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simev.ss
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simev.ss
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;README:
;This code is not ready to hand in because the name of function collide with those in the upload system
;it is function version of Task 1.
;#################################
; BASIC FUNCTION DEFINITIONS
;#################################
(define (assert a b)
(cond
((equal? a b) #t)
(else #f)
)
)
;at - returns the ith element of a list
(define (at lst i)
(cond
((null? lst) '())
((= i 0) (car lst))
(else (at (cdr lst) (- i 1)))
)
)
;(assert 5 (at '(0 1 2 3 4 5 6 7 8 9) 5))
;at-yx - the xth element in the yth list
(define (at-yx list-of-lists y x)
(at (at list-of-lists y) x)
)
;(assert 4 (at-yx '((1 2 3)(4 5 6)(7 8 9)) 1 0))
;at-wyx - the x th element of y th sublist of w th list in the super list
(define (at-wyx LoLoL w y x)
(at (at (at LoLoL w) y) x)
)
;(assert 7 (at-wyx '(((1)(2))((3)(4))((5 6)(7 8))) 2 1 0))
;increment
(define (++ i)
(+ i 1)
)
;(assert 4 (++ 3))
;decrement
(define (-- i)
(- i 1)
)
;(assert 4 (-- 5))
;list increment
(define (l++ list)
(map ++ list)
)
;(assert '(2 3) (l++ '(1 2)))
;list decrement
(define (l-- list)
(map -- list)
)
;(assert '(1 2) (l-- '(2 3)))
;two elemnt list +-
(define (l+- lst)
(list (++ (car lst)) (-- (cadr lst)))
)
;(assert '(1 1) (l+- '(0 2)))
;two elemnt list-+
(define (l-+ lst)
(list (-- (car lst)) (++ (cadr lst)))
)
;(assert '(1 1) (l-+ '(2 0)))
;apply-at
(define (apply-at function lst i)
(cond
((null? lst) '())
((= i 0) (cons (function (car lst)) (cdr lst)))
(else
(cons (car lst) (apply-at function (cdr lst) (-- i)))
)
)
)
;(assert '(0 1 2 3 4 6 6 7 8) (apply-at ++ '(0 1 2 3 4 5 6 7 8) 5))
;apply-at-yx
(define (apply-at-yx function LoL y x)
(apply-at (lambda (line) (apply-at function line x)) LoL y)
)
;apply-at-wyx
(define (apply-at-wyx function LoLoL w y x)
(apply-at (lambda (LoL)
(apply-at (lambda (line)
(apply-at function line x)
) LoL y)
) LoLoL w)
)
;(assert '((0)((1)(2))((3 4) (6 (6)) ((7 8)))) (apply-at-wyx ++ '((0)((1)(2))((3 4) (5 (6)) ((7 8)))) 2 1 0))
;general filter
(define (my-filter predikat lst)
(cond
((null? lst) '())
((predikat (car lst)) (cons (car lst) (my-filter predikat (cdr lst))))
(else (my-filter predikat (cdr lst)))
)
)
;###############################
; MAZE Constants
;###############################
(define get-initial-state
'( ;maze
((w w w w w w)
(w 0 w 0 w w)
(w 0 w 0 0 w)
(w 0 0 0 w w)
(w w w w w w))
; startpoint
(1 1)
; orientation
west
;action-list
(first)
;fail code
0
0
)
)
(define get-test-state
'( ;maze
((w w w w w w)
(w 0 w 0 w w)
(w 0 w 0 0 w)
(w 0 0 0 w w)
(w w w w w w))
; startpoint
(1 1)
; orientation
west
;action-list
(first)
;fail code
0
0
)
)
(define if1
'(if wall?
( turn-left
(if wall?
(turn-left
(if wall?
turn-left
step
)
)
step
)
)
step
)
)
(define right-hand-rule-prg2
'(
(procedure start
( turn-right
(if wall?
( turn-left
(if wall?
