98 lines
2.7 KiB
Haskell
98 lines
2.7 KiB
Haskell
import AI.Vacuum
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import Control.Monad.State
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import Data.Maybe (isJust, isNothing, fromJust)
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-- Problem 2.6
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possiblePerceptsHistories :: [PerceptsHistory]
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possiblePerceptsHistories = takeWhile ((<= 9) . length) $
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[[]] : [[PhotoSensor]] : concatMap (\s -> [[] : s, [PhotoSensor] : s]) possiblePerceptsHistories
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-- 0 -> t
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-- 1 -> s
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-- t -> 0 -> m | 1 -> X
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-- s -> 0 -> t | 1 -> X
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-- m -> 0 -> t | 1 -> s
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-- X -> X
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chooseAction :: PerceptsHistory -> Maybe Action
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chooseAction ph =
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case ph of
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[] -> Just GoForward
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[[]] -> Just TurnRight
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[[PhotoSensor]] -> Just SuckDirt
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(p:ps) ->
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case lookup ps perceptsHistoryToActionMap of
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Just (Just prevAction) -> chooseAction' ph prevAction
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_ -> Nothing
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chooseAction' :: PerceptsHistory -> Action -> Maybe Action
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chooseAction' ph prevAction
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| prevAction == TurnRight || prevAction == TurnLeft =
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case head ph of
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[] -> Just GoForward
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[PhotoSensor] -> Nothing
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| prevAction == SuckDirt =
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case head ph of
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[] -> Just TurnRight
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[PhotoSensor] -> Nothing
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| prevAction == GoForward =
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case head ph of
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[] -> Just TurnRight
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[PhotoSensor] -> Just SuckDirt
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| prevAction == TurnOff = error "Cannot move after turnoff"
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perceptsHistoryToActionMap :: [(PerceptsHistory, Maybe Action)]
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perceptsHistoryToActionMap =
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map (\ph -> (ph, chooseAction ph)) possiblePerceptsHistories
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grid1 = gridFromCellList [
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Cell (0, 0) Home, Cell (1, 0) Empty,
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Cell (0, 1) Empty, Cell (1, 1) Empty
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]
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grid2 = gridFromCellList [
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Cell (0, 0) Home, Cell (1, 0) Dirt,
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Cell (0, 1) Empty, Cell (1, 1) Empty
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]
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grid3 = gridFromCellList [
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Cell (0, 0) Home, Cell (1, 0) Empty,
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Cell (0, 1) Dirt, Cell (1, 1) Empty
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]
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grid4 = gridFromCellList [
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Cell (0, 0) Home, Cell (1, 0) Empty,
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Cell (0, 1) Empty, Cell (1, 1) Dirt
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]
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grid5 = gridFromCellList [
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Cell (0, 0) Home, Cell (1, 0) Dirt,
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Cell (0, 1) Dirt, Cell (1, 1) Empty
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]
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grid6 = gridFromCellList [
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Cell (0, 0) Home, Cell (1, 0) Empty,
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Cell (0, 1) Dirt, Cell (1, 1) Dirt
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]
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grid7 = gridFromCellList [
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Cell (0, 0) Home, Cell (1, 0) Dirt,
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Cell (0, 1) Empty, Cell (1, 1) Dirt
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]
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runCleaner :: Cleaner -> State Grid Cleaner
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runCleaner cleaner@(Cleaner _ _ _ ph _) = do
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case chooseAction ph of
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Just action -> do
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cleaner <- doAction action cleaner
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let ph = clPrcptsHist cleaner
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if InfraredSensor `elem` (head ph)
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then doAction TurnOff cleaner
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else runCleaner cleaner
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_ -> doAction TurnOff cleaner
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simulateOnGrid :: Grid -> (Cleaner, Grid)
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simulateOnGrid grid =
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runState (runCleaner cleaner) grid
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where cleaner = createCleaner (fromJust $ cell (0, 0) grid) East |