, int y, int dir)
{
bfs.FindBackwardPath(x, y, dir, state.GetBot(0));
// if there's more than one command, then filter out all turns
if (this.removeTurns && bfs.Path.Count > 1)
{
var writeIdx = 0;
for (var i = 0; i < bfs.Path.Count; ++i)
{
if (!(bfs.Path[i] is Turn))
{
bfs.Path[writeIdx++] = bfs.Path[i];
}
}
// degenerate case: 180 degree turn
if (writeIdx != 0)
{
bfs.Path.RemoveRange(writeIdx, bfs.Path.Count - writeIdx);
}
}
}
}
public IEnumerable <Command> Solve1(State initState)
{
// To be used only in the root of the function
var masterState = initState;
var map = masterState.Map;
// Used only by RunBfs() and FindSmallZones()
var bfs = new BfsState(map);
var distsFromCenter = map.DistsFromCenter;
var globalZoneToVisit = map.CellsToVisit.ToHashSet();
foreach (var visited in masterState.WrappedCells.Enumerate())
{
globalZoneToVisit.Remove(visited.Key);
}
foreach (var cmd in RunInZone(globalZoneToVisit))
{
yield return(cmd);
}
IEnumerable <Command> RunInZone(HashSet <(int, int)> zone)
{
while (true)
{
var firstPath = new List <Command>();
var noTurn = MeasureTurnProfit(masterState, zone, null, this.lookAheadSize, firstPath);
if (firstPath.Count == 0)
{
yield break;
}
if (this.lookAheadSize == 0 || firstPath.Count > 10)
{
var upTo = firstPath.Count - (this.lookAheadSize == 0 ? 0 : 10);
for (var i = 0; i < upTo; ++i)
{
masterState = masterState.Next(firstPath[i]) ?? throw new Exception("Impossible");
yield return(firstPath[i]);
}
continue;
}
var profits = new[]
{
noTurn,
MeasureTurnProfit(masterState, zone, Turn.Left, this.lookAheadSize - 1),
MeasureTurnProfit(masterState, zone, Turn.Right, this.lookAheadSize - 1),
};
var best = noTurn;
foreach (var p in profits)
{
if (p.profit > best.profit && p.profit > noTurn.profit + 1)
{
best = p;
}
}
if (best.command != null)
{
masterState = masterState.Next(best.command) ?? throw new Exception("Impossible");
yield return(best.command);
}
else
{
throw new Exception("Impossible");
}
}
}
int CalcProfit(List <(int, int)> touchedCells)
{
var bot = masterState.GetBot(0);
var edgeCells = 0;
foreach (var cell in touchedCells)
{
var(x, y) = cell;
if (!IsFree(x + 1, y) || !IsFree(x - 1, y) || !IsFree(x, y + 1) || !IsFree(x, y - 1))
{
edgeCells += 1;
}
}
return(touchedCells.Count + (10 * edgeCells));
bool IsFree(int x, int y) =>
map.IsFree(x, y); // && !masterState.IsWrapped(x, y);
}
(Command?command, int profit) MeasureTurnProfit(
State state,
HashSet <(int, int)> zone,
Command?firstCommand,
int lookAhead,
List <Command>?firstPath = null)
{
var touchedCells = new List <(int, int)>();
if (firstCommand != null)
{
var nextState = state.Next(touchedCells, firstCommand);
if (nextState == null)
{
return(null, 0);
}
state = nextState;
}
var afterFirstSize = touchedCells.Count;
var firstBfsCommand = RepeatBfs(state, zone, 1 + lookAhead, touchedCells, firstPath);
var bfsProfit = CalcProfit(touchedCells);
touchedCells.RemoveRange(afterFirstSize, touchedCells.Count - afterFirstSize);
if (lookAhead == 0)
{
firstCommand ??= firstBfsCommand;
return(firstCommand, bfsProfit);
}
var possibleMoves = DirToMoves[state.GetBot(0).Dir];
var bestMove = (command : (Command?)firstBfsCommand, profit : bfsProfit);
foreach (var move in possibleMoves)
{
if (move != firstBfsCommand)
{
TryMove(state, zone, move, lookAhead, touchedCells, null);
var profit = CalcProfit(touchedCells);
