feat(ai): add Map class for pathfinding and speed up world updates

- Remove unused `random` import and introduce `collections` for BFS queue.
- Decrease `GameMap` update interval from 1000 ms to 1 ms and lower `update_threshold` from 100 to 1 for near‑real‑time world state.
- Add thread‑safe lock, timestamp tracking, and rename `player_to_flag_assignments` to `player_to_flag_assign`.
- Introduce `my_side_is_left` flag to differentiate safe‑zone logic.
- Implement new `Map` class:
  * Stores grid, edges, and safe‑zone status.
  * Updates grid with walls, allies, enemies, and safe‑zone handling.
  * Computes adjacency edges respecting obstacles.
  * Provides `guideance` (BFS) to obtain the first movement direction towards a target.
- Overall refactor improves AI flag‑picking speed and decision accuracy.

CTF/backend/mypolicy.py

@@ -1,265 +0,0 @@
-import asyncio
-from lib.game_engine import GameMap, run_game_server
-import threading
-import collections
-
-world = GameMap(show_gap_in_msec=1.0)
-lock = threading.Lock()
-last_updated_time = -1
-update_threshold = 1
-player_to_flag_assign = {}
-my_side_is_left = None
-
-class Map:
-    def __init__(self):
-        self.width  = world.width
-        self.height = world.height
-        self.grid = [0] * (self.width * self.height)
-        self.edge = [[] for _ in range(self.width * self.height)]
-        self.in_safe_zone = None
-
-    def convert_pos_to_index(self, x, y):
-        return y * self.width + x
-
-    def update(self,posx,posy):
-        global my_side_is_left
-        self.width  = world.width
-        self.height = world.height
-        self.edge = [[] for _ in range(self.width * self.height)]
-        self.grid = [0] * (self.width * self.height)
-        walls = world.walls
-        for wall in walls:
-            x, y = wall
-            idx = self.convert_pos_to_index(x, y)
-            self.grid[idx] = 1
-        if my_side_is_left:
-            self.in_safe_zone = world.is_on_left((posx+1,posy)) == my_side_is_left
-        else:
-            self.in_safe_zone = world.is_on_left((posx-1,posy)) == my_side_is_left
-        enemy_players = world.list_players(mine=False, inPrison=False, hasFlag=None)
-        ally_players = world.list_players(mine=True, inPrison=False, hasFlag=None)
-        my_pos = self.convert_pos_to_index(posx, posy)
-        for ally in ally_players:
-            x, y = ally["posX"], ally["posY"]
-            idx = self.convert_pos_to_index(x, y)
-            self.grid[idx] = 3 
-        for enemy in enemy_players:
-            x, y = enemy["posX"], enemy["posY"]
-            idx = self.convert_pos_to_index(x, y)
-            if my_side_is_left:
-                if not world.is_on_left((x+1,y)):
-                    self.grid[idx] = 2
-                    for dx, dy in [(0, 1), (0, -1), (1, 0), (-1, 0)]:
-                        nx, ny = x + dx, y + dy
-                        self.grid[self.convert_pos_to_index(nx,ny)] = 2
-            else:
-                if world.is_on_left((x-1,y)):
-                    self.grid[idx] = 2
-                    for dx, dy in [(0, 1), (0, -1), (1, 0), (-1, 0)]:
-                        nx, ny = x + dx, y + dy
-                        self.grid[self.convert_pos_to_index(nx,ny)] = 2
-        for y in range(self.height):
-            for x in range(self.width):
-                idx = self.convert_pos_to_index(x, y)
-                if self.in_safe_zone:
-                    if (self.grid[idx] in (1,)) and idx != my_pos:
-                        continue
-                else:
-                    if (self.grid[idx] in (1, 2)) and idx != my_pos:
-                        continue
-                for dx, dy in [(0, 1), (0, -1), (1, 0), (-1, 0)]:
-                    nx, ny = x + dx, y + dy
-                    if 0 <= nx < self.width and 0 <= ny < self.height:
