Универсальный робот

room = gen_room_rand( 25, 20 )
start_x, start_y, dir_x, dir_y = gen_start_point(room)
# As in the original script, we do not check that every empty square can be reached
# This can be done with the standard breadth-first search: as long as there are unvisited squares we can run
# the search again (but on walls instead of empty squares) to find the shortest path through them

# Creates a sensor function, which senses "point" in coordinates relative to robot position and direction
function rel_point_sense(point::CartesianIndex)
    return function(pos, dir, room)
        p = pos + dir*point[1] + point[2]*rotate(dir,90)
        if all(1 .<= Tuple(p) .<= size(room))
            return [p]
        else
            return []
        end
    end
end

robot = Robot()
# Initialize sensors: can see straight forward and diagonally forward
push!(robot.sensors, rel_point_sense(forward))
push!(robot.sensors, rel_point_sense(forward+right))
push!(robot.sensors, rel_point_sense(forward+left))
# Initialize move actions: can move in all 4 directions, rotates in the direction it moved
push!(robot.moves, (pos,dir) -> (pos+dir,dir))
push!(robot.moves, (pos,dir) -> (pos+rotate(dir,90),rotate(dir,90)))
push!(robot.moves, (pos,dir) -> (pos+rotate(dir,-90),rotate(dir,-90)))
push!(robot.moves, (pos,dir) -> (pos-dir,-dir))
# Initialize memory
init_memory!(robot, start_x, start_y, dir_x, dir_y, size(room)[1], size(room)[2])
# Set goal: explore (with sensors) the whole room
replace!(robot.map, unknown => goal_check)
heatmap(-replace(robot.map', goal_check => 3), yflip=:true, aspect_ratio=:equal, leg=:false, title="Initial map")

run_robot!(robot, room)

plot( heatmap( -replace(robot.map', goal_check => 3), title="Studied map", aspect_ratio=:equal, leg=:false, size = 30*[size(room,1),size(room,2)]), heatmap( robot.visited', title="Visited map", aspect_ratio=:equal, leg=:false, size = 30*[size(room,1),size(room,2)]))