touchedCells.RemoveRange(afterFirstSize, touchedCells.Count - afterFirstSize);
if (profit > bestMove.profit)
{
bestMove = (move, profit);
}
}
}
firstCommand ??= bestMove.command;
return(firstCommand, bestMove.profit);
}
void TryMove(
State state,
HashSet <(int, int)> zone,
Command firstCommand,
int lookAhead,
List <(int, int)> touchedCells,
List <Command>?firstPath = null)
{
var nextState = state.Next(touchedCells, firstCommand);
if (nextState == null)
{
return;
}
firstPath?.Add(firstCommand);
RepeatBfs(nextState, zone, lookAhead, touchedCells, firstPath);
}
Command?RepeatBfs(State state, HashSet <(int, int)> zone, int times, List <(int, int)> touchedCells, List <Command>?firstPath)
{
Command?firstCmd = null;
while (times > 0 && RunBfs(state, zone) && bfs.Path.Count > 0)
{
for (var i = 0; i < bfs.Path.Count && times > 0; ++i, --times)
{
if (firstCmd == null)
{
firstCmd = bfs.Path[0];
firstPath?.AddRange(bfs.Path);
}
state = state.Next(touchedCells, bfs.Path[i]) ?? throw new Exception("Impossible");
}
}
return(firstCmd);
}
bool RunBfs(State state, HashSet <(int, int)> zone)
{
var bot = state.GetBot(0);
var possibleMoves = DirToMoves[bot.Dir];
++bfs.Generation;
bfs.Nodes[bot.X, bot.Y, bot.Dir] = new BfsState.Node(bfs.Generation, -1, 0);
bfs.Queue.Clear();
bfs.Queue.Enqueue((bot.X, bot.Y, bot.Dir));
while (bfs.Queue.Count > 0)
{
var(x, y, dirUnused) = bfs.Queue.Dequeue();
if (state.UnwrappedCellsVisibleInZone(x, y, bot.Dir, zone))
{
bfs.FindBackwardPath(x, y, bot.Dir, bot, possibleMoves);
return(true);
}
for (var moveIdx = 0; moveIdx < 4; ++moveIdx)
{
var move = possibleMoves[moveIdx];
var nx = x + move.Dx;
var ny = y + move.Dy;
if (map.IsFree(nx, ny) && bfs.Nodes[nx, ny, bot.Dir].Generation != bfs.Generation)
{
bfs.Nodes[nx, ny, bot.Dir] = new BfsState.Node(bfs.Generation, moveIdx, 0);
bfs.Queue.Enqueue((nx, ny, bot.Dir));
}
}
}
return(false);
}
}
public IEnumerable <Command> Solve1(State state)
{
var map = state.Map;
var bfs = new BfsState(map);
// No point in running if there's another strategy that will collect everything
if (CollectBoostersFactory.PrevCount(this.boostersCount) >= map.NumManipulatorExtensions)
{
throw new SkipStrategyException();
}
var remainingBoostersCount = Math.Min(state.ManipulatoExtensionsOnTheFloorCount, this.boostersCount);
Command Next(Command cmd)
{
state = state.Next(cmd) ?? throw new InvalidOperationException("Generated invalid move!");
if (cmd is UseManipulatorExtension)
{
--remainingBoostersCount;
}
return(cmd);
}
while (remainingBoostersCount > 0)
{
foreach (var cmd in FindManipulatorExtension())
{
yield return(Next(cmd));
}
while (state.HaveManipulatorExtensions())
{
yield return(Next(this.manipStrategy.Grow(state)));
}
}
IEnumerable <Command> FindManipulatorExtension()
{
var bot = state.GetBot(0);
++bfs.Generation;
bfs.Queue.Clear();
bfs.Queue.Enqueue((bot.X, bot.Y, bot.Dir));
bfs.Nodes[bot.X, bot.Y, bot.Dir] = new BfsState.Node(bfs.Generation, -1, 0);
while (bfs.Queue.Count > 0)
{
var(x, y, dir) = bfs.Queue.Dequeue();
if (bfs.Nodes[x, y, dir].Generation != bfs.Generation)
{
throw new Exception("oops");
}
if (map[x, y] == Map.Cell.ManipulatorExtension && !state.IsPickedUp(x, y))
{
bfs.FindBackwardPath(x, y, dir, bot);
return(bfs.Path);
}
for (var i = 0; i < Move.All.Length; ++i)
{
var move = Move.All[i];
var nx = x + move.Dx;
var ny = y + move.Dy;
