fix(PPO_Bot): radar lock — use enemy_tracker width-lock, fix arctan2 arg order

Three bugs caused the radar to sweep continuously instead of locking: 1. run() loop set radar to Inf every tick, overwriting any lock → replaced with enemy_tracker.getRadarTurnRate() 2. onScannedBot used radarBearingTo() (math convention, east=0 CCW) → removed; run loop now handles radar via enemy_tracker 3. enemy_tracker.getRadarTurnRate() had arctan2(dx,dy) instead of arctan2(dy,dx) — introduced by fd22535; bearing was off by ~90° Also relaxed stale-lock threshold from 2 to 8 ticks to survive brief scan gaps without falling back to full sweep. Added tools/battle_runner for automated 1v1 testing. Result: 1303/1308 ticks with successful scan (was ~1 in 4).
2026-08-17 11:52:36 +02:00
parent a8ee2a86e3
commit e5609a7d9b
5 changed files with 141 additions and 19 deletions
@@ -0,0 +1,96 @@
+import dev.robocode.tankroyale.runner.*;
+import dev.robocode.tankroyale.client.model.*;
+import java.util.List;
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.logging.Level;
+import java.util.logging.Logger;
+
+/**
+ * Radar-lock diagnostic battle: PPO_Bot vs Target (1 round).
+ *
+ * Per tick prints: turn, each bot's radar direction, and any ScannedBotEvents.
+ *
+ * Usage:
+ *   ./run.sh
+ */
+public class RunBattle {
+
+    static final Map<Integer, String> idToName = new ConcurrentHashMap<>();
+
+    public static void main(String[] args) {
+        Logger.getLogger("dev.robocode.tankroyale").setLevel(Level.WARNING);
+
+        String ppoBotDir  = requireEnv("PPO_BOT_DIR");
+        String sampleBots = requireEnv("SAMPLE_BOTS_DIR");
+
+        try (var runner = BattleRunner.create(b -> b.embeddedServer().suppressServerOutput())) {
+            var setup = BattleSetup.classic(s -> s.setNumberOfRounds(1));
+            var bots = List.of(
+                BotEntry.of(ppoBotDir),
+                BotEntry.of(sampleBots + "/Target")
+            );
+
+            var owner = new Object();
+            try (var handle = runner.startBattleAsync(setup, bots)) {
+
+                handle.getOnGameStarted().on(owner, event -> {
+                    System.out.println("=== GAME STARTED ===");
+                    for (var p : event.getParticipants()) {
+                        idToName.put(p.getId(), p.getName());
+                        System.out.printf("  #%d  %s%n", p.getId(), p.getName());
+                    }
+                    System.out.printf("%-6s  %-4s  %-30s  %-30s  %-20s%n",
+                        "Turn", "Id", "Name", "RadarDir", "Event");
+                    System.out.println("-".repeat(95));
+                });
+
+                handle.getOnTickEvent().on(owner, event -> {
+                    int turn = event.getTurnNumber();
+
+                    // Keep id→name map current from bot states (handles race with onGameStarted)
+                    for (var state : event.getBotStates())
+                        if (state.getName() != null) idToName.putIfAbsent(state.getId(), state.getName());
+
+                    // Print radar direction for every bot
+                    for (var state : event.getBotStates()) {
+                        String name = idToName.getOrDefault(state.getId(),
+                            state.getName() != null ? state.getName() : "#" + state.getId());
+                        System.out.printf("%-6d  %-4d  %-30s  %-30.2f%n",
+                            turn, state.getId(), name, state.getRadarDirection());
+                    }
+
+                    // Print any scan events on the same tick
+                    for (var e : event.getEvents()) {
+                        if (e instanceof ScannedBotEvent scan) {
+                            String scanner = idToName.getOrDefault(scan.getScannedByBotId(), "?" + scan.getScannedByBotId());
+                            String target  = idToName.getOrDefault(scan.getScannedBotId(),   "?" + scan.getScannedBotId());
+                            System.out.printf("%-6d  SCAN  %s scanned %s at (%.1f,%.1f)%n",
+                                turn, scanner, target, scan.getX(), scan.getY());
+                        }
+                    }
+                });
+
+                handle.getOnRoundEnded().on(owner, event ->
+                    System.out.printf("%n=== ROUND %d ENDED (turn %d) ===%n",
+                        event.getRoundNumber(), event.getTurnNumber()));
+
+                var results = handle.awaitResults();
+                System.out.printf("%n=== RESULTS (%d rounds) ===%n", results.getNumberOfRounds());
+                for (var r : results.getResults()) {
+                    System.out.printf("  #%d  %-25s  %d pts%n",
+                        r.getRank(), r.getName(), r.getTotalScore());
+                }
+            }
+        }
+    }
+
+    static String requireEnv(String name) {
+        var v = System.getenv(name);
+        if (v == null || v.isBlank()) {
+            System.err.println("Error: " + name + " env var not set");
+            System.exit(1);
+        }
+        return v;
+    }
+}