-                        n_idx = self.convert_pos_to_index(nx, ny)
-                        if self.in_safe_zone:
-                            if self.grid[n_idx] not in (1, ):
-                                self.edge[idx].append(n_idx)
-                        else:
-                            if self.grid[n_idx] not in (1, 2):
-                                self.edge[idx].append(n_idx)
-    def guideance(self, posx_start, posy_start, posx_end, posy_end):
-        self.update(posx_start,posy_start)
-        src_idx = self.convert_pos_to_index(posx_start, posy_start)
-        dst_idx = self.convert_pos_to_index(posx_end,   posy_end)
-        n = self.width * self.height
-        dist = [float('inf')] * n
-        prev = [None] * n
-        dist[src_idx] = 0
-        queue = collections.deque([src_idx])
-        while queue:
-            u = queue.popleft()
-            if u == dst_idx:
-                break
-            for v in self.edge[u]:
-                if dist[v] == float('inf'):
-                    dist[v] = dist[u] + 1
-                    prev[v] = u
-                    queue.append(v)
-        if dist[dst_idx] == float('inf'):
-            return ""
-        path = []
-        cur = dst_idx
-        while cur is not None:
-            path.append(cur)
-            cur = prev[cur]
-        path.reverse()   # 现在是 [src, ..., dst]
-        if len(path) < 2:
-            return ""
-        # ---- 计算第一步坐标并返回方向 ----
-        next_idx = path[1]
-        next_x = next_idx % (self.width)
-        next_y = next_idx // (self.height)
-        return world.get_direction((posx_start, posy_start), (next_x, next_y))
-    def length(self, posx_start, posy_start, posx_end, posy_end):
-        self.update(posx_start,posy_start)
-        src_idx = self.convert_pos_to_index(posx_start, posy_start)
-        dst_idx = self.convert_pos_to_index(posx_end,   posy_end)
-        n = self.width * self.height
-        dist = [float('inf')] * n          # 最短距离，初始为无穷大
-        prev = [None] * n                  # 前驱节点，用于路径回溯
-        dist[src_idx] = 0
-        queue = collections.deque([src_idx])
-        while queue:
-            u = queue.popleft()
-            if u == dst_idx:
-                break
-            for v in self.edge[u]:
-                if dist[v] == float('inf'):
-                    dist[v] = dist[u] + 1
-                    prev[v] = u
-                    queue.append(v)
-
-        # ---- 若不可达，返回空字符串 ----
-        if dist[dst_idx] == float('inf'):
-            return -1
-        return dist[dst_idx]
-    def closest(self, posx_start, posy_start, positions):
-        closest_pos = None
-        min_length = float('inf')
-        for pos in positions:
-            temp = self.length(posx_start, posy_start, pos[0], pos[1])
-            if temp != -1 and temp < min_length:
-                min_length = temp
-                closest_pos = pos
-        return closest_pos
-    def closest_in_range(self, posx_start, posy_start, positions):
-        closest_pos = None
-        min_length = float('inf')
-        for pos in positions:
-            if my_side_is_left:
-                if pos[0] >= self.width // 2:
-                    continue
-            else:
-                if pos[0] < self.width // 2:
-                    continue
-            temp = self.length(posx_start, posy_start, pos[0], pos[1])
-            if temp != -1 and temp < min_length:
-                min_length = temp
-                closest_pos = pos
-        return closest_pos,min_length
-myMap = Map()
-def start_game(req):
-    global player_to_flag_assign,my_side_is_left
-    world.init(req)
-    print("Start Game!!")
-    player_to_flag_assign = {}
-    print(f"Game Started! Side: {'Left' if world.is_on_left(list(world.my_team_target)[0]) else 'Right'}")
-    my_side_is_left = world.is_on_left(list(world.my_team_target)[0])
-
-def plan_next_actions(req):