(turn-left
(if wall?
turn-left
step
)
)
step
)
)
step
)
put-mark
start
)
)
(procedure turn-right (turn-left turn-left turn-left turn-left turn-left))
)
)
(define maze
'((w w w w w w)
(w 0 w 0 w w)
(w 0 w 0 0 w)
(w 0 0 0 w w)
(w w w w w w))
)
(define test-result2
'(
(turn-left turn-left turn-left turn-left turn-left turn-left turn-left
step put-mark
turn-left turn-left turn-left turn-left turn-left turn-left turn-left
step put-mark)
(((w w w w w w)
(w 0 w 0 w w)
(w 1 w 0 0 w)
(w 1 0 0 w w)
(w w w w w w))
(1 3) southeast))
)
;#############################
;Functions
;#############################
;getters
;get-maz
(define (get-maz state)
(car state)
)
;(assert maze (get-maz get-initial-state))
;get-pos
(define (get-pos state)
(cadr state)
)
;(assert '(1 1) (get-pos get-initial-state))
;get-orientation
(define (get-ori state)
(caddr state)
)
;(assert 'west (get-ori get-initial-state))
;get-seq
(define (get-seq state)
(cadddr state)
)
;(assert '(first) (get-seq get-initial-state));
;get-code
(define (get-cod state)
(at state 4)
)
;get-number of commands
(define (get-count state)
(at state 5)
)
;##################
;commands - return state
(define (turn-left state)
(cond
((eqv? 'west (get-ori state))(list (get-maz state) (get-pos state) 'southwest (cons 'turn-left (get-seq state)) (get-cod state) (++ (get-count state))))
((eqv? 'southwest (get-ori state))(list (get-maz state) (get-pos state) 'southeast (cons 'turn-left (get-seq state)) (get-cod state) (++ (get-count state))))
((eqv? 'southeast (get-ori state))(list (get-maz state) (get-pos state) 'east (cons 'turn-left (get-seq state)) (get-cod state) (++ (get-count state))))
((eqv? 'east (get-ori state))(list (get-maz state) (get-pos state) 'northeast (cons 'turn-left (get-seq state)) (get-cod state) (++ (get-count state))))
((eqv? 'northeast (get-ori state))(list (get-maz state) (get-pos state) 'northwest (cons 'turn-left (get-seq state)) (get-cod state) (++ (get-count state))))
((eqv? 'northwest (get-ori state))(list (get-maz state) (get-pos state) 'west (cons 'turn-left (get-seq state)) (get-cod state) (++ (get-count state))))
)
)
;put-mark
(define (put-mark state)
(list
(apply-at-yx ++ (get-maz state) (cadr (get-pos state)) (car (get-pos state)))
(get-pos state)
(get-ori state)
(cons 'put-mark (get-seq state))
(get-cod state)
(++ (get-count state))
)
)
;get-mark
(define (get-mark state)
(list
(apply-at-yx -- (get-maz state) (cadr (get-pos state)) (car (get-pos state)))
(get-pos state)
(get-ori state)
(cons 'get-mark (get-seq state))
(get-cod state)
(++ (get-count state))
)
)
;step
(define (step state)
(let ((o (get-ori state)) (s (cons 'step (get-seq state)))(p (get-pos state)) (c (get-cod state)) (n (++ (get-count state))))
(cond
((eqv? 'west o) (list (get-maz state) (apply-at -- p 0) o s c n))
((eqv? 'east o) (list (get-maz state) (apply-at ++ p 0) o s c n))
((even? (at p 1))
(cond
((eqv? 'northwest o) (list (get-maz state) (l-- p) o s c n))
((eqv? 'northeast o) (list (get-maz state) (apply-at -- p 1) o s c n))
((eqv? 'southwest o) (list (get-maz state) (l-+ p) o s c n))
((eqv? 'southeast o) (list (get-maz state) (apply-at ++ p 1) o s c n))
)
)
(else
(cond
((eqv? 'northwest o) (list (get-maz state) (apply-at -- p 1) o s c n))
((eqv? 'northeast o) (list (get-maz state) (l+- p) o s c n))
((eqv? 'southwest o) (list (get-maz state) (apply-at ++ p 1) o s c n))
((eqv? 'southeast o) (list (get-maz state) (l++ p) o s c n))
)
)
)
)
)
;conditions -return true or false
;WALL?