if (map.IsFree(nx, ny) && bfs.Nodes[nx, ny, dir].Generation != bfs.Generation)
{
bfs.Nodes[nx, ny, dir] = new BfsState.Node(bfs.Generation, i, 0);
bfs.Queue.Enqueue((nx, ny, dir));
}
}
}
throw new InvalidOperationException();
}
}
public IEnumerable <Command[]> SolveWithClones(State state)
{
var addedBots = new List <(int time, State.Bot bot)>();
var time = 0;
var cloningCommands = MakeClones().ToList();
var cloningTime = cloningCommands.Count;
var stateAfterCloning = state;
var firstBotSolutionSize = this.baseStrategy
.Solve(stateAfterCloning.ReplaceBots(resetBoosters: false, stateAfterCloning.GetBot(0)))
.Count();
var totalBonusTime = addedBots.Sum(tup => cloningTime - tup.time);
var stepsPerBot = Math.Min(
firstBotSolutionSize / (1 + addedBots.Count),
Math.Max(0, firstBotSolutionSize - totalBonusTime) / (1 + addedBots.Count));
while (true)
{
var commandsPerBot = new Command[addedBots.Count + 1][];
var botState = stateAfterCloning.ReplaceBots(resetBoosters: false, state.GetBot(0));
var bot = botState.GetBot(0);
var botIdx = 0;
while (true)
{
var bonusTime = botIdx == 0
? 0
: cloningTime - addedBots[botIdx - 1].time;
var left = stepsPerBot + bonusTime;
var commandsBuf = new List <Command>();
foreach (var cmd in this.baseStrategy.Solve(botState))
{
if (left-- <= 0)
{
break;
}
commandsBuf.Add(cmd.Single());
var nextState = botState.Next(cmd);
if (nextState == null)
{
throw new Exception("shouldn't happen");
}
botState = nextState;
}
commandsPerBot[botIdx] = commandsBuf.ToArray();
if (++botIdx >= stateAfterCloning.BotsCount)
{
break;
}
botState = botState.ReplaceBots(resetBoosters: true, addedBots[botIdx - 1].bot);
}
if (botState.Map.CellsToVisit.Count == botState.WrappedCellsCount)
{
commandsPerBot[0] = cloningCommands.Concat(commandsPerBot[0]).ToArray();
foreach (var cmds in CommandsSerializer.Transponse(commandsPerBot))
{
yield return(cmds);
}
break;
}
stepsPerBot = (int)(1 + (stepsPerBot * 1.1));
}
IEnumerable <Command> MakeClones()
{
var map = state.Map;
var bfs = new BfsState(map);
while (addedBots.Count < map.NumCloneBoosts)
{
var bot = state.GetBot(0);
foreach (var cmd in FindBooster())
{
++time;
state = state.Next(cmd) ?? throw new Exception("Impossible");
yield return(cmd);
}
while (map[bot.X, bot.Y] == Map.Cell.SpawnPoint && state.CloneBoosterCount > 0)
{
++time;
addedBots.Add((time, bot));
state = state.Next(Clone.Instance) ?? throw new Exception("Impossible");
yield return(Clone.Instance);
}
}
IEnumerable <Command> FindBooster()
{
var bot = state.GetBot(0);
++bfs.Generation;
bfs.Queue.Clear();
bfs.Queue.Enqueue((bot.X, bot.Y, bot.Dir));
bfs.Nodes[bot.X, bot.Y, 0] = new BfsState.Node(bfs.Generation, -1, 0);
while (bfs.Queue.Count > 0)
{
var(x, y, dir) = bfs.Queue.Dequeue();
if ((map[x, y] == Map.Cell.Clone && !state.IsPickedUp(x, y) && (x, y) != (bot.X, bot.Y)) ||
(map[x, y] == Map.Cell.SpawnPoint &&
(state.CloneBoosterCount > 0 || (map[bot.X, bot.Y] == Map.Cell.Clone && !state.IsPickedUp(bot.X, bot.Y)))))
{
bfs.FindBackwardPath(x, y, 0, bot);
return(bfs.Path);
}
for (var i = 0; i < Move.All.Length; ++i)
{
var move = Move.All[i];
var nx = x + move.Dx;
var ny = y + move.Dy;
if (map.IsFree(nx, ny) && bfs.Nodes[nx, ny, dir].Generation != bfs.Generation)
{
bfs.Nodes[nx, ny, dir] = new BfsState.Node(bfs.Generation, i, 0);
bfs.Queue.Enqueue((nx, ny, dir));
}
}
}
throw new Exception("oops");
}
}
}