j131 learned movement: real bullet-endpoint resolution (TR_LEARNED_REAL_EVENTS, default off) + exact-geometry Gate A/B (inversion NOT fixed; state still the constraint)

ModularBot_garage/tests/test_learned_surfer.nim

@@ -88,6 +88,66 @@ proc counters(m: LearnedSurferModule): int =
     if c != 0'u8: inc n
   n
 
+proc testRealEvents() =
+  ## `TR_LEARNED_REAL_EVENTS`: a wave resolves on the REAL bullet event (exact
+  ## origin->endpoint line) instead of the arrival deadline, and is dropped the
+  ## moment it resolves (ghost cleanup). Default-off parity is also pinned.
+  const Ex = 400.0
+  const Ey = 100.0
+  const Ux = 400.0
+  const Uy = 300.0
+
+  proc wsAt(tick: int; eEnergy: float): WorldState =
+    WorldState(
+      enemyX: Ex, enemyY: Ey, enemyEnergy: eEnergy,
+      selfX: Ux, selfY: Uy, selfSpeed: 8.0, selfHeading: 0.0,
+      arenaWidth: 800.0, arenaHeight: 600.0, tick: tick,
+      enemies: @[EnemyInfo(id: 1, x: Ex, y: Ey,
+                           heading: 180.0, speed: 0.0, energy: eEnergy)])
+
+  # ── parity: with the knob off a real event changes nothing ──────────────
+  putEnv(LearnedLabelEnv, "histogram")
+  putEnv(LearnedRealEventsEnv, "")
+  loadLearnedEnv()
+  var mOff = initLearnedSurfer()
+  discard mOff.computeMove(wsAt(0, 100.0))    # tick 0: baseline energy sample
+  discard mOff.computeMove(wsAt(1, 99.0))     # tick 1: a 1.0 firepower drop
+  check "RE default-off: the fire is detected as a live wave",
+        mOff.liveWaves == 1
+  check "RE default-off: resolveEnemyBullet is a no-op",
+        (not mOff.resolveEnemyBullet(Ux, Uy, degToRad(90.0), 1, 13, true)) and
+        mOff.liveWaves == 1
+
+  # ── ON: the exact origin->endpoint line resolves the wave immediately ────
+  putEnv(LearnedRealEventsEnv, "1")
+  loadLearnedEnv()
+  var mOn = initLearnedSurfer()
+  discard mOn.computeMove(wsAt(0, 100.0))
+  discard mOn.computeMove(wsAt(1, 99.0))
+  check "RE on: the fire is detected as a live wave", mOn.liveWaves == 1
+  # endpoint = our position on the centre line (GF 0 -> bin 15) at ~nominal
+  # (200 px at speed 17 -> ~12 ticks after the fire at tick 1)
+  check "RE on: the real hit endpoint resolves the wave",
+        mOn.resolveEnemyBullet(Ux, Uy, degToRad(90.0), 1, 13, true)
+  check "RE on: the wave is dropped at once (ghost cleanup)", mOn.liveWaves == 0
+  check "RE on: a real resolution is counted", mOn.resolvedReal == 1
+  check "RE on: the exact straight line lands in the centre bin",
+        mOn.glob[15] == 1
+  check "RE on: the real flight time is recorded", mOn.lastFlightErr > -20.0
+
+  # ── ON: an unmatched wave still resolves (as a WALL MISS) at the deadline ─
+  var mMiss = initLearnedSurfer()
+  discard mMiss.computeMove(wsAt(0, 100.0))
+  discard mMiss.computeMove(wsAt(1, 99.0))
+  check "RE on: a wave is pending before any event", mMiss.liveWaves == 1
+  for t in 2..<40: discard mMiss.computeMove(wsAt(t, 99.0))
+  check "RE on: the unmatched wall wave eventually resolves",
+        mMiss.liveWaves == 0 and mMiss.resolvedDead >= 1
+
+  putEnv(LearnedRealEventsEnv, "")
+  putEnv(LearnedLabelEnv, "")
+  loadLearnedEnv()
+
 proc main() =
   # 1. concept
   check "MovementModule concept", isMovementModule(LearnedSurferModule)
@@ -170,6 +230,8 @@ proc main() =
   putEnv(LearnedDecayEveryEnv, "")
   loadLearnedEnv()
 
+  echo ""
+  testRealEvents()
   echo ""
   echo "checks=", checks, " failures=", failures
   if failures > 0: quit(1)