-    if not world.update(req):
-        return
-    global player_to_flag_assign,myMap,my_side_is_left
-
-    my_players = world.list_players(mine=True, inPrison=False, hasFlag=None)
-    enemy_players_flags = world.list_players(mine=False, inPrison=False, hasFlag=True)
-    enemy_players = world.list_players(mine=False, inPrison=False, hasFlag=False)
-    enemy_flags = world.list_flags(mine=False, canPickup=True)
-    my_flags = world.list_flags(mine=True, canPickup=True)
-    my_targets = list(world.list_targets(mine=True))
-    active_player_names = {p["name"] for p in my_players if not p["hasFlag"]}
-    flags_list = []
-    regard_list = []
-    pretend_list = []
-    protect_list = []
-    targets_list = []
-    for flags in enemy_flags:
-        flags_list.append((flags["posX"],flags["posY"]))
-    for p in enemy_players_flags:
-        regard_list.append((p["posX"],p["posY"]))
-    for p in enemy_players:
-        pretend_list.append((p["posX"],p["posY"]))
-    for flags in my_flags:
-        protect_list.append((flags["posX"],flags["posY"]))
-    for t in my_targets:
-        targets_list.append((t[0],t[1]))
-    player_to_flag_assign = {
-        name: pos for name, pos in player_to_flag_assign.items()
-        if name in active_player_names
-    }
-    if enemy_flags:
-        for p in my_players:
-            if p["name"] not in active_player_names:
-                continue
-            if p["name"] in player_to_flag_assign and player_to_flag_assign[p["name"]] in flags_list:
-                flags_list.remove(player_to_flag_assign[p["name"]])
-                continue
-            f = myMap.closest(p["posX"],p["posY"],flags_list)
-            if f is not None:
-                player_to_flag_assign[p["name"]] = (f[0],f[1])
-                flags_list.remove((f[0],f[1]))
-
-    player_moves = {}
-
-    for p in my_players:
-        if p["hasFlag"]:
-            dest,temp = myMap.closest_in_range(p["posX"],p["posY"],my_targets)
-            f,lentime = myMap.closest_in_range(p["posX"],p["posY"],regard_list)
-            if (f is not None) and (lentime<=5):
-                dest = (f[0],f[1])
-        elif p["name"] in player_to_flag_assign:
-            dest = player_to_flag_assign[p["name"]]
-            f,lentime = myMap.closest_in_range(p["posX"],p["posY"],regard_list)
-            if f is not None and lentime<=10:
-                dest = (f[0],f[1])
-            else :
-                f,lentime = myMap.closest_in_range(p["posX"],p["posY"],pretend_list)
-                if f is not None and lentime<8:
-                    dest = (f[0],f[1])
-        else:
-            f,temp = myMap.closest_in_range(p["posX"],p["posY"],regard_list)
-            if f is not None:
-                dest = (f[0],f[1])
-            else:
-                f = myMap.closest(p["posX"],p["posY"],pretend_list)
-                if f is not None:
-                    dest = (f[0],f[1])
-                else:
-                    f= myMap.closest(p["posX"],p["posY"],protect_list)
-                    if f is not None:
-                        dest = (f[0],f[1])
-                    else:
-                        continue
-        player_moves[p["name"]] = myMap.guideance(p["posX"],p["posY"],dest[0],dest[1])
-    return player_moves
-
-def game_over(req):
-    print("Game Over!")
-    world.show(force=True)
-
-async def main():
-    import sys
-    if len(sys.argv) != 2:
-        print(f"Usage: python3 {sys.argv[0]} <port>")
-        print(f"Example: python3 {sys.argv[0]} 8080")
-        sys.exit(1)
-    port = int(sys.argv[1])
-    print(f"AI backend running on port {port} ...")
-    try:
-        await run_game_server(port, start_game, plan_next_actions, game_over)
-    except Exception as e:
-        print(f"Server Stopped: {e}")
-        sys.exit(1)
-
-if __name__ == "__main__":
-    asyncio.run(main())

