From c046cfab54f421ccb00ff16e7692bccba6deb371 Mon Sep 17 00:00:00 2001
From: ydy0615 <allenyuan410@gmail.com>
Date: Sat, 27 Dec 2025 18:10:12 +0800
Subject: [PATCH] feat(backend): add Map class with BFS pathfinding and faster
 updates
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

- Reduce `GameMap` update interval from 1000 ms to 10 ms for more responsive gameplay.
- Introduce thread lock, update thresholds, and player‑to‑flag tracking variables for safer concurrent access.
- Add `my_side_is_left` flag to determine team orientation.
- Implement new `Map` class:
  * Builds a grid representation of the world, marking walls, enemy flag carriers, and allies.
  * Generates adjacency lists (`edge`) respecting safe‑zone rules.
  * Provides `guideance` method that runs a BFS (unit‑weight Dijkstra) to compute the shortest path and returns the first movement direction via `world.get_direction`.
- Import `collections` for efficient deque usage.
- Include compiled `.pyc` for the new module.

These changes enable the policy to make quick, informed movement decisions based on real‑time map analysis.
---
 .../__pycache__/mypolicy.cpython-312.pyc      | Bin 0 -> 9973 bytes
 CTF/backend/mypolicy.py                       | 129 +++++++++++++++---
 2 files changed, 111 insertions(+), 18 deletions(-)
 create mode 100644 CTF/backend/__pycache__/mypolicy.cpython-312.pyc

diff --git a/CTF/backend/__pycache__/mypolicy.cpython-312.pyc b/CTF/backend/__pycache__/mypolicy.cpython-312.pyc
new file mode 100644
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diff --git a/CTF/backend/mypolicy.py b/CTF/backend/mypolicy.py
index 91df086..d33c5e1 100644
--- a/CTF/backend/mypolicy.py
+++ b/CTF/backend/mypolicy.py
@@ -2,41 +2,139 @@ import asyncio
 import random
 from lib.game_engine import GameMap, run_game_server
 import threading
+import collections
 
 
 # 1. Initialize the global world model
-world = GameMap(show_gap_in_msec=1000.0)
+world = GameMap(show_gap_in_msec=10.0)
 lock = threading.Lock()
 last_updated_time = -1
 update_threshold = 100
 player_to_flag_assignments = {}
+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):
+        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["posX"], wall["posY"]
+            idx = self.convert_pos_to_index(x, y)
+            self.grid[idx] = 1  # Mark wall positions
+
+        self.in_safe_zone = world.is_on_left((posx,posy)) == my_side_is_left
+
+        enemy_players_with_flags = 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 enemy in enemy_players_with_flags:
+            x, y = enemy["posX"], enemy["posY"]
+            idx = self.convert_pos_to_index(x, y)
+            self.grid[idx] = 2  # Mark enemy players with flags as obstacles
+        for ally in ally_players:
+            x, y = ally["posX"], ally["posY"]
+            idx = self.convert_pos_to_index(x, y)
+            self.grid[idx] = 3  # Mark ally players as free space
+        for y in range(self.height):
+            for x in range(self.width):
+                idx = self.convert_pos_to_index(x, y)
+                if self.grid[idx] in (1, 2):
+                    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, 2, 3)) or n_idx == my_pos:
+                                self.edge[idx].append(n_idx)
+                        else:
+                            if (self.grid[n_idx] not in (1, 3)) or n_idx == my_pos:
+                                self.edge[idx].append(n_idx)
+    def guideance(self, posx_start, posy_start, posx_end, posy_end):
+        """
+        Compute the shortest path from the start position to the end position
+        using BFS (equivalent to Dijkstra with unit edge weight) on the pre‑built
+        adjacency list `self.edge`. Returns the first move direction via
+        `world.get_direction`. If no path exists or inputs are invalid, returns an
+        empty string.
+        """
+        self.update(posx_start,posy_start)
+        # ---- 参数合法性检查 ----
+        if not (0 <= posx_start < self.width and 0 <= posy_start < self.height):
+            return ""
+        if not (0 <= posx_end < self.width and 0 <= posy_end < self.height):
+            return ""
+        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 ""
+
+        # ---- 重建路径（逆序） ----
+        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 + 1)
+        next_y = next_idx // (self.width + 1)
+
+        return world.get_direction((posx_start, posy_start), (next_x, next_y))
+
+myMap = Map()
 def start_game(req):
-    global player_to_flag_assignments
+    global player_to_flag_assignments,my_side_is_left
     world.init(req)
     print("Start Game!!")
     player_to_flag_assignments = {}
     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_assignments
-
-    # Render the map
-    # world.show(do_not_clear=False)
+    global player_to_flag_assignments,myMap,my_side_is_left
 
     my_players = world.list_players(mine=True, inPrison=False, hasFlag=None)
     opponents = world.list_players(mine=False, inPrison=False, hasFlag=None)
     enemy_flags = world.list_flags(mine=False, 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"]}
 
-    # Cleanup assignments for players captured or flags already taken
     player_to_flag_assignments = {
         name: pos for name, pos in player_to_flag_assignments.items()
         if name in active_player_names
@@ -51,7 +149,6 @@ def plan_next_actions(req):
 
     # 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"])
@@ -67,13 +164,10 @@ def plan_next_actions(req):
         # Determine Obstacles: Avoid opponents if we are in enemy territory
         is_safe = world.is_on_left(curr_pos) == my_side_is_left
         blockers = [] if is_safe else [(o["posX"], o["posY"]) for o in opponents]
-
         # Calculate Path
-        path = world.route_to(curr_pos, dest, extra_obstacles=blockers)
-
-        if len(path) > 1:
-            move = world.get_direction(curr_pos, path[1])
-            player_moves[p["name"]] = move
+        # path = world.route_to(curr_pos, dest, extra_obstacles=blockers)
+        
+        player_moves[p["name"]] = myMap.guideance(p["posX"],p["posY"],dest[0],dest[1])
 
     return player_moves
 
@@ -97,6 +191,5 @@ async def main():
         print(f"Server Stopped: {e}")
         sys.exit(1)
 
-
 if __name__ == "__main__":
     asyncio.run(main())