diff --git a/ModularBot_garage/src/env_report.nim b/ModularBot_garage/src/env_report.nim index 1783a0d..3bd6b45 100644 --- a/ModularBot_garage/src/env_report.nim +++ b/ModularBot_garage/src/env_report.nim @@ -256,6 +256,8 @@ proc printEffectiveValues(ctx: EnvReportContext) = emit("TR_TFIL_HEAT_TAU", $TfilHeatTau, sourceOf("TR_TFIL_HEAT_TAU")) emit("TR_TFIL_HEAT_POWER_GAIN", $TfilHeatPowerGain, sourceOf("TR_TFIL_HEAT_POWER_GAIN")) + emit("TR_TFIL_PILLAR_ON", onOff(PillarHotness > 0.0), + sourceOf("TR_TFIL_PILLAR_ON")) # ── ramming ─────────────────────────────────────────────────────────────── emit("TR_RAM_OPPORTUNITY", onOff(RamOppEnabled), sourceOf("TR_RAM_OPPORTUNITY")) @@ -381,6 +383,8 @@ proc knownEnvNames*(): seq[string] = BB_MEM_ENV, BB_GAINS_ENV, BB_N_ENV, BB_NADE_ENV, BB_RANGE_ENV, BB_LOG_ENV, BB_MIN_OBS_ENV, BB_WARMUP_ENV, BB_ADAPT_ENV, BB_CALIB_ENV, BB_DECAY_ENV, BB_DECAY_FRAC_ENV, BB_SEED_ENV, BB_RESET_ON_TARGET_ENV, + # common_libs/bitbrain (counted-SBC library) reads these inline; job j102 + "TR_BITBRAIN_MODE", "TR_BITBRAIN_DECAY_EVERY", "TR_BITBRAIN_DECAY_SHIFT", ] # rack names are constructed from the prefix + gun table, not spelled out for g in RackGunNames: @@ -404,6 +408,7 @@ proc knownEnvNames*(): seq[string] = "TR_TFIL_TILE_REPLAN", "TR_TFIL_COMMIT_TICKS", "TR_TFIL_NO_REV", "TR_TFIL_COMMIT_LOG", "TR_TFIL_HEAT_TIME", "TR_TFIL_HEAT_TAU", "TR_TFIL_HEAT_POWER_GAIN", + "TR_TFIL_PILLAR_ON", # harness vars (read by the test framework, inherited by the bot, so they # must NOT be reported as typos) "TR_SERVER_JAR", "TR_BATTLE_RUNNER", "TR_BATTLE_RUNNER_DIR", diff --git a/common_libs/movements/the_floor_is_lava.nim b/common_libs/movements/the_floor_is_lava.nim index 9316c9e..fdb62a2 100644 --- a/common_libs/movements/the_floor_is_lava.nim +++ b/common_libs/movements/the_floor_is_lava.nim @@ -31,8 +31,17 @@ const CorridorHeat = 20.0 const WallHotness = 30.0 const WallRadiance = 10.0 -const PillarHotness = 30.0 -const PillarRadiance = 10.0 +## The "virtual centre pillar": heat OUR code paints on the arena centre even +## though the arena has NO physical pillar there. The shipped default is now +## OFF (0/0) — the bot must not avoid open centre floor for no reason. Set +## `TR_TFIL_PILLAR_ON=1` to restore the old 30/10 field for A/B (see +## `loadTfilPillarEnv`). The ring variant already ships 0/0. +const + PillarHotnessOn = 30.0 + PillarRadianceOn = 10.0 +var + PillarHotness* = 0.0 + PillarRadiance* = 0.0 const CommitTicks = 15 ## ticks to commit to a dodge point const MinCommitTicks = 5 ## must commit for this many ticks before danger replan allowed @@ -113,6 +122,19 @@ proc loadTfilCommitEnv*() = loadTfilCommitEnv() +proc loadTfilPillarEnv*() = + ## Read the virtual-centre-pillar knob. OFF by default: the shipped field is + ## the arena with no invented centre hazard. `TR_TFIL_PILLAR_ON=1` restores + ## the pre-change 30/10 field so the two defaults can be