(define (if-wall state)
(let ((p (get-pos (step state))))
(cond
((eqv? 'w (at-wyx state 0 (cadr p) (car p))) #t)
(else #f)
)
)
)
;MARK?
(define (if-mark state)
(if (< 0 (at-yx (get-maz state) (cadr (get-pos state)) (car (get-pos state)))) #t #f)
)
;WEST?
(define (if-west state)
(if (eqv? 'west (get-ori state)) #t #f)
)
;##############################
;parsing
;get-procedure searchs for a procedure named 'name' in the program
(define (get-procedure name program)
(cond
((eqv? name (cadar program))(caddar program))
(else (get-procedure name (cdr program)))
)
)
(define (get-if expr state)
(cond
((eqv? 'mark? (at expr 1))
(if (if-mark state) (at expr 2) (at expr 3))
)
((eqv? 'wall? (at expr 1))
(if (if-wall state) (at expr 2) (at expr 3))
)
((eqv? 'west? (at expr 1))
(if (if-west state) (at expr 2) (at expr 3))
)
)
)
;the main function that parses the expressions and calls other functions
(define (main state expr program limit)
(cond
;nothing to do
((null? expr) state)
;failed?
((<= 1 (at state 4)) state)
;limit overdrawn, do nothing (and maybe raise an error)
((< limit 0) (apply-at ++ state 4))
;if it is list - it may an if branch or another list of instuctions
((list? expr)
(cond
((eqv? 'if (car expr)) (main state (get-if expr state) program limit))
(else (main (main state (car expr) program limit) (cdr expr) program limit))
)
)
;get-mark
((eqv? 'get-mark expr)
(if (if-mark state) (get-mark state) state))
;put-mark
((eqv? 'put-mark expr) (put-mark state))
;step -
((eqv? 'step expr)
(cond
((if-wall state) (apply-at ++ state 4)) ;if wrong step, raise fail state
(else (step state))
))
;turn-left
((eqv? 'turn-left expr) (turn-left state))
;nothing from above? - it is a procedure, find it and do it
(else (main state (get-procedure expr program) program (-- limit)))
)
)
;main function with a treshold on number of action - derived fro
;treshold is a number and if the number of actions is higher, the simulation will stop
(define (main_treshold state expr program limit treshold exit)
(cond
;nothing to do
((null? expr) state)
;failed?
((<= 1 (at state 4)) state)
;limit overdrawn, do nothing (and maybe raise an error)
((< limit 0) (apply-at ++ state 4))
;over the treshold
((> (at state 5) treshold) (exit -1))
;if it is list - it may an if branch or another list of instuctions
((list? expr)
(cond
((eqv? 'if (car expr)) (main_treshold state (get-if expr state) program limit treshold exit))
(else (main_treshold (main_treshold state (car expr) program limit treshold exit) (cdr expr) program limit treshold exit))
)
)
;get-mark
((eqv? 'get-mark expr)
(if (if-mark state) (get-mark state) state))
;put-mark
((eqv? 'put-mark expr) (put-mark state))
;step -
((eqv? 'step expr)
(cond
((if-wall state) (apply-at ++ state 4)) ;if wrong step, raise fail state
(else (step state))
))
;turn-left
((eqv? 'turn-left expr) (turn-left state))
;nothing from above? - it is a procedure, find it and do it
(else (main_treshold state (get-procedure expr program) program (-- limit) treshold exit))
)
)
(define (simulate state expr program limit)
