{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Day 11 - Langton's Ant\n",
    "\n",
    "- https://adventofcode.com/2019/day/11\n",
    "\n",
    "Today we use our Intcode computer to direct a painting robot, using rules that echo [Langton's Ant](https://en.wikipedia.org/wiki/Langton%27s_ant), a 2D cellular automaton. Celular automatons are another of AoC's recurring themes. However, this specific ant doesn't quite have the same simple rules Langton gave his ant..\n",
    "\n",
    "I've opted for implementing the robot as a Python generator function, having the Intcode CPU's print opcode send its output to the generator using it's [`generator.send()` method](https://docs.python.org/3/reference/expressions.html#generator.send). Input is then a simple deque (add robot observations to one end, the Intcode input opcode takes values from the other).\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "from __future__ import annotations\n",
    "\n",
    "from collections import deque\n",
    "from enum import Enum\n",
    "from typing import (\n",
    "    TYPE_CHECKING,\n",
    "    ContextManager,\n",
    "    Deque,\n",
    "    Dict,\n",
    "    Generator,\n",
    "    List,\n",
    "    Literal,\n",
    "    NamedTuple,\n",
    "    Optional,\n",
    "    Tuple,\n",
    "    Union,\n",
    "    cast,\n",
    ")\n",
    "\n",
    "from intcode import CPU, Instruction, InstructionSet, base_opcodes\n",
    "\n",
    "TURN = Literal[0, 1]\n",
    "COLOUR = Literal[0, 1]\n",
    "\n",
    "\n",
    "class Pos(NamedTuple):\n",
    "    x: int = 0\n",
    "    y: int = 0\n",
    "\n",
    "    def move(self, dx: int, dy: int) -> Pos:\n",
    "        return self._replace(x=self.x + dx, y=self.y + dy)\n",
    "\n",
    "\n",
    "Hullmap = Dict[Pos, COLOUR]\n",
    "\n",
    "\n",
    "class Direction(Enum):\n",
    "    #       dx, dy, turn l,  turn r\n",
    "    up = 0, -1, \"left\", \"right\"\n",
    "    left = -1, 0, \"down\", \"up\"\n",
    "    down = 0, 1, \"right\", \"left\"\n",
    "    right = 1, 0, \"up\", \"down\"\n",
    "\n",
    "    if TYPE_CHECKING:\n",
    "        dx: int\n",
    "        dy: int\n",
    "        _turns: Tuple[str, str]\n",
    "\n",
    "    def __new__(cls, dx: int, dy: int, turn_left: str, turn_right: str) -> Direction:\n",
    "        self = object.__new__(cls)\n",
    "        self._value_ = (dx, dy)\n",
    "        self.dx, self.dy = dx, dy\n",
    "        self._turns = (turn_left, turn_right)\n",
    "        return self\n",
    "\n",
    "    def turn(self, direction: TURN) -> Direction:\n",
    "        return type(self)[self._turns[direction]]\n",
    "\n",
    "    def __call__(self, pos: Pos) -> Pos:\n",
    "        \"\"\"Move forward one step\"\"\"\n",
    "        return pos.move(self.dx, self.dy)\n",
    "\n",
    "\n",
    "PaintRunner = Generator[None, Union[TURN, COLOUR], None]\n",
    "\n",
    "\n",
    "class HullPaintingRobot(ContextManager[PaintRunner]):\n",
    "    painted: Hullmap\n",
    "    _runner: Optional[PaintRunner] = None\n",
    "\n",
    "    def __init__(self, output: Deque[COLOUR]) -> None:\n",
    "        self.painted = {}\n",
    "        self._output = output\n",
    "\n",
    "    def powerdown(self) -> None:\n",
    "        if self._runner is not None:\n",
    "            self._runner.close()\n",
    "            self._runner = None\n",
    "\n",
    "    def __enter__(self) -> PaintRunner:\n",
    "        if self._runner is None:\n",
    "            self._runner = self.run()\n",
    "            # prime the runner, outputting its first observation\n",
    "            # and waiting for input.\n",
    "            next(self._runner)\n",
    "        return self._runner\n",
    "\n",
    "    def __exit__(self, *exc) -> None:\n",
    "        self.powerdown()\n",
    "\n",
    "    def run(self) -> Generator[None, Union[TURN, COLOUR], None]:\n",
    "        pos: Pos = Pos()\n",
    "        direction: Direction = Direction.up\n",
    "        hull = self.painted\n",
    "\n",
    "        while True:\n",
    "            self._output.append(hull.get(pos, 0))\n",
    "            self.painted[pos] = yield None\n",
    "            direction = direction.turn((yield None))\n",
    "            pos = direction(pos)\n",
    "\n",
    "\n",
    "def testrun() -> None:\n",
    "    output: Deque[COLOUR] = deque()\n",
    "    robot = HullPaintingRobot(output)\n",
    "    with robot as run:\n",
    "        # and so any input instructions at this point should be provided 0\n",
    "        assert output[0] == 0\n",