A/B-ed offline. + if getEnvBool("TR_TFIL_PILLAR_ON", false): + PillarHotness = PillarHotnessOn + PillarRadiance = PillarRadianceOn + else: + PillarHotness = 0.0 + PillarRadiance = 0.0 + +loadTfilPillarEnv() + # ── Time-indexed bullet heat (TR_TFIL_HEAT_TIME=1, default OFF = shipped) ───── # # WHY: the flat model gives every bullet-overlapping tile the same heat and diff --git a/common_libs/tests/fixtures/tfil_commit_default.golden b/common_libs/tests/fixtures/tfil_commit_default.golden index d0533a4..4b1b8d8 100644 --- a/common_libs/tests/fixtures/tfil_commit_default.golden +++ b/common_libs/tests/fixtures/tfil_commit_default.golden @@ -1,53 +1,56 @@ # TFIL default-path parity golden. -# Generated from commit f842ac0 (shipped mover, BEFORE the commit knobs) -# by `nim c -r -d:tfilGenGolden` on this file against `git archive f842ac0`. +# Originally generated from commit f842ac0 (shipped mover, BEFORE the commit knobs). +# REGENERATED from the NEW default after the DELIBERATE removal of the virtual +# centre pillar (PillarHotness/PillarRadiance 30/10 -> 0/0). Set +# TR_TFIL_PILLAR_ON=1 to restore the old field. Not a regression: the shipped +# default change is intentional, so the default path legitimately differs. # Format: call speed turnRate targetX targetY commitTicks -1 8.0 -10.0 346.0 138.0 15 -2 8.0 -10.0 346.0 138.0 14 -3 8.0 -9.25 346.0 138.0 13 -4 8.0 -8.5 346.0 138.0 12 -5 8.0 -7.75 346.0 138.0 11 -6 8.0 -7.0 346.0 138.0 10 -7 8.0 -6.25 346.0 138.0 9 -8 8.0 -5.5 346.0 138.0 8 -9 8.0 4.75 310.0 210.0 15 -10 8.0 4.0 310.0 210.0 14 -11 8.0 4.0 310.0 210.0 13 -12 8.0 4.0 310.0 210.0 12 -13 8.0 4.0 310.0 210.0 11 -14 -8.0 -4.0 274.0 426.0 15 -15 -8.0 -4.0 274.0 426.0 14 -16 -8.0 -4.0 274.0 426.0 13 -17 -8.0 -4.0 274.0 426.0 12 -18 -8.0 -4.0 274.0 426.0 11 -19 -8.0 4.0 166.0 138.0 15 -20 -8.0 4.0 166.0 138.0 14 -21 -8.0 4.0 166.0 138.0 13 -22 -8.0 4.0 166.0 138.0 12 -23 8.0 2.9535460397946167 562.0 138.0 15 -24 8.0 -0.9208381951154365 562.0 138.0 14 -25 8.0 -4.0 562.0 138.0 13 -26 8.0 -4.0 562.0 138.0 12 -27 8.0 -4.0 562.0 138.0 11 -28 8.0 -4.0 418.0 138.0 15 -29 -8.0 -1.405290687196839 202.0 102.0 15 -30 -8.0 2.613643760256849 202.0 102.0 14 -31 -8.0 9.625 202.0 102.0 13 -32 -8.0 9.4375 202.0 102.0 12 -33 -8.0 8.6875 202.0 102.0 11 -34 -8.0 7.9375 202.0 102.0 10 -35 -8.0 7.1875 202.0 102.0 9 -36 -8.0 6.4375 202.0 102.0 8 +1 8.0 10.0 490.0 282.0 15 +2 8.0 10.0 490.0 282.0 14 +3 8.0 9.25 490.0 282.0 13 +4 8.0 8.5 490.0 282.0 12 +5 8.0 7.75 490.0 282.0 11 +6 8.0 7.0 490.0 282.0 10 +7 8.0 6.25 490.0 282.0 9 +8 8.0 5.5 490.0 282.0 8 +9 8.0 -4.75 418.0 138.0 15 +10 8.0 -4.0 418.0 138.0 14 +11 8.0 -4.0 418.0 138.0 13 +12 8.0 -3.0946921714266864 418.0 138.0 12 +13 8.0 -2.8169345817128715 418.0 138.0 11 +14 8.0 4.0 490.0 174.0 15 +15 8.0 4.0 490.0 174.0 14 +16 8.0 4.0 490.0 174.0 13 +17 8.0 4.0 490.0 174.0 12 +18 8.0 4.0 490.0 174.0 11 +19 8.0 3.224688632793516 526.0 138.0 15 +20 8.0 1.6639015865583247 526.0 138.0 14 +21 8.0 1.647865437021153 526.0 138.0 13 +22 8.0 1.7209472990729182 526.0 138.0 12 +23 8.0 4.0 490.0 318.0 15 +24 8.0 4.0 490.0 318.0 14 +25 8.0 4.0 490.0 318.0 13 +26 8.0 4.0 490.0 318.0 12 +27 8.0 4.0 490.0 318.0 11 +28 8.0 4.0 670.0 390.0 15 +29 8.0 0.1481815432733633 598.0 210.0 15 +30 8.0 4.150564376247445 598.0 210.0 14 +31 8.0 9.625 598.0 210.0 13 +32 8.0 9.4375 598.0 210.0 12 +33 8.0 8.6875 598.0 210.0 11 +34 8.0 7.9375 598.0 210.0 10 +35 8.0 7.1875 598.0 210.0 9 +36 8.0 6.4375 598.0 210.0 8 37 -8.0 5.6875 166.0 138.0 15 38 -8.0 4.9375 166.0 138.0 14 39 -8.0 4.1875 166.0 138.0 13 40 -8.0 4.0 166.0 138.0 12 41 -8.0 4.0 166.0 138.0 11 -42 -8.0 4.0 202.0 174.0 15 -43 -8.0 2.677662356474684 202.0 174.0 14 -44 -8.0 -1.1749527407993696 202.0 174.0 13 -45 -8.0 -4.0 202.0 174.0 12 -46 -8.0 -4.0 202.0 174.0 11 +42 -8.0 -4.0 202.0 282.0 15 +43 -8.0 -4.0 202.0 282.0 14 +44 -8.0 -4.0 202.0 282.0 13 +45 -8.0 -4.0 202.0 282.0 12 +46 -8.0 -4.0 202.0 282.0 11 47 -8.0 4.0 310.0 138.0 15 48 -8.0 4.0 310.0 138.0 14 49 -8.0 4.0 310.0 138.0 13 @@ -66,14 +69,14 @@ 62 -8.0 -0.00003544508334130114 130.0 246.0 10 63 -8.0 -0.000020901716879961896 130.0 246.0 9 64 -8.0 -0.0000356418796059188 130.0 246.0 8 -65 8.0 -4.0 238.0 102.0 15 -66 8.0 -7.75 238.0 102.0 14 -67 8.0 -9.625 238.0 102.0 13 -68 8.0 -9.4375 238.0 102.0 12 -69 8.0 -8.6875 238.0 102.0 11 -70 8.0 -7.9375 238.0 102.0 10 -71 8.0 -7.1875 238.0 102.0 9 -72 8.0 -6.4375 238.0 102.0 8 +65 8.0 -4.0 310.0 138.0 15 +66 8.0 -7.080593118486263 310.0 138.0 14 +67 8.0 0.7149238535994868 310.0 138.0 13 +68 8.0 9.4375 310.0 138.0 12 +69 8.0 8.6875 310.0 138.0 11 +70 8.0 7.9375 310.0 138.0 10 +71 8.0 7.1875 310.0 138.0 9 +72 8.0 6.4375 310.0 138.0 8 73 8.0 5.6875 346.0 138.0 15 74 8.0 4.9375 346.0 138.0 14 75 8.0 4.1875 310.0 138.0 15 @@ -81,15 +84,15 @@ 77 8.0 4.0 310.0 138.0 13 78 8.0 4.0 310.0 138.0 12 79 8.0 4.0 310.0 138.0 11 -80 0.0 0.0 274.0 102.0 15 -81 0.0 0.0 274.0 102.0 14 -82 0.0 0.0 274.0 102.0 13 -83 0.0 0.0 274.0 102.0 12 -84 0.0 0.0 274.0 102.0 11 -85 0.0 0.0 274.0 102.0 10 -86 0.0 0.0 274.0 102.0 9 -87 8.0 -6.4375 274.0 102.0 8 -88 8.0 -5.6875 274.0 102.0 7 +80 -8.0 -4.0 274.0 138.0 15 +81 -8.0 -7.75 274.0 138.0 14 +82 -8.0 -9.625 274.0 138.0 13 +83 -8.0 -9.4375 274.0 138.0 12 +84 -8.0 -8.6875 274.0 138.0 11 +85 -8.0 -7.9375 274.0 138.0 10 +86 8.0 7.1875 274.0 138.0 9 +87 8.0 6.4375 274.0 138.0 8 +88 8.0 5.6875 274.0 138.0 7 89 -8.0 -4.9375 202.0 174.0 15 90 -8.0 -4.1875 202.0 174.0 14 91 -8.0 -4.0 202.0 174.0 13 @@ -121,14 +124,14 @@ 117 -8.0 -4.0 130.0 210.0 14 118 -8.0 -4.0 130.0 210.0 13 119 -8.0 -4.0 130.0 210.0 12 -120 -8.0 4.0 94.0 210.0 15 -121 -8.0 7.75 94.0 210.0 14 -122 -8.0 9.625 94.0 210.0 13 -123 -8.0 9.4375 94.0 210.0 12 -124 -8.0 8.6875 94.0 210.0 11 -125 -8.0 7.9375 94.0 210.0 10 -126 -8.0 7.1875 94.0 210.0 9 -127 -8.0 3.8328988592200233 94.0 210.0 8 +120 -8.0 -4.0 166.0 