CTF/backend/pick_flag_ai.py

@@ -1,103 +1,266 @@
 import asyncio
-import random
 from lib.game_engine import GameMap, run_game_server
 import threading
+import collections
 
-
+world = GameMap(show_gap_in_msec=1.0)
-# 1. Initialize the global world model
-world = GameMap(show_gap_in_msec=1000.0)
 lock = threading.Lock()
 last_updated_time = -1
-update_threshold = 100
+update_threshold = 1
-player_to_flag_assignments = {}
+player_to_flag_assign = {}
+my_side_is_left = None
 
+class Map:
+    def __init__(self):
+        self.width  = world.width
+        self.height = world.height
+        self.grid = [0] * (self.width * self.height)
+        self.edge = [[] for _ in range(self.width * self.height)]
+        self.in_safe_zone = None
+
+    def convert_pos_to_index(self, x, y):
+        return y * self.width + x
+
+    def update(self,posx,posy):
+        global my_side_is_left
+        self.width  = world.width
+        self.height = world.height
+        self.edge = [[] for _ in range(self.width * self.height)]
+        self.grid = [0] * (self.width * self.height)
+        walls = world.walls
+        for wall in walls:
+            x, y = wall
+            idx = self.convert_pos_to_index(x, y)
+            self.grid[idx] = 1
+        if my_side_is_left:
+            self.in_safe_zone = world.is_on_left((posx+1,posy)) == my_side_is_left
+        else:
+            self.in_safe_zone = world.is_on_left((posx-1,posy)) == my_side_is_left
+        enemy_players = world.list_players(mine=False, inPrison=False, hasFlag=None)
+        ally_players = world.list_players(mine=True, inPrison=False, hasFlag=None)
+        my_pos = self.convert_pos_to_index(posx, posy)
+        for ally in ally_players:
+            x, y = ally["posX"], ally["posY"]
+            idx = self.convert_pos_to_index(x, y)
+            self.grid[idx] = 3 
+        for enemy in enemy_players:
+            x, y = enemy["posX"], enemy["posY"]
+            idx = self.convert_pos_to_index(x, y)
+            if my_side_is_left:
+                if not world.is_on_left((x+1,y)):
+                    self.grid[idx] = 2
+                    for dx, dy in [(0, 1), (0, -1), (1, 0), (-1, 0)]:
+                        nx, ny = x + dx, y + dy
+                        self.grid[self.convert_pos_to_index(nx,ny)] = 2
+            else:
+                if world.is_on_left((x-1,y)):
+                    self.grid[idx] = 2
+                    for dx, dy in [(0, 1), (0, -1), (1, 0), (-1, 0)]:
+                        nx, ny = x + dx, y + dy
+                        self.grid[self.convert_pos_to_index(nx,ny)] = 2
+        for y in range(self.height):
+            for x in range(self.width):
+                idx = self.convert_pos_to_index(x, y)
+                if self.in_safe_zone:
+                    if (self.grid[idx] in (1,)) and idx != my_pos:
+                        continue
+                else:
+                    if (self.grid[idx] in (1, 2)) and idx != my_pos:
+                        continue
+                for dx, dy in [(0, 1), (0, -1), (1, 0), (-1, 0)]:
+                    nx, ny = x + dx, y + dy
+                    if 0 <= nx < self.width and 0 <= ny < self.height:
+                        n_idx = self.convert_pos_to_index(nx, ny)
+                        if self.in_safe_zone:
+                            if self.grid[n_idx] not in (1, ):
+                                self.edge[idx].append(n_idx)
+                        else:
+                            if self.grid[n_idx] not in (1, 2):
+                                self.edge[idx].append(n_idx)
+    def guideance(self, posx_start, posy_start, posx_end, posy_end):
+        self.update(posx_start,posy_start)
+        src_idx = self.convert_pos_to_index(posx_start, posy_start)
+        dst_idx = self.convert_pos_to_index(posx_end,   posy_end)
+        n = self.width * self.height
+        dist = [float('inf')] * n
+        prev = [None] * n
+        dist[src_idx] = 0
+        queue = collections.deque([src_idx])
+        while queue:
+            u = queue.popleft()
+            if u == dst_idx:
+                break
+            for v in self.edge[u]:
+                if dist[v] == float('inf'):
+                    dist[v] = dist[u] + 1
+                    prev[v] = u
+                    queue.append(v)
+        if dist[dst_idx] == float('inf'):
+            return ""
+        path = []
+        cur = dst_idx
+        while cur is not None:
+            path.append(cur)
+            cur = prev[cur]
+        path.reverse()   # 现在是 [src, ..., dst]
+        if len(path) < 2:
+            return ""
+        # ---- 计算第一步坐标并返回方向 ----
+        next_idx = path[1]
+        next_x = next_idx % (self.width)
+        next_y = next_idx // (self.height)
+        return world.get_direction((posx_start, posy_start), (next_x, next_y))
+    def length(self, posx_start, posy_start, posx_end, posy_end):
+        self.update(posx_start,posy_start)
+        src_idx = self.convert_pos_to_index(posx_start, posy_start)
+        dst_idx = self.convert_pos_to_index(posx_end,   posy_end)
+        n = self.width * self.height
+        dist = [float('inf')] * n          # 最短距离，初始为无穷大
+        prev = [None] * n                  # 前驱节点，用于路径回溯
+        dist[src_idx] = 0
+        queue = collections.deque([src_idx])
+        while queue:
+            u = queue.popleft()
+            if u == dst_idx:
+                break
+            for v in self.edge[u]:
+                if dist[v] == float('inf'):
+                    dist[v] = dist[u] + 1
+                    prev[v] = u
+                    queue.append(v)
+
+        # ---- 若不可达，返回空字符串 ----
+        if dist[dst_idx] == float('inf'):
+            return -1
+        return dist[dst_idx]
+    def closest(self, posx_start, posy_start, positions):
+        closest_pos = None
+        min_length = float('inf')
+        for pos in positions:
+            temp = self.length(posx_start, posy_start, pos[0], pos[1])
+            if temp != -1 and temp < min_length:
+                min_length = temp
+                closest_pos = pos
+        return closest_pos
+    def closest_in_range(self, posx_start, posy_start, positions):
+        closest_pos = None
+        min_length = float('inf')
+        for pos in positions:
+            if my_side_is_left:
+                if pos[0] >= self.width // 2:
+                    continue
+            else:
+                if pos[0] < self.width // 2:
+                    continue
+            temp = self.length(posx_start, posy_start, pos[0], pos[1])
+            if temp != -1 and temp < min_length:
+                min_length = temp
+                closest_pos = pos
+        return closest_pos,min_length
+myMap = Map()
 def start_game(req):
-    global player_to_flag_assignments
+    global player_to_flag_assign,my_side_is_left
     world.init(req)
     print("Start Game!!")
-    player_to_flag_assignments = {}
+    player_to_flag_assign = {}
     print(f"Game Started! Side: {'Left' if world.is_on_left(list(world.my_team_target)[0]) else 'Right'}")
+    my_side_is_left = world.is_on_left(list(world.my_team_target)[0])
 