(let ((result (main (list (car state) (cadr state) (caddr state) '(first) 0 0) expr program limit)))
(list (cdr (reverse (at result 3))) (list (car result) (cadr result) (caddr result)))
))
(define (simulate_treshold state expr program limit treshold)
(let ((result
(call-with-current-continuation
(lambda(exit)
(main_treshold (list (car state) (cadr state) (caddr state) '(first) 0 0) expr program limit treshold exit))
)
)
)
(if (number? result) result
(list (cdr (reverse (at result 3))) (list (car result) (cadr result) (caddr result)))
)
)
); close the whole simulate function
;(simulate_treshold (list maze (list 1 1) 'west) 'start right-hand-rule-prg2 3 200)
;;quicksort
(define (rozdel comparator pivot s)
(if (null? s) '(() . ()) ;;. cons - seznam + zbytek
(let* ( ;;else
(v (rozdel comparator pivot (cdr s)))
(a (car v)) ;;mensi nez pivot
(b (cdr v)) ;;vetsi nez pivot
(p (car s))) ;;prvni cislo v puvodnim seznamu - to se nedostalo dal do rekurze
(if (comparator p pivot) ;; p comparator pivot
(cons (cons p a) b) ;; "mensi" pripoji se pred
(cons a (cons p b))))))
(define (qsort comparator s)
(cond
((null? s) s)
((null? (cdr s)) s)
(else (let* (
(pivot (car s)) ;;prvni prvek na pivot
(r (rozdel comparator pivot (cdr s))) ;;zbytek rozdelit
(a (car r)) ;;prvni seznam z rozdeleni
(b (cdr r)) ;;druhy seznam z rozdeleni
(sa (qsort comparator a))
(sb (qsort comparator b))
)
(append sa (cons pivot sb))))))
; lstA < lstB --> True
(define (comp_list lstA lstB)
(cond
((or (null? lstA) (null? lstB)) #f)
((> (car lstA) (car lstB)) #f)
((< (car lstA) (car lstB)) #t)
(else (comp_list (cdr lstA) (cdr lstB)))
)
)
;manhattan distance of two maze
(define (manhattan-dist mazeA mazeB)
(cond
((or (null? mazeA) (null? mazeB)) 0)
((and (number? (car mazeA)) (number? (car mazeB)))
(+ (abs (- (car mazeA) (car mazeB))) (manhattan-dist (cdr mazeA) (cdr mazeB)))
)
((and (list? (car mazeA)) (list? (car mazeB)))
(+ (manhattan-dist (car mazeA) (car mazeB)) (manhattan-dist (cdr mazeA) (cdr mazeB)))
)
(else (manhattan-dist (cdr mazeA) (cdr mazeB)))
)
)
;configuration distance
(define (config-dist confA confB)
(if (equal? (caddr confA) (caddr confB))
(+
(abs (- (caadr confA) (caadr confB)))
(abs (- (cadadr confA) (cadadr confB)))
)
(+
1
(abs (- (caadr confA) (caadr confB)))
(abs (- (cadadr confA) (cadadr confB)))
)
)
)
;program lenght
(define (prlen prog)
(cond
((null? prog) 0)
((list? (car prog)) (+ (prlen (car prog)) (prlen (cdr prog))))
((or (equal? 'if (car prog)) (equal? 'procedure (car prog))) (prlen (cdr prog)))
(else (++ (prlen (cdr prog))))
)
)
;number of steps - count number of elements in list
(define (count_ele lst)
(if (null? lst) 0 (++ (count_ele (cdr lst))))
)
;;helper function to summing up (x1,x2,x3,x4) + (y1,y2,y3,y4)= (x1+y1, x2+y2, x3, x4 + y3)
(define (add-result cumulative_res new_res)
(list (+ (car cumulative_res) (car new_res))
(+ (cadr cumulative_res) (cadr new_res))
(caddr cumulative_res)
(+ (cadddr cumulative_res) (cadddr new_res))
)
)
(define (evaluate_sim sim_res desired_state)
(if (number? sim_res) sim_res
(list (manhattan-dist (caadr sim_res) (car desired_state))
(config-dist (cadr sim_res) desired_state)
