fix(botapi): static SVG + intent buffers to kill cross-thread heap realloc

Round N+1's fresh bot thread realloc'd module-level strings/seqs (SVG buffer,
intent stdout/stderr, team messages) left behind by dead round N's thread —
same rawDealloc SIGSEGV class as the event queue, seen at graphics.nim:274
(drawText->prepareAdd, core 2490478 @ 03:13:40, battle round 257).

- graphics.nim: gSvgBuffer -> array[16384, char] + gSvgLen, appendSvg
- bot.nim: intent stdout/stderr -> static char arrays; team messages ->
  array[16, TeamMessage] + len; buildIntentJson/printToStdOut/Err/
  broadcastTeamMessage bounded appends
- botThreadEntry: reset graphics+intent buffers on the owning thread

Also fixes stale mapActions call sites in tests/ (missing enemyX/enemyY).

PPO_Bot/tests/test_actions.nim

@@ -20,7 +20,7 @@ proc makeRaw(vals: array[6, float32]): Tensor[float32] =
 # --- 6-dim input produces a valid BotActions ---
 block basicDecode:
   let raw = makeRaw([0.0'f32, 0.0, 0.0, 0.0, 0.0, 0.0])
-  let acts = mapActions(raw, 0.0, arenaW, arenaH, 600.0, 400.0, 0.0, 0.0, 0.0)
+  let acts = mapActions(raw, 0.0, arenaW, arenaH, 600.0, 400.0, 0.0, 0.0, 0.0, 600.0, 400.0)
   # sigmoid(0)*arenaW = 0.5*1200 = 600, sigmoid(0)*arenaH = 0.5*800 = 400
   check abs(acts.gotoX - 600.0) < 1e-6, "gotoX = sigmoid(0)*arenaW"
   check abs(acts.gotoY - 400.0) < 1e-6, "gotoY = sigmoid(0)*arenaH"
@@ -31,13 +31,13 @@ block basicDecode:
 block coordBounds:
   # Large positive raw → sigmoid ≈ 1 → close to arenaW/arenaH
   let rawHigh = makeRaw([100.0'f32, 100.0, 100.0, 100.0, 0.0, 0.0])
-  let actsHigh = mapActions(rawHigh, 0.0, arenaW, arenaH, 600.0, 400.0, 0.0, 0.0, 0.0)
+  let actsHigh = mapActions(rawHigh, 0.0, arenaW, arenaH, 600.0, 400.0, 0.0, 0.0, 0.0, 600.0, 400.0)
   check actsHigh.gotoX <= arenaW + 1e-9, "gotoX <= arenaWidth"
   check actsHigh.gotoY <= arenaH + 1e-9, "gotoY <= arenaHeight"
   check actsHigh.gotoX >= 0.0, "gotoX >= 0"
   # Large negative raw → sigmoid ≈ 0 → close to 0
   let rawLow = makeRaw([-100.0'f32, -100.0, -100.0, -100.0, 0.0, 0.0])
-  let actsLow = mapActions(rawLow, 0.0, arenaW, arenaH, 600.0, 400.0, 0.0, 0.0, 0.0)
+  let actsLow = mapActions(rawLow, 0.0, arenaW, arenaH, 600.0, 400.0, 0.0, 0.0, 0.0, 600.0, 400.0)
   check actsLow.gotoX >= -1e-9, "gotoX >= 0 (low raw)"
   check actsLow.gotoY >= -1e-9, "gotoY >= 0 (low raw)"
 
@@ -45,24 +45,24 @@ block coordBounds:
 block fireTrigger:
   # tanh(positive) >= 0 → fire when gunHeat = 0
   let rawFire = makeRaw([0.0'f32, 0.0, 0.0, 0.0, 1.0, 0.0])
-  let actsFire = mapActions(rawFire, 0.0, arenaW, arenaH, 600.0, 400.0, 0.0, 0.0, 0.0)
+  let actsFire = mapActions(rawFire, 0.0, arenaW, arenaH, 600.0, 400.0, 0.0, 0.0, 0.0, 600.0, 400.0)
   check actsFire.shouldFire, "positive tanh → should fire when gun cool"
 
