Универсальный робот

function gen_room(x, y)
    
    room = ones(Integer, x, y)
    room[2:end-1,2:end-1] .= 0
    
    return room
end


function gen_start_point(room)
    x = size(room,1)
    y = size(room,2)
    start_x = rand(2:x-1)
    start_y = rand(2:y-1)
    if all(room[2:x-1,2:y-1] .== 1)
        room[start_x, start_y] = 0
    else
        while room[start_x, start_y] == 1
            start_x = rand(2:x-1)
            start_y = rand(2:y-1)
        end
    end
    dir_x, dir_y = rand(([1,0],[0,1],[-1,0],[0,-1]))
    return start_x, start_y, dir_x, dir_y
end

#Checking voids in "Near" region
function check_near_voids(room, min_point, Near)
    while true
        NearSum = sum(Near) # Расчёт кол-ва клеток в окружении.
        if NearSum > min_point
            Near[rand(1:size(Near,1)),rand(1:size(Near,2))] = 0
        else
            break
        end
    end
    return
end

# Checking voids near walls
function checking_walls(room, min_point)
    x = size(room,1)
    y = size(room,2)
    for i in 3:x-2
        for j in (2,y-1)
            p = room[i, j]
            if p == 0
                Nind = CartesianIndices((max(i-1,2):min(i+1,x-1), max(j-1,2):min(j+1,y-1)))
                Near = room[Nind] # Выделение окружения клетки.
                check_near_voids(room, min_point, Near)
                room[Nind] .= Near
            end
        end
    end
    for i in (2,x-1)
        for j in 3:y-2
            p = room[i, j]
            if p == 0
                Nind = CartesianIndices((max(i-1,2):min(i+1,x-1), max(j-1,2):min(j+1,y-1)))
                Near = room[Nind] # Выделение окружения клетки.
                check_near_voids(room, min_point, Near)
                room[Nind] .= Near
            end
        end
    end
    for i in (2,x-1)
        for j in (2,y-1)
            p = room[i, j]
            if p == 0
                Nind = CartesianIndices((max(i-1,2):min(i+1,x-1), max(j-1,2):min(j+1,y-1)))
                Near = room[Nind] # Выделение окружения клетки.
                check_near_voids(room, min_point-1, Near)
                room[Nind] .= Near
            end
        end
    end
    return room
end

# Checking voids inside the room
function checking_voids_inside(room, min_point)
    x = size(room,1)
    y = size(room,2)
    for i in 3:x-2
        for j in 3:y-2
            p = room[i, j]
            if p == 0
                Near = room[(i-1):(i+1), (j-1):(j+1)] # Выделение окружения клетки.
                run = true
                while run
                    NearSum = sum(Near) # Расчёт кол-ва клеток в окружении.
                    if NearSum > min_point
                        Near[rand(1:3),rand(1:3)] = 0
                    else
                        run = false
                    end
                end
                room[(i-1):(i+1), (j-1):(j+1)] .= Near
            end
        end
    end
    return room
end


function gen_room_rand(x,y)
    # Пустая комната
    room = gen_room(x, y)
    # Случайные стены
    room[2:end-1,2:end-1] .= rand([1,0],x-2,y-2)
    # Удаление части стен (не гарантирует проходы везде!!!)
    room = checking_voids_inside(room,3)
    room = checking_walls(room,2)

    return room
end


function gen_room_square_rand(x,y, num)
    room = gen_room(x,y)
    # Генерация прямоугольников
    for i in 1:num
        room_mini = gen_room_rand(size_x[i],size_y[i]);
        r_x = rand(1:(x-size_x[i]-1))
        r_y = rand(1:(y-size_y[i]-1))
        room[(1:size_x[i]).+r_x,(1:size_y[i]).+r_y] .= room_mini
    end
    # Удаление части стен у углов комнат (не гарантирует проходы везде!!!)
    room = checking_voids_inside(room, 4)
    room = checking_walls(room, 2)

    return room
end