246.0 15 +121 -8.0 -7.75 166.0 246.0 14 +122 -8.0 -9.625 166.0 246.0 13 +123 -8.0 -9.4375 166.0 246.0 12 +124 -8.0 -8.6875 166.0 246.0 11 +125 -8.0 -7.9375 166.0 246.0 10 +126 8.0 7.1875 166.0 246.0 9 +127 8.0 6.4375 166.0 246.0 8 128 -8.0 -5.6875 130.0 210.0 15 129 -8.0 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138.0 14 -166 8.0 -5.6875 238.0 138.0 13 -167 8.0 -4.9375 238.0 138.0 12 -168 8.0 -4.1875 238.0 138.0 11 -169 8.0 -4.0 238.0 138.0 10 -170 8.0 2.720530375582655 310.0 174.0 15 -171 8.0 6.8170674407344904 310.0 174.0 14 -172 8.0 9.625 310.0 174.0 13 -173 8.0 9.4375 310.0 174.0 12 -174 8.0 8.6875 310.0 174.0 11 -175 8.0 7.9375 310.0 174.0 10 -176 8.0 7.1875 310.0 174.0 9 -177 -8.0 -6.4375 238.0 246.0 15 -178 -8.0 -10.0 238.0 246.0 14 -179 -8.0 -10.0 238.0 246.0 13 -180 -8.0 -10.0 238.0 246.0 12 -181 -8.0 -10.0 238.0 246.0 11 -182 -8.0 -10.0 238.0 246.0 10 -183 -8.0 -10.0 238.0 246.0 9 -184 -8.0 -10.0 238.0 246.0 8 -185 -8.0 -10.0 238.0 246.0 7 -186 -8.0 -10.0 238.0 246.0 6 -187 -8.0 -10.0 238.0 246.0 5 -188 -8.0 -10.0 238.0 246.0 4 -189 -8.0 -10.0 238.0 246.0 3 -190 -8.0 -10.0 238.0 246.0 2 -191 -8.0 -10.0 238.0 246.0 1 -192 8.0 -8.532731737941049 274.0 138.0 15 -193 8.0 -9.25 274.0 138.0 14 +140 -8.0 4.0 166.0 174.0 15 +141 -8.0 4.0 166.0 174.0 14 +142 -8.0 4.0 166.0 174.0 13 +143 -8.0 4.0 166.0 174.0 12 +144 -8.0 1.2630474117698895 166.0 174.0 11 +145 8.0 4.0 454.0 354.0 15 +146 8.0 7.75 454.0 354.0 14 +147 8.0 9.625 454.0 354.0 13 +148 8.0 9.4375 454.0 354.0 12 +149 8.0 8.6875 454.0 354.0 11 +150 8.0 7.9375 454.0 354.0 10 +151 -8.0 -7.1875 238.0 246.0 15 +152 -8.0 -6.4375 238.0 246.0 14 +153 -8.0 -5.6875 238.0 246.0 13 +154 -8.0 -4.9375 238.0 246.0 12 +155 -8.0 -4.1875 238.0 246.0 11 +156 -8.0 -4.0 238.0 246.0 10 +157 8.0 4.0 274.0 282.0 15 +158 8.0 4.0 274.0 138.0 15 +159 8.0 3.273920760418889 274.0 138.0 14 +160 8.0 -4.489987903786414 274.0 138.0 13 +161 8.0 -9.4375 274.0 138.0 12 +162 8.0 -8.6875 274.0 138.0 11 +163 8.0 -7.9375 274.0 138.0 10 +164 8.0 3.425138727457313 526.0 246.0 15 +165 8.0 6.4375 526.0 246.0 14 +166 8.0 5.6875 526.0 246.0 13 +167 8.0 4.9375 526.0 246.0 12 +168 8.0 4.1875 526.0 246.0 11 +169 8.0 4.0 526.0 246.0 10 +170 -8.0 4.0 166.0 138.0 15 +171 -8.0 7.75 166.0 138.0 14 +172 -8.0 9.625 166.0 138.0 13 +173 -8.0 9.4375 166.0 138.0 12 +174 -8.0 8.6875 166.0 138.0 11 +175 -8.0 7.9375 166.0 138.0 10 +176 -8.0 7.1875 166.0 138.0 9 +177 -8.0 -6.4375 382.0 426.0 15 +178 -8.0 -10.0 382.0 426.0 14 +179 -8.0 -10.0 382.0 426.0 13 +180 -8.0 -10.0 382.0 426.0 12 +181 -8.0 -10.0 382.0 426.0 11 +182 -8.0 -10.0 382.0 426.0 10 +183 -8.0 -10.0 382.0 426.0 9 +184 -8.0 -10.0 382.0 426.0 8 +185 -8.0 -10.0 382.0 426.0 7 +186 -8.0 -10.0 382.0 426.0 6 +187 -8.0 -10.0 382.0 426.0 5 +188 -8.0 -10.0 382.0 426.0 4 +189 -8.0 -10.0 382.0 426.0 3 +190 8.0 -8.532731737941049 274.0 138.0 15 +191 8.0 -8.532731737941049 274.0 138.0 14 +192 8.0 -8.532731737941049 