 def plan_next_actions(req):
     if not world.update(req):
         return
-
+    global player_to_flag_assign,myMap,my_side_is_left
-    global player_to_flag_assignments
-
-    # Render the map
-    # world.show(do_not_clear=False)
 
     my_players = world.list_players(mine=True, inPrison=False, hasFlag=None)
-    opponents = world.list_players(mine=False, inPrison=False, hasFlag=None)
+    enemy_players_flags = world.list_players(mine=False, inPrison=False, hasFlag=True)
+    enemy_players = world.list_players(mine=False, inPrison=False, hasFlag=False)
     enemy_flags = world.list_flags(mine=False, canPickup=True)
+    my_flags = world.list_flags(mine=True, canPickup=True)
     my_targets = list(world.list_targets(mine=True))
-
-    # 2. Logic: Assign flags to players without flags
-    # We maintain the original logic of matching players to specific flag coordinates
     active_player_names = {p["name"] for p in my_players if not p["hasFlag"]}
-
+    flags_list = []
-    # Cleanup assignments for players captured or flags already taken
+    regard_list = []
-    player_to_flag_assignments = {
+    pretend_list = []
-        name: pos for name, pos in player_to_flag_assignments.items()
+    protect_list = []
+    targets_list = []
+    for flags in enemy_flags:
+        flags_list.append((flags["posX"],flags["posY"]))
+    for p in enemy_players_flags:
+        regard_list.append((p["posX"],p["posY"]))
+    for p in enemy_players:
+        pretend_list.append((p["posX"],p["posY"]))
+    for flags in my_flags:
+        protect_list.append((flags["posX"],flags["posY"]))
+    for t in my_targets:
+        targets_list.append((t[0],t[1]))
+    player_to_flag_assign = {
+        name: pos for name, pos in player_to_flag_assign.items()
         if name in active_player_names
     }
-
     if enemy_flags:
         for p in my_players:
-            if not p["hasFlag"] and p["name"] not in player_to_flag_assignments:
+            if p["name"] not in active_player_names:
-                # Randomly assign one of the available enemy flags
+                continue
-                f = random.choice(enemy_flags)
+            if p["name"] in player_to_flag_assign and player_to_flag_assign[p["name"]] in flags_list:
-                player_to_flag_assignments[p["name"]] = (f["posX"], f["posY"])
+                flags_list.remove(player_to_flag_assign[p["name"]])
+                continue
+            f = myMap.closest(p["posX"],p["posY"],flags_list)
+            if f is not None:
+                player_to_flag_assign[p["name"]] = (f[0],f[1])
+                flags_list.remove((f[0],f[1]))
 
