feat(ctf): increase map update frequency and enhance path planning

- Reduce `show_gap_in_msec` from 10 ms to 1 ms and `update_threshold` from 10 to 1 for faster game state updates.
- Use `global my_side_is_left` in `Map.update` and adjust safe‑zone calculation with a one‑cell offset, fixing zone detection.
- Correct edge generation logic to properly handle safe and unsafe zones.
- Add tracking of enemy players without flags (`pretend_list`) and own flags (`protect_list`) to broaden target options.
- Implement fallback destination selection: prioritize enemy flags, then enemy players, then own flags.
- Clean up stray debug prints and minor formatting issues.

CTF/backend/mypolicy.py

@@ -3,10 +3,10 @@ from lib.game_engine import GameMap, run_game_server
 import threading
 import collections
 
-world = GameMap(show_gap_in_msec=10.0)
+world = GameMap(show_gap_in_msec=1.0)
 lock = threading.Lock()
 last_updated_time = -1
-update_threshold = 10
+update_threshold = 1
 player_to_flag_assign = {}
 my_side_is_left = None
 
@@ -22,6 +22,7 @@ class Map:
         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)]
@@ -31,7 +32,11 @@ class Map:
             x, y = wall
             idx = self.convert_pos_to_index(x, y)
             self.grid[idx] = 1
-        self.in_safe_zone = world.is_on_left((posx,posy)) == my_side_is_left
+        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
+        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)
@@ -60,10 +65,10 @@ class Map:
                     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, 2):
+                            if self.grid[n_idx] not in (1, ):
                                 self.edge[idx].append(n_idx)
                         else:
-                            if self.grid[n_idx] not in (1,):
+                            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)
@@ -146,15 +151,23 @@ def plan_next_actions(req):
 
     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 = []
     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"]))
     player_to_flag_assign = {
         name: pos for name, pos in player_to_flag_assign.items()
         if name in active_player_names
@@ -169,10 +182,8 @@ def plan_next_actions(req):
             f = myMap.closest(p["posX"],p["posY"],flags_list)
             if f is not None:
                 player_to_flag_assign[p["name"]] = (f[0],f[1])
-                print(f[0], f[1])
                 flags_list.remove((f[0],f[1]))
 
-    # 3. Plan moves for each player
     player_moves = {}
 
     for p in my_players:
@@ -185,7 +196,15 @@ def plan_next_actions(req):
             if f is not None:
                 dest = (f[0],f[1])
             else:
-                continue
+                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