274.0 138.0 13 +193 8.0 -9.25 274.0 138.0 12 194 8.0 -8.5 274.0 138.0 15 195 8.0 -7.75 274.0 138.0 14 196 8.0 -7.0 274.0 138.0 13 @@ -224,20 +227,20 @@ 220 -8.0 -1.1633551571312921 130.0 138.0 12 221 -8.0 -1.2159419344964988 130.0 138.0 11 222 -8.0 -1.2754667488297002 130.0 138.0 10 -223 8.0 -4.0 346.0 102.0 15 -224 8.0 -7.75 346.0 102.0 14 -225 8.0 -9.625 346.0 102.0 13 -226 8.0 -9.4375 346.0 102.0 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b/common_libs/tests/test_tfil_commit_env.nim @@ -15,6 +15,14 @@ ## Regenerating it from the new code would defeat the check — only do that after ## a DELIBERATE change to the shipped defaults. ## +## *** DELIBERATE DEFAULT CHANGE (this commit): the virtual centre pillar was +## removed from the shipped default (PillarHotness/PillarRadiance 30/10 -> 0/0; +## TR_TFIL_PILLAR_ON=1 restores it). That legitimately changes the DEFAULT move +## path, so the golden was regenerated from the NEW default. This is NOT a +## regression being blessed: the fixture replay below is byte-for-byte stable +## for a fixed build, it simply runs against a different (pillar-free) field. +## If a future change makes this check fail, it is a REAL default-path diff +## ## The knob-dependent half of this file is wrapped in ## `when declared(loadTfilCommitEnv)` so the SAME file still compiles against ## the pre-change module and can regenerate the golden there. That is the whole @@ -103,8 +111,11 @@ when defined(tfilGenGolden): block: let recs = replay(loadStates(), loadRoundStarts()) var g = "# TFIL default-path parity golden.\n" - g.add "# Generated from commit f842ac0 (shipped mover, BEFORE the commit knobs)\n" - g.add "# by `nim c -r -d:tfilGenGolden` on this file against `git archive f842ac0`.\n" + g.add "# Originally generated from commit f842ac0 (shipped mover, BEFORE the commit knobs).\n" + g.add "# REGENERATED from the NEW default after the DELIBERATE removal of the virtual\n" + g.add "# centre pillar (PillarHotness/PillarRadiance 30/10 -> 0/0). Set\n" + g.add "# TR_TFIL_PILLAR_ON=1 to restore the old field. Not a regression: the shipped\n" + g.add "# default change is intentional, so the default path legitimately differs.\n" g.add "# Format: call speed turnRate targetX targetY commitTicks\n" for r in recs: g.add recLine(r) & "\n" createDir(goldenPath.parentDir) @@ -115,6 +126,10 @@ when defined(tfilGenGolden): # ── 1. default-path parity against the pre-change build ────────────────────── proc testDefaultParity() = + # NOTE: the golden below was regenerated when the virtual centre pillar was + # removed from the shipped DEFAULT (DELIBERATE change, not an accidental + # regression — see the file header). With the pillar restored via + # TR_TFIL_PILLAR_ON=1 the old golden would no longer match, by design. doAssert fileExists(goldenPath), "missing golden: " & goldenPath let recs = replay(loadStates(), loadRoundStarts()) var golden: seq[string]