    "\n",
    "        # Suppose the robot eventually outputs 1 (paint white) and then 0 (turn left)\n",
    "        run.send(cast(COLOUR, 1))\n",
    "        run.send(cast(TURN, 0))\n",
    "        assert robot.painted == {Pos(0, 0): 1}\n",
    "        # Input instructions should still be provided 0\n",
    "        assert output[-1] == 0\n",
    "        assert len(output) == 2\n",
    "\n",
    "        # Next, the robot might output 0 (paint black) and then 0 (turn left):\n",
    "        run.send(cast(COLOUR, 0))\n",
    "        run.send(cast(TURN, 0))\n",
    "        assert robot.painted == {Pos(0, 0): 1, Pos(-1, 0): 0}\n",
    "\n",
    "        # After more outputs (1,0, 1,0):\n",
    "        for c, t in ((1, 0), (1, 0)):\n",
    "            run.send(cast(COLOUR, c))\n",
    "            run.send(cast(TURN, t))\n",
    "        assert robot.painted == {\n",
    "            Pos(0, 0): 1,\n",
    "            Pos(-1, 0): 0,\n",
    "            Pos(-1, 1): 1,\n",
    "            Pos(0, 1): 1,\n",
    "        }\n",
    "        # ... because it is now on a white panel, input instructions should be provided 1\n",
    "        assert output[-1] == 1\n",
    "\n",
    "        # After several more outputs (0,1, 1,0, 1,0)\n",
    "        for c, t in ((0, 1), (1, 0), (1, 0)):\n",
    "            run.send(cast(COLOUR, c))\n",
    "            run.send(cast(TURN, t))\n",
    "        assert robot.painted == {\n",
    "            Pos(0, 0): 0,\n",
    "            Pos(-1, 0): 0,\n",
    "            Pos(-1, 1): 1,\n",
    "            Pos(0, 1): 1,\n",
    "            Pos(1, 0): 1,\n",
    "            Pos(1, -1): 1,\n",
    "        }\n",
    "\n",
    "\n",
    "testrun()\n",
    "\n",
    "\n",
    "def execute_robot(memory: List[int], hull: Optional[Hullmap] = None) -> Hullmap:\n",
    "    outputs: Deque[COLOUR] = deque()\n",
    "    robot = HullPaintingRobot(outputs)\n",
    "    if hull is not None:\n",
    "        robot.painted = hull\n",
    "    with robot as runner:\n",
    "        opcodes: InstructionSet = {\n",
    "            **base_opcodes,\n",
    "            3: Instruction(outputs.popleft, output=True),\n",
    "            4: Instruction(runner.send, 1),\n",
    "        }\n",
    "        CPU(opcodes).reset(memory).execute()\n",
    "    return robot.painted"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "import aocd\n",
    "\n",
    "data = aocd.get_data(day=11, year=2019)\n",
    "memory = list(map(int, data.split(\",\")))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Part 1: 1771\n"
     ]
    }
   ],
   "source": [
    "part1_hull = execute_robot(memory)\n",
    "print(\"Part 1:\", len(part1_hull))"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Part 2\n",
    "\n",
    "Part 2 simply changes the first position to be white instead of black, so we simply add `Pos(0, 0): 1` to the initial mapping of our hull.\n",
    "\n",
    "To output the result, I'm generating a PIL image.\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Part 2:\n"
     ]
    },
    {
     "data": {
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      "image/png": "iVBORw0KGgoAAAANSUhEUgAAAcIAAABQAQAAAACiukgUAAAA50lEQVR4Ae2WUQ6CMAyGW2fiI9zAo4yjs6N4A/dowlL/DphiYkCND2T9H7q2GyT9aDqITEbgZwLNQOSvRCLZiMgY9ngzck6IcER6guexC091yPYbY0+uUdspISfMZ3RTYOZHidw9fPWednda57KeDZHVuQbpiAM6aaIejIi8JNgGqSL4qQRumFrM2BYmb5yaCCXmTjF4yXNI2youhhG3up3V3OYpVROhufrP1hoJhXbJCH9Br/IX7bCsGgnNtW9bayFUWiLxeGV5LNOoiSeh0LoRGOOSQ14vudBpqhZCVqd+bZMR+CeBOx0WO/lbVu9PAAAAAElFTkSuQmCC",
      "text/plain": [
       "<PIL.Image.Image image mode=1 size=450x80>"
      ]
     },
     "execution_count": 4,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "from PIL import Image\n",
    "\n",
    "\n",
    "def show_hull(hull: Hullmap, scale: int = 10, border: bool = True) -> Image:\n",
    "    minx, maxx = min(p.x for p in hull), max(p.x for p in hull)\n",
    "    miny, maxy = min(p.y for p in hull), max(p.y for p in hull)\n",
    "    W, H = maxx - minx + 1, maxy - miny + 1\n",
    "    img = Image.new(\"1\", (W, H), None)\n",
    "    for pos, colour in hull.items():\n",
    "        img.putpixel(pos.move(-minx, -miny), colour)\n",
    "    if border:\n",
    "        with_border = Image.new(\"1\", (W + 2, H + 2))\n",
    "        with_border.paste(img, (1, 1))\n",
    "        img = with_border\n",
    "    if scale != 1:\n",
    "        img = img.resize((img.width * scale, img.height * scale))\n",
    "    return img\n",
    "\n",
    "\n",
    "part2_hull = execute_robot(memory, {Pos(0, 0): 1})\n",
