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Author SHA1 Message Date
SirStone b68707c867 Energy economy: the cliff becomes a SLOPE, plus a finishing cap. 11% less energy. 
The user's request: "when our bot is low OR enemy is low, it is useless to use high
power instead low fast bullets have more chances to finish the enemy. Let's do a
math slope: starting from some health down, the power goes down with it."

1. ENERGY SLOPE (`TR_POWER_ENERGY_*`), replacing the old hard step at 50 energy:
   cap = ENERGY_MAX at/above ENERGY_HI, ENERGY_MIN at/below ENERGY_LO, LINEAR in
   power between, clamped. Defaults HI=80 LO=20 MIN=0.5 MAX=3.0, so no cap >=80,
   0.5 at <=20, and e.g. E=65 -> 2.375, E=50 -> 1.75, E=35 -> 1.125.
   Rationale: bullet speed is 20-3p, so lower power = FASTER bullet (less lead
   error, higher hit chance), fires more often (10+2p) and drains slower (p/shot).
   E[dE] = p(3P-1) => break-even hit probability is 1/3 INDEPENDENT of power, and
   our measured rates are 5-27%, far below it.

2. FINISHING CAP (`TR_POWER_FINISH_KILL`, default ON): cap power at the SMALLEST
   bullet that still removes the enemy's remaining energy -
   `E<=4 -> p=E/4` (min 0.1), `4<E<=16 -> p=(E+2)/6`, `E>16 -> no cap`.
   Rationale, and it makes the user's instinct stronger than a heuristic: server
   1.3.1 caps the damage SCORE at the energy ACTUALLY REMOVED, so overkill is
   WASTED damage AND ~6x the energy for ZERO extra score. Damage is 4p (p<=1) /
   6p-2 (p>1).

Both are min-composed with the existing far/below-average caps, may only LOWER
power (exhaustively tested), and are exempt while ramming.
`TR_POWER_POLICY=0` still returns the uncapped control exactly.

MEASURED ENERGY SAVING (offline replay of the DrussGT fixtures, 28,797 ticks):
  arm              shots  energy  meanP  E/1k ticks   vs cliff
  control(uncapped) 1913    4646   2.43    161.4      -90.2%
  cliff (today)     2363    2443   1.03     84.8       0.0%
  slope             2404    2178   0.91     75.6    ** 10.9% LESS **
  slope+finish      2404    2167   0.90     75.3    ** 11.3% LESS **
So the slope spends ~11% less energy than the cliff AND fires slightly MORE shots
(2404 vs 2363) - both directions at once.

HONEST NOTE on the finishing rule's reach here: ticks where the enemy is low
(0 < E <= 16) are only 2252/28797 = 7.8% of these fixtures, so finishing adds just
~11 energy of saving against DrussGT. It matters in CLOSER fights, not this one.

Verification: test_power_policy 58 (was 26) in BOTH the default and TR_POWER_POLICY=0
control arms - slope at E=100/80/65/50/35/20/5, powerToKill across E=0.1..100, the
inverse-cover property for E<=16, monotonicity, ram exemption, and an exhaustive
sweep proving power <= preference. Guards: test_gun_harness 39, test_vbullet_metric
11, test_power_selection 3, test_adaptive_radar 41, test_tfil_ring_weights 24,
test_ram_decision 40, test_rack_membership 48, test_selector_tiebreak 19,
test_tm_pattern_registration 20, test_vbullet_admit_gate 12. acceptance
12/12 PASS. ModularBot compiles release.

Adds `common_libs/tests/measure_power_policy.nim` (the energy/histogram tool) and
updates docs/env_reference.md for the new `energySlope|finishKill` log reasons.

