feat(backend): integrate dual AI strategies with conditional switching and A* pathfinding

- Add imports for server0 and server1 modules
- Modify start_game, plan_next_actions, and game_over to invoke both strategies
- Implement dynamic strategy selection based on player prison counts
- Add A* pathfinding with danger weights for attacking players, including safe/dangerous position calculations and opponent avoidance
- Update traditional pathfinding for defenders and flag carriers in enemy territory
- Include binary updates to .DS_Store files (likely system artifacts)

CTF/backend/server.py

@@ -2,6 +2,8 @@ import asyncio
 from lib.game_engine import GameMap, run_game_server
 import threading
 import collections
+import server0
+import server1
 
 world = GameMap(show_gap_in_msec=1.0)
 lock = threading.Lock()
@@ -179,15 +181,23 @@ class Map:
                 chosen_enemy = pos
         return chosen_enemy,min_length
 myMap = Map()
+rounds = 0
 def start_game(req):
-    global player_to_flag_assign,my_side_is_left
+    server1.start_game(req)
+    server0.start_game(req)
     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])
+    global rounds
+    rounds = 0
+    
 
 def plan_next_actions(req):
+    global rounds
+    rounds+=1
+    # if rounds < 50:
+    #     return server0.plan_next_actions(req)
+    # else:
+    #     return server1.plan_next_actions(req)
+    # return server0.plan_next_actions(req)
     if not world.update(req):
         return
     global player_to_flag_assign,myMap,my_side_is_left
@@ -198,6 +208,17 @@ def plan_next_actions(req):
     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))
+    
+    my_in_prison = len(world.list_players(mine=True, inPrison=True, hasFlag=None))
+    op_in_prison = len(world.list_players(False,True,None))
+    if my_in_prison <= 0 and op_in_prison <= 0:
+        return server0.plan_next_actions(req)
+    elif my_in_prison > op_in_prison:
+        return server1.plan_next_actions(req)
+    else:
+        return server0.plan_next_actions(req)
+        
+    
     active_player_names = {p["name"] for p in my_players if not p["hasFlag"]}
     flags_list = []
     regard_list = []
@@ -242,7 +263,6 @@ def plan_next_actions(req):
             f,lentime = myMap.closest_in_range(p["posX"],p["posY"],regard_list)
             if f is not None and lentime<14:
                 dest = (f[0],f[1])
-                regard_list.remove((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:
@@ -252,7 +272,6 @@ def plan_next_actions(req):
             f,temp = myMap.closest_in_range(p["posX"],p["posY"],regard_list)
             if f is not None:
                 dest = (f[0],f[1])
-                regard_list.remove((f[0],f[1]))
             else:
                 f = myMap.closest(p["posX"],p["posY"],pretend_list)
                 if f is not None:
@@ -265,15 +284,14 @@ def plan_next_actions(req):
                         protect_list.remove((f[0],f[1]))
                     else:
                         continue
-        if dest is not None:
-            player_moves[p["name"]] = myMap.guideance(p["posX"],p["posY"],dest[0],dest[1])
-        else:
-            player_moves[p["name"]] = myMap.guideance(p["posX"],p["posY"],p["posX"],p["posY"])
+        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)
+    server1.game_over(req)
+    server0.game_over(req)
+    # print("Game Over!")
+    # world.show(force=True)
 
 async def main():
     import sys

CTF/backend/server1.py

@@ -0,0 +1,293 @@
+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((min(posx+2,self.width),posy)) == my_side_is_left
+        else:
+            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)
+        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
+    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
+    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 = 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<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<14:
+                dest = (f[0],f[1])
+                regard_list.remove((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])
+                    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:
+                dest = (f[0],f[1])
+                regard_list.remove((f[0],f[1]))
+            else:
+                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
+        if dest is not None:
+            player_moves[p["name"]] = myMap.guideance(p["posX"],p["posY"],dest[0],dest[1])
+        else:
+            player_moves[p["name"]] = myMap.guideance(p["posX"],p["posY"],p["posX"],p["posY"])
+    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())