   # tanh(negative) < 0 → no fire
   let rawNoFire = makeRaw([0.0'f32, 0.0, 0.0, 0.0, -1.0, 0.0])
-  let actsNoFire = mapActions(rawNoFire, 0.0, arenaW, arenaH, 600.0, 400.0, 0.0, 0.0, 0.0)
+  let actsNoFire = mapActions(rawNoFire, 0.0, arenaW, arenaH, 600.0, 400.0, 0.0, 0.0, 0.0, 600.0, 400.0)
   check not actsNoFire.shouldFire, "negative tanh → no fire"
 
   # gunHeat > 0 → no fire even with positive decision
-  let actsHot = mapActions(rawFire, 0.5, arenaW, arenaH, 600.0, 400.0, 0.0, 0.0, 0.0)
+  let actsHot = mapActions(rawFire, 0.5, arenaW, arenaH, 600.0, 400.0, 0.0, 0.0, 0.0, 600.0, 400.0)
   check not actsHot.shouldFire, "positive tanh but gun hot → no fire"
 
 # --- Fire power in [0.1, 3.0] ---
 block firePowerRange:
   let rawMin = makeRaw([0.0'f32, 0.0, 0.0, 0.0, 0.0, -100.0])
   let rawMax = makeRaw([0.0'f32, 0.0, 0.0, 0.0, 0.0,  100.0])
-  let actsMin = mapActions(rawMin, 0.0, arenaW, arenaH, 600.0, 400.0, 0.0, 0.0, 0.0)
-  let actsMax = mapActions(rawMax, 0.0, arenaW, arenaH, 600.0, 400.0, 0.0, 0.0, 0.0)
+  let actsMin = mapActions(rawMin, 0.0, arenaW, arenaH, 600.0, 400.0, 0.0, 0.0, 0.0, 600.0, 400.0)
+  let actsMax = mapActions(rawMax, 0.0, arenaW, arenaH, 600.0, 400.0, 0.0, 0.0, 0.0, 600.0, 400.0)
   check actsMin.firePower >= 0.1 - 1e-6, "firePower >= 0.1"
   check actsMax.firePower <= 3.0 + 1e-6, "firePower <= 3.0"
 

PPO_Bot/tests/test_network.nim

@@ -40,7 +40,7 @@ when isMainModule:
   let raw = randomNormalTensor[float32](ACTION_DIM)
   let speed = 4.0'f32
   # arena 800×600, bot at centre, heading north, gun north
-  let botActs = mapActions(raw, 0.0'f32, 800.0, 600.0, 400.0, 300.0, 0.0, speed.float, 0.0)  # gunHeat=0 → fire allowed
+  let botActs = mapActions(raw, 0.0'f32, 800.0, 600.0, 400.0, 300.0, 0.0, speed.float, 0.0, 400.0, 300.0)  # gunHeat=0 → fire allowed
 
   assert botActs.targetSpeed >= -8.0'f32 and botActs.targetSpeed <= 8.0'f32,
     &"targetSpeed out of range: {botActs.targetSpeed}"
@@ -52,7 +52,7 @@ when isMainModule:
     &"firePower out of range: {botActs.firePower}"
 
   # shouldFire=false when gunHeat > 0
-  let noFire = mapActions(raw, 1.0'f32, 800.0, 600.0, 400.0, 300.0, 0.0, speed.float, 0.0)
+  let noFire = mapActions(raw, 1.0'f32, 800.0, 600.0, 400.0, 300.0, 0.0, speed.float, 0.0, 400.0, 300.0)
   assert not noFire.shouldFire, "shouldFire should be false when gunHeat > 0"
 
   echo "All tests passed"