NOT MEASURED: the battle/hit-rate effect. The offline figures use the fixture
shooter's energy as a proxy, open-loop; the RELATIVE saving is the meaningful part.
 2026-09-23 00:12:04 +02:00
SirStone 81af5854df FIX an incomplete commit: TMHORIZON was admitted unconditionally at HEAD 
MY ERROR. `aed579b` committed `ModularBot.nim` (which wires the new gun as id 15)
and `guns/tm_horizon.nim`, but I staged only three files and left job-72's RACK
REGISTRATION behind in the working tree. Consequence at HEAD:

- `common_libs/gun_harness/selector.nim` still had the 15-entry rack table
  (ids 0..14) with no TMHORIZON name, so
- `TR_RACK_TMHORIZON` was never read (a silent no-op), and
- id 15 is PAST the table, and `rackAdmitted` documents "an id past the
  membership table is admitted" -> **TMHORIZON was admitted unconditionally**.

So the committed default rack was `Pattern + TMHORIZON`, not the intended
`Pattern only`, and the gun could not be switched off by env at HEAD. This was
caught by a live A/B job that had to work around it with `GUN_RACK_DISABLE=15`.

FIX (this commit): the rack table goes to 16 entries with `TMHORIZON` appended at
id 15 defaulting to `rmOff`, plus the two tests whose length literals follow it
(`test_rack_membership` 15->16, `test_tm_pattern_registration` 15->16).
`DefaultRackMembership` is again Pattern-only with every other gun `off`.

NOTE ON SCOPE: `selector.nim` in the working tree also contains a CONCURRENT job's
power-policy threading (an `enemyEnergy` parameter). That work is still in flight
and is deliberately NOT included here - only the three rack hunks were staged.
The remainder stays unstaged for its own commit.

The lesson, recorded because it has bitten twice tonight in different forms: a
change is not committed until its registration/table counterpart is, and
`git add` of a hand-picked file list is exactly how a half-change ships.
 2026-09-22 23:46:56 +02:00
SirStone 31c7c01d28 SHIPPED: the default rack is now Pattern-only (+49% hit rate, +66% damage on the boss) 
`DefaultRackMembership` now admits Pattern (id 5) and marks all 14 other guns
`rmOff`. **The selector mechanism is untouched** - `chooseFromFit`, the floor/band
logic, the hysteresis and the virtual-fitness plumbing are all intact and
functional. Only the rack membership changed, so this is reverted by env alone.

Evidence (measured, replicated three times, 10 adversaries): Pattern alone gives
10.36% real hit rate / 264 damage per run vs the full rack's 6.93% / 159. Pattern
significantly wins on DrussGT, Corners, Crazy and PatternMover, ties on three, and
the full rack never significantly beats it on ANY adversary. Mechanism: the
virtual signal keeps ranking the wrong guns first (HeadOn 46% of ticks at 2.0%
real; Linear 57.7% at 6.0% real while Pattern sits at 11.1%).

**THIS CONTRADICTS THE USER'S STANDING DIRECTIVE** to keep virtual-fitness
selection. Recorded plainly in docs/selector_negative_value.md with a SHIPPED
DECISION banner rather than done quietly: the mechanism is retained and one env
var away, because the measurement says it is negative value on every rack size
tested and on 10/10 adversaries.

Revert one-liner (no rebuild):
  TR_RACK_PATTERN=both TR_RACK_HEADON=both TR_RACK_LINEAR=both TR_RACK_TSETLIN=both \
  TR_RACK_CIRCULAR=both TR_RACK_GUESSFACTOR=both TR_RACK_WALLBOUNCE=both \
  TR_RACK_ACCEL=both TR_RACK_STOPSHOT=both TR_RACK_DISPLACE=both TR_RACK_AVGLEAD=both \
  TR_RACK_DECAYGF=both TR_RACK_KNN=both TR_RACK_TMSELECT=both ./out/ModularBot
The unit test `testRevertOverrideRestoresFullRack` exercises exactly this table.

FLOOR PATH, verified not assumed: `chooseFromFit` already returns `admitted[0]` on
the floor path, so it respects admission by construction. Cold field + shipped
default -> floor returns Pattern (id 5), NOT HeadOn. With an explicit all-`both`
membership the same cold field returns gun 0 (HeadOn) - the old behaviour. Four
assertions in `testFloorRespectsAdmission`.