-    # 3. Plan moves for each player
     player_moves = {}
-    my_side_is_left = world.is_on_left(my_targets[0])
 
     for p in my_players:
-        curr_pos = (p["posX"], p["posY"])
-
-        # Determine Target: Either the assigned flag or the home target
         if p["hasFlag"]:
-            dest = my_targets[0]
+            dest,temp = myMap.closest_in_range(p["posX"],p["posY"],my_targets)
-        elif p["name"] in player_to_flag_assignments:
+            f,lentime = myMap.closest_in_range(p["posX"],p["posY"],regard_list)
-            dest = player_to_flag_assignments[p["name"]]
+            if f is not None and lentime<6:
+                dest = (f[0],f[1])
+        elif p["name"] in player_to_flag_assign:
+            dest = player_to_flag_assign[p["name"]]
+            f,lentime = myMap.closest_in_range(p["posX"],p["posY"],regard_list)
+            if f is not None and lentime<12:
+                dest = (f[0],f[1])
+            else :
+                f,lentime = myMap.closest_in_range(p["posX"],p["posY"],pretend_list)
+                if f is not None and lentime<6:
+                    dest = (f[0],f[1])
         else:
-            continue
+            f,temp = myMap.closest_in_range(p["posX"],p["posY"],regard_list)
-
+            if f is not None:
-        # Determine Obstacles: Avoid opponents if we are in enemy territory
+                dest = (f[0],f[1])
-        is_safe = world.is_on_left(curr_pos) == my_side_is_left
+            else:
-        blockers = [] if is_safe else [(o["posX"], o["posY"]) for o in opponents]
+                f = myMap.closest(p["posX"],p["posY"],pretend_list)
-
+                if f is not None:
-        # Calculate Path
+                    dest = (f[0],f[1])
-        path = world.route_to(curr_pos, dest, extra_obstacles=blockers)
+                else:
-
+                    f= myMap.closest(p["posX"],p["posY"],protect_list)
-        if len(path) > 1:
+                    if f is not None:
-            move = world.get_direction(curr_pos, path[1])
+                        dest = (f[0],f[1])
-            player_moves[p["name"]] = move
+                    else:
-
+                        continue
+        print(f"Player {p['name']} at ({p['posX']},{p['posY']}) moving towards ({dest[0]},{dest[1]})")
+        player_moves[p["name"]] = myMap.guideance(p["posX"],p["posY"],dest[0],dest[1])
     return player_moves
 
 def game_over(req):
     print("Game Over!")
     world.show(force=True)
 
-
 async def main():
     import sys
     if len(sys.argv) != 2:
         print(f"Usage: python3 {sys.argv[0]} <port>")
         print(f"Example: python3 {sys.argv[0]} 8080")
         sys.exit(1)
-
     port = int(sys.argv[1])
     print(f"AI backend running on port {port} ...")
-
     try:
         await run_game_server(port, start_game, plan_next_actions, game_over)
     except Exception as e:
         print(f"Server Stopped: {e}")
         sys.exit(1)
 
