feat(map): add side‑aware closest_in_range and refine enemy marking logic

- Removed leftover debug `print` statement.
- Updated enemy marking to consider team side, preventing marking of opponents on the opposite side.
- Introduced `closest_in_range` method to find the nearest position while respecting map side boundaries.
- Integrated the new method into `plan_next_actions` to select destinations based on distance thresholds for flag carriers and assigned players.
- Added handling for `my_targets` via a dedicated `targets_list`.

CTF/backend/mypolicy.py

@@ -36,7 +36,6 @@ class Map:
             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
-        print(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)
@@ -47,10 +46,18 @@ class Map:
         for enemy in enemy_players:
             x, y = enemy["posX"], enemy["posY"]
             idx = self.convert_pos_to_index(x, 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
+            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)
@@ -135,6 +142,21 @@ class Map:
                 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
@@ -160,6 +182,7 @@ def plan_next_actions(req):
     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:
@@ -168,6 +191,8 @@ def plan_next_actions(req):
         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
@@ -188,11 +213,17 @@ def plan_next_actions(req):
 
     for p in my_players:
         if p["hasFlag"]:
-            dest = my_targets[0]
+            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 = myMap.closest(p["posX"],p["posY"],regard_list)
+            f,temp = myMap.closest_in_range(p["posX"],p["posY"],regard_list)
             if f is not None:
                 dest = (f[0],f[1])
             else:
@@ -206,7 +237,6 @@ def plan_next_actions(req):
                     else:
                         continue
         player_moves[p["name"]] = myMap.guideance(p["posX"],p["posY"],dest[0],dest[1])
-
     return player_moves
 
 def game_over(req):