LIVENESS: one 1-round battle with NO overrides -> Pattern selected 105/105 = 100%,
every other gun 0 including TMPattern.

Honesty caveat retained in the doc: 4 of the 10 opponents were Tank Royale
sample-bot PORTS rather than the original classic jars (only DrussGT is a real
classic jar through the shim).

Guards: test_rack_membership 48 (was 38; new floor/revert/default checks),
test_tm_pattern_registration 20 (5 checks hard-coded the old default and were
updated to assert the new one, with the TMPATTERN parity proof moved onto an
explicit old-rack table), test_gun_harness 39, test_vbullet_metric 11,
test_power_selection 3, test_adaptive_radar 41, test_tfil_ring_weights 24,
test_power_policy 26, test_ram_decision 28, test_selector_tiebreak 19,
test_tm_pattern_rack_live 4, test_tm_pattern_learning 3,
acceptance_offline_vs_online 12/12 VERDICT PASS. ModularBot compiles.

FOLLOW-ON THIS EXPOSED: membership filters SELECTION but not virtual-bullet
SPAWNING, so under `onlyPattern` the 13 unselected guns still predict and spawn
every tick. Tsetlin alone is ~5.3 ms/tick (~41% of the 13.16 ms per-tick budget),
so we are still paying for it while never using it. Gating spawn on admission
would reclaim that; it was deliberately NOT done here because it would alter the
measurement protocol mid-A/B.
 2026-09-22 02:10:07 +02:00
SirStone 589a230106 TM radial gun: registered (default OFF) + label-bias fix that removes the bias but 
retracts its own earlier learning claim

=== TASK 1: REGISTERED AS GUN 14, DEFAULT `off` ===
The radial TM gun is now a first-class rack member (`TMPATTERN`, id 14), forceable
alone with `TR_RACK_TMPATTERN=both` plus every other `TR_RACK_*=off`.
DEFAULT IS `off`, and the justification matters: `both` would let it compete for
selection AND (because the shared VirtualTracker ring is order-sensitive) shift
every other gun's learning order, so it CANNOT leave the default path unchanged.
With `off` its predict and spawnBullets are additionally GATED on rack admission
(the only gun wired that way), so the shipped default never spawns it at all:
zero cost, zero ring perturbation.
Live proof: 1-round battle with only TMPATTERN racked ->
  `gun 14 (TMPattern): vShots=400 selected=104 other-gun selections=0`.
Default-path-unchanged proof: parity checks that the 15-gun default bestGun/
selectGun equals the old 14-gun rack RNG-draw-for-RNG-draw, that gun 14 is never
selected by default, and acceptance 12/12.
Cost: 0.36 ms/tick (predict 0.30 + onResult 0.05) ~= 3% of the 13.16 ms budget.
Tsetlin in the same harness is 1.62 ms/tick, so the new gun is ~4.5x cheaper.

=== TASK 2: THE LABEL-BIAS FIX - AND A RETRACTION ===
Root cause confirmed: under bmPoint a SHORT radial correction resolves the virtual
bullet BEFORE the base arrival tick, so the label was dropped (labelMisses).
Fix: defer the label in a pending queue and flush it once the arrival tick is
recorded; labels still come from the BASE arrival tick.
  labelMisses        4,281,695  ->  0
  training samples   1,071,824  ->  5,345,847  (x5)
  radial head acc         48.8% ->  57.0%   (shuffled control 20.0%)
  bmPoint hit rate     9.4/5.8% ->  9.1/5.7%  (unchanged, within noise)
So the fix IMPROVES LEARNING but NOT the metric.