0
(count_ele (car sim_res))
)
)
)
;always count everything eventhough it is clear it will be over the treshold
;(define (evaluate_runned_prog prog pairs treshold stack_size)
; (if (null? pairs) '(0 0 0 0)
; (add-result (evaluate_sim
; (simulate (caar pairs) 'start prog stack_size)
; (cadar pairs)
; )
; (evaluate_runned_prog prog (cdr pairs) treshold stack_size)
; )
; )
;)
(define (evaluate_runned_prog_acc prog pairs treshold stack_size exit accu)
(cond
((filter-over-treshold accu treshold) (exit '(-1 -1 -1 -1)))
((null? pairs) accu)
(else (let* ((sim_res (evaluate_sim
(simulate_treshold (caar pairs) 'start prog stack_size (cadddr treshold))
(cadar pairs)
)
))
(cond
((and (number? sim_res) (> 0 sim_res)) (exit '(-1 -1 -1 -1)))
(else (evaluate_runned_prog_acc prog
(cdr pairs)
treshold
stack_size
exit
(add-result
accu
sim_res
)
)
)
)
)
)
)
)
(define (evaluate_runned_prog prog pairs treshold stack_size)
(call-with-current-continuation
(lambda(exit) (evaluate_runned_prog_acc prog pairs treshold stack_size exit '(0 0 0 0)))
)
)
(define (evaluate_prog prog pairs treshold stack_size)
(list
(add-result (list 0 0 (prlen prog) 0) (evaluate_runned_prog prog pairs treshold stack_size))
prog
)
)
(define (evaluate_multiple_progs prgs pairs treshold stack_size)
(cond
((null? prgs) '())
(else
(cons (evaluate_prog (car prgs) pairs treshold stack_size) (evaluate_multiple_progs (cdr prgs) pairs treshold stack_size))
)
)
)
;returns #t for values over treshold
(define (filter-over-treshold value treshold)
(cond
((> (car value) (car treshold)) #t)
((> (cadr value) (cadr treshold)) #t)
((> (caddr value) (caddr treshold)) #t)
((> (cadddr value) (cadddr treshold)) #t)
(else #f)
)
)
;post evaluation filtering - will be replaced by in time filtering
;return #t for good results
(define (filter-bad-predicate result treshold)
;(>= (caar result) 0) detects error type result - ie. those over treshold
(and (not (filter-over-treshold (car result) treshold)) (>= (caar result) 0))
)
;removes all bad results (those over treshold or error type result - negative number)
(define (filter-bad results treshold)
(my-filter (lambda(x) (filter-bad-predicate x treshold)) results)
)
(define (compare-by-value resA resB)
(comp_list (car resA) (car resB))
)
(define (evaluate prgs pairs treshold stack_size)
(qsort compare-by-value (filter-bad (evaluate_multiple_progs prgs pairs treshold stack_size) treshold))
)
(define prgs
'(
(
(procedure start
(turn-right (if wall? (turn-left
(if wall? (turn-left (if wall? (turn-left (if wall? (turn-left (if wall? turn-left step)) step)) step)) step)) step)
put-mark start )
)
(procedure turn-right (turn-left turn-left turn-left turn-left turn-left))
)
)
)
(define pairs
'(
(
(((w w w w w w)
(w 0 0 0 0 w)
(w 1 w 0 0 w)
(w 1 0 0 0 w)
(w w w w w w))
(1 3) southeast)
(((w w w w w w)
(w 0 0 0 0 w)
(w 0 w 0 0 w)
(w 0 0 0 0 w)
(w w w w w w))
(1 1) northeast)
)
(
(((w w w w w w)
(w 0 0 0 0 w)
(w 0 0 2 0 w)
(w 1 3 0 0 w)
(w w w w w w))
(3 3) northwest)
(((w w w w w w)
(w 0 0 0 0 w)
(w 0 0 0 0 w)
(w 0 0 0 0 w)
(w w w w w w))
(1 1) northwest)
))
)