-
 if __name__ == "__main__":
-    asyncio.run(main())
+    asyncio.run(main())

CTF/backend/server.py

@@ -33,9 +33,9 @@ class Map:
             idx = self.convert_pos_to_index(x, y)
             self.grid[idx] = 1
         if my_side_is_left:
-            self.in_safe_zone = world.is_on_left((posx+1,posy)) == my_side_is_left
+            self.in_safe_zone = world.is_on_left((min(posx+2,self.width),posy)) == my_side_is_left
         else:
-            self.in_safe_zone = world.is_on_left((posx-1,posy)) == my_side_is_left
+            self.in_safe_zone = world.is_on_left((max(posx-2,0),posy)) == my_side_is_left
         enemy_players = world.list_players(mine=False, inPrison=False, hasFlag=None)
         ally_players = world.list_players(mine=True, inPrison=False, hasFlag=None)
         my_pos = self.convert_pos_to_index(posx, posy)
@@ -157,6 +157,27 @@ class Map:
                 min_length = temp
                 closest_pos = pos
         return closest_pos,min_length
+    def enemy_to_walls(self, enemy_posX,enemy_posY):
+        idx = self.convert_pos_to_index(enemy_posX, enemy_posY)
+        lengths = abs(enemy_posX-self.width//2)
+        return lengths
+    def choose_enemy(self, my_posX, my_posY,enemy_positions):
+        chosen_enemy = None
+        min_length = -1
+        for pos in enemy_positions:
+            if my_side_is_left:
+                if pos[0] >= self.width // 2:
+                    continue
+            else:
+                if pos[0] < self.width // 2:
+                    continue
+            temp = self.enemy_to_walls(pos[0], pos[1])
+            length = self.length(my_posX, my_posY, pos[0], pos[1])
+            if length > temp*2+4 : continue
+            if temp < length:
+                length = temp
+                chosen_enemy = pos
+        return chosen_enemy,min_length
 myMap = Map()
 def start_game(req):
     global player_to_flag_assign,my_side_is_left
@@ -208,24 +229,24 @@ def plan_next_actions(req):
             if f is not None:
                 player_to_flag_assign[p["name"]] = (f[0],f[1])
                 flags_list.remove((f[0],f[1]))
-
     player_moves = {}
 
     for p in my_players:
         if p["hasFlag"]:
-            dest,temp = myMap.closest_in_range(p["posX"],p["posY"],my_targets)
+            dest = myMap.closest(p["posX"],p["posY"],my_targets)
             f,lentime = myMap.closest_in_range(p["posX"],p["posY"],regard_list)
-            if f is not None and lentime<6:
+            if f is not None and lentime<4:
                 dest = (f[0],f[1])
         elif p["name"] in player_to_flag_assign:
             dest = player_to_flag_assign[p["name"]]
             f,lentime = myMap.closest_in_range(p["posX"],p["posY"],regard_list)
-            if f is not None and lentime<12:
+            if f is not None and lentime<14:
                 dest = (f[0],f[1])
             else :
                 f,lentime = myMap.closest_in_range(p["posX"],p["posY"],pretend_list)
-                if f is not None and lentime<6:
+                if f is not None and lentime<8:
                     dest = (f[0],f[1])
+                    pretend_list.remove((f[0],f[1]))
         else:
             f,temp = myMap.closest_in_range(p["posX"],p["posY"],regard_list)
             if f is not None:
@@ -234,13 +255,14 @@ def plan_next_actions(req):
                 f = myMap.closest(p["posX"],p["posY"],pretend_list)
                 if f is not None:
                     dest = (f[0],f[1])
+                    pretend_list.remove((f[0],f[1]))
                 else:
                     f= myMap.closest(p["posX"],p["posY"],protect_list)
                     if f is not None:
                         dest = (f[0],f[1])
+                        protect_list.remove((f[0],f[1]))
                     else:
                         continue
-        print(f"Player {p['name']} at ({p['posX']},{p['posY']}) moving towards ({dest[0]},{dest[1]})")
         player_moves[p["name"]] = myMap.guideance(p["posX"],p["posY"],dest[0],dest[1])
     return player_moves