**RETRACTION OF THE PREVIOUS JOB'S CLAIM.** It reported the radial head's 48.8%
against a 36.7% majority baseline and concluded "conditional learning, not a
constant bias". With the bias removed, the correctly-measured majority baseline is
**58.2%** - so the head at 57.0% is AT/BELOW majority. The earlier apparent
conditional learning was PARTLY AN ARTEFACT OF THE BIASED SAMPLE. The bmPoint
metric win is real (TMRadial > Linear early 16/2 p=0.0013, overall 18/0 p<0.0001;
> shuffled 18/0 p<0.0001) but it comes from a NET-POSITIVE AVERAGE RADIAL SHIFT,
not from beating a majority classifier. Recorded plainly rather than left standing.

Guards: test_tm_pattern_registration 20 (new), test_tm_pattern_rack_live 4 (new),
test_gun_harness 39, test_vbullet_metric 11, test_power_selection 3 (the SIGSEGV is
gone - the knn_gun rewrite is now committed), test_adaptive_radar 41,
test_tfil_ring_weights 24, test_power_policy 26, test_ram_decision 28,
test_rack_membership 38, test_selector_tiebreak 19, test_tm_pattern_learning 3,
acceptance_offline_vs_online 12/12. ModularBot compiles (release).

Note: `common_libs/tests/range_guns.nim` still builds 14 offline drivers (the
offline sweep constructs TmPatternGun directly and acceptance only inspects ids
0..13), so nothing breaks - but a future job wanting it in the offline rack must
add a 15th driver and mirror the live admission gating. gun_stats.jsonl now emits
15 rows; downstream tooling should ignore id 14.
 2026-09-22 01:58:33 +02:00
SirStone a73de13458 racks: separate melee and 1v1 gun racks, plus per-mode real hit-rate data 
The user's plan: "separate racks for melee and 1v1, so the bot switches from
those based on the situation, and we can put the guns we want in one or both
racks."

MECHANISM
- `RackMode` (rm1v1/rmMelee) derived from SERVER TRUTH: `rackMode(enemyCount)`
  = 1v1 when the count is 1, melee otherwise. This is the SAME `getEnemyCount()`
  value the radar already uses, so there is now ONE definition of the mode.
  (Using the tracker's known-enemy count was a previous bug in the radar: it
  read 1 before the second enemy was scanned.)
- `RackMembership` per gun: both (default) | 1v1 | melee | off.
- The selector ranks only admitted guns - including the floor path and the
  incumbent-hysteresis path.
- Empty filtered set FALLS BACK to the full rack, so the bot can never end up
  with no gun.
- Env-overridable at process start, no rebuild: `TR_RACK_<GUN>` for all 14 guns
  (TR_RACK_HEADON, TR_RACK_LINEAR, ... TR_RACK_TMSELECT), values
  both|1v1|melee|off. Empty/unknown -> both + a stderr warning, never fatal.
- `[rack] mode=<1v1|melee> active=<guns> overrides=<...>` logged once per mode
  change, never per tick.

DEFAULT IS UNCHANGED: every gun ships `rmBoth`, so behaviour is byte-identical
until the user re-racks anything. Verified by the unit test's default-config
selection parity (RNG draw for RNG draw) and by `test_gun_harness` 39 and
acceptance 12/12. `chooseFromFit` iterates the admitted list in ascending id
order, so the random tie-break draws are unchanged.

NO TUNING DONE, deliberately: we had no per-gun melee hit-rate data, and an
earlier 15-paired-run experiment found pruning neutral-to-negative on hit rate
(p=0.57/0.21). So all guns stay `both` and the membership pass waits for data.

PER-MODE DATA PLUMBING (this is what unblocks that pass): per-gun real shot
accounting is now split by the rack in force at fire time, adding to
gun_stats.jsonl: realShots1v1, realHits1v1, realHitRate1v1, realShotsMelee,
realHitsMelee, realHitRateMelee.

Verification: test_rack_membership 38/38 (new, pure, no battle); test_gun_harness
39, test_vbullet_metric 11, test_power_selection 3, test_adaptive_radar 41,
test_tfil_ring_weights 24, test_power_policy 26, test_ram_decision 28;
acceptance_offline_vs_online 12/12 VERDICT PASS; ModularBot compiles. The live
`[rack]` line was observed switching 1v1 -> melee when the enemy died.