    "print(\"Part 2:\")\n",
    "show_hull(part2_hull)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Animation\n",
    "\n",
    "The painting process begs to be animated.\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "/var/folders/zr/sp474f_d38xfvml_n2y_8tfr0000gn/T/ipykernel_84374/1377379208.py:37: MatplotlibDeprecationWarning: The get_cmap function was deprecated in Matplotlib 3.7 and will be removed two minor releases later. Use ``matplotlib.colormaps[name]`` or ``matplotlib.colormaps.get_cmap(obj)`` instead.\n",
      "  image = ax.imshow(grid, vmin=0, vmax=1, cmap=get_cmap(\"binary\").reversed())\n"
     ]
    },
    {
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       "\">\n",
       "  Your browser does not support the video tag.\n",
       "</video>"
      ],
      "text/plain": [
       "<matplotlib.animation.FuncAnimation at 0x11e0970b0>"
      ]
     },
     "execution_count": 5,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "%matplotlib inline\n",
    "import matplotlib.pyplot as plt\n",
    "import numpy as np\n",
    "from matplotlib import animation, rc\n",
    "from matplotlib.cm import get_cmap\n",
    "from matplotlib.figure import Figure\n",
    "\n",
    "rc(\"animation\", html=\"html5\")\n",
    "\n",
    "\n",
    "def animate_robot(\n",
    "    memory: List[int],\n",
    "    start: COLOUR = 1,\n",
    "    size: int = 12,\n",
    "    delay: int = 60,\n",
    ") -> animation.FuncAnimation:\n",
    "    frames: List[Optional[Tuple[Pos, COLOUR]]] = []\n",
    "\n",
    "    class RecordingDict(Hullmap):\n",
    "        def __setitem__(self, pos: Pos, colour: COLOUR) -> None:\n",
    "            frames.append((pos, colour))\n",
    "            super().__setitem__(pos, colour)\n",
    "\n",
    "    hull = execute_robot(memory, RecordingDict({Pos(0, 0): start}))\n",
    "\n",
    "    frames += [None] * 64  # full fade for remainder\n",
    "\n",
    "    minx, maxx = min(p.x for p in hull), max(p.x for p in hull)\n",
    "    miny, maxy = min(p.y for p in hull), max(p.y for p in hull)\n",
    "    W, H = maxx - minx + 1, maxy - miny + 1\n",
    "\n",
    "    fig, ax = plt.subplots(figsize=(size, size * (H / W)))\n",
    "    fig.subplots_adjust(left=0, bottom=0, right=1, top=1)\n",
    "    ax.set_axis_off()\n",
    "\n",
    "    grid = np.zeros((H + 2, W + 2), dtype=np.int8)\n",
    "    image = ax.imshow(grid, vmin=0, vmax=1, cmap=get_cmap(\"binary\").reversed())\n",
    "\n",
    "    def render(move: Optional[Tuple[Pos, COLOUR]]) -> Tuple[Figure]:\n",
    "        if move is not None:\n",
    "            a = image.get_array()\n",
    "            pos, colour = move\n",
    "            a[pos.y + 1 - miny, pos.x + 1 - minx] = colour\n",
    "        return (image,)\n",
    "\n",
    "    anim = animation.FuncAnimation(\n",
    "        fig, render, frames, interval=delay, blit=True, repeat_delay=1000\n",
    "    )\n",
    "    plt.close(fig)\n",
    "    return anim\n",
    "\n",
    "\n",
    "animate_robot(memory)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Part 1 chaotic path\n",
    "\n",
    "For completion's sake, here are the image and animation produced for part 1, which is quite ant-like in the chaotic lines it created.\n",
    "\n",
    "(Rendering the animation takes a while, this is mostly ffmpeg's fault, running in the background to produce the MP4).\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/jpeg": 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",
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      "text/plain": [
       "<PIL.Image.Image image mode=1 size=335x330>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "/var/folders/zr/sp474f_d38xfvml_n2y_8tfr0000gn/T/ipykernel_84374/1377379208.py:37: MatplotlibDeprecationWarning: The get_cmap function was deprecated in Matplotlib 3.7 and will be removed two minor releases later. Use ``matplotlib.colormaps[name]`` or ``matplotlib.colormaps.get_cmap(obj)`` instead.\n",
      "  image = ax.imshow(grid, vmin=0, vmax=1, cmap=get_cmap(\"binary\").reversed())\n"
     ]
    },
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       "\">\n",
       "  Your browser does not support the video tag.\n",
       "</video>"
      ],
      "text/plain": [
       "<matplotlib.animation.FuncAnimation at 0x11f8d4b30>"
      ]
     },
     "execution_count": 6,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "display(show_hull(part1_hull, scale=5))\n",
    "animate_robot(memory, 0, size=5, delay=6)"
   ]
  }
 ],
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