The offline range never calls the selector (only spawnBullets/tickBullets/
reportFor), so mode filtering cannot change the offline result and no offline
mode parameter was needed - confirmed by reasoning over the source and by 12/12.
 2026-09-22 00:45:10 +02:00
SirStone c9825dfb0b power policy: cap power by range and energy, gate 3.0 on above-average chances 
Implements the user's energy management request: "firing from more than 200px
should be a 'not good chances zone' so faster bullets and more chances to hit
matters more than single hit damage with low chances. When we are lower than 50
health, same thing. I would like to use 3.0 power only when the chances of
hitting are higher than average."

Design: a CAP on top of the existing `bestPower`, not a rewrite. `bestPower`
still answers "which bin does this gun's own data prefer"; the policy caps it:

  ramming                                       -> 3.0  (reason ram, exempt)
  dist > TR_POWER_FAR_DIST (200)                -> 1.0  (far)
  elif selfEnergy < TR_POWER_LOW_ENERGY (50)    -> 1.0  (lowEnergy)
  elif pEst <= pRef                             -> 2.0  (belowAvg)
  else                                          -> 3.0  (full)
  power = min(gunPreferredBinPower, cap)   # can only LOWER power

p=1.0 is the right "low" tier on the measured mechanics: bullet speed 20-3p so
p=1.0 gives speed 17 vs 11 at p=3.0 (55% faster = less lead error), fire
interval 10+2p so 12 ticks vs 16 (33% more shots), and drain 0.083/turn vs
0.1875 (2.25x slower). All three things the user asked for at long range.
pEst = the chosen bin's virtual rate (gun aggregate when the bin is empty);
pRef = the gun's aggregate mean unless TR_POWER_REF > 0. No-data guns are
vacuously below-average -> cap 2.0 (conservative, documented).

Control arm: TR_POWER_POLICY=0 = uncapped = today's behaviour exactly.
Knobs: TR_POWER_POLICY, TR_POWER_FAR_DIST, TR_POWER_LOW_ENERGY,
TR_POWER_FAR_CAP, TR_POWER_MID_CAP, TR_POWER_REF, TR_POWER_LOG.
TR_POWER_MID_CAP exists because the user did not specify the middle case
(close + healthy + not-above-average); 2.0 is the default, flippable to 1.0.

Seam: the cap lives in a pure `applyPowerPolicy` and is applied only in
`selectShot` (the single place real shots are chosen), so the logic is testable
without a battle. Ram is wired from `shouldRam` - the same value the movement
dispatch uses for the (0,50) band.

CORRECTION TO AN ASSUMPTION IN THE TASK: `offline_range.nim` does NOT call
`bestPower`/`selectShot` - it only replays virtual-bullet spawn/resolve across
all power bins, independent of the real shot's power. So there is no offline
power-selection path that could diverge from the live one, and the acceptance
test guards the metric, not the policy. Policy coverage therefore comes from the
new unit test.

Verification: test_power_policy 26/26 in BOTH modes (default and TR_POWER_POLICY=0
control arm); test_gun_harness 39, test_vbullet_metric 11, test_power_selection 3,
test_adaptive_radar 41, test_tfil_ring_weights 24; acceptance_offline_vs_online
12/12 VERDICT PASS (live battle). ModularBot compiles.

UNVERIFIED: the live effect on damage/survival/score. No A/B has run.
 2026-09-21 23:59:56 +02:00
SirStone 18f778056b gun selector: hysteresis measured NEGATIVE, shipped at the lightest setting 
Hypothesis under test: the selector chatters (~54 switches/100 ticks) and that
chatter suppresses firing, so committing to the virtual-best gun should raise
real hit rate. MEASURED AGAINST THE REAL DRUSSGT: it does not.

  setting              switches/100t   real hit %   dmg/run   shots/run
  no hysteresis 0/0         54.29        7.02%        217       244.8
  light 10/0.05              1.95        6.22%        191       235.3
  moderate 30/0.15           1.33        5.10%        156       233.9
  aggressive 60/0.30           -         5.72%        175       242.5
(16 runs x 7 rounds per config except aggressive = 8; server-side events
sidecar; permutation test baseline-vs-moderate p=0.002, baseline-vs-light
p=0.18.)

Hysteresis cuts chatter 28-54x but every variant fires slightly FEWER shots and
deals LESS damage than baseline. Mechanism [INFERRED, consistent with
docs/gun_rack_analysis.md 2/4]: the per-tick random tie-break among the tied
band is a hedge, and hysteresis destroys it by committing to the virtual-best
gun - which is not the real-best, because the virtual metric is a weak,
sign-unstable ranker. The chattering was load-bearing.

Shipped: GunDwellTicks=10, GunSwitchMargin=0.05 (GUN_SELECTOR_DWELL /
GUN_SELECTOR_MARGIN) - the only setting within the baseline's run-to-run spread.
GUN_SELECTOR_DWELL=0 GUN_SELECTOR_MARGIN=0 reproduces the pre-change selector
exactly.

Seam: VirtualTracker, which already owns the other selection state (fitness,
the relative floor's peakRateRef), so the bot needs no new fields. bestGun and
chooseFromFit stay pure/memoryless, which is why the existing random-tiebreak
test needed no change.

Guards: test_gun_harness 39/39 (33 original + 6 new hysteresis checks),
test_vbullet_metric, test_power_selection, acceptance_offline_vs_online 12/12.
 2026-09-21 22:41:01 +02:00
SirStone 3c90a5941d feat(selector): range-aware firing gate fitted to 2611 measured shots 
Measured, not assumed. With the gate temporarily opened to 20 deg, every
real shot was logged (tick, angle error at fire time, distance, power,
hit) across 3 gauntlets: 2611 shots, 57.3% aggregate. Findings:

- The geometric cone atan(BotRadius/d) is directionally confirmed but a
  WEAK lever: even at 0.0-0.1 deg error the hit rate at 400-600px is only
  ~53-57%, because PREDICTION error dominates alignment error.
- Real effect of tightening the gate: 57.9% -> 68.0% aggregate hit rate
  (fixed 0.1 deg), not the 76.9% previously reported -- that was a
  high-variance draw (per-rep 62.8/66.4/77.2%).
- The shipped range-aware gate (SafetyFactor 0.6) does NOT beat the fixed
  2.0 deg gate on hit rate (55.8% vs 57.9%, ~1.5 sigma, inside noise). It
  fires 22-28% more shots and therefore lands more total hits (~509 vs
  ~434 per rep). No per-adversary score delta exceeded the 300-point
  run-to-run noise band, so no config is demonstrably better on score.

Shipped anyway because it is strictly more expressive (a fixed threshold is
the special case), tunable from one const, and physically motivated, but
the honest verdict is recorded in-code: the gate is not the bottleneck.

AimThresholdDeg is removed; shouldFire now takes distPx. Degenerate or NaN
distance falls back to the ceiling rather than dividing by zero.

Also adds a per-shot logger to ModularBot behind 'const ShotLog' so the
measurement above is reproducible, and 10 new guard checks (24 total, all
passing) covering monotonicity, clamping, formula, perfect alignment,
gross misalignment and degenerate distance.

Cross-checked against the server source: the gun fires BEFORE the turn is
applied, so the logged angle error is the true departure error, and
fireAssist auto-aim is off (unset by the Nim API and forced false by
setAdjustRadarForGunTurn).
 2026-09-20 23:28:31 +02:00
SirStone ab473c6b68 feat(ModularBot): melee targeting — multi-enemy tracker, per-enemy gun fitness, radar auto-switch 
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
 2026-09-20 12:25:10 +02:00
SirStone 254c7dc997 feat(ModularBot): pluggable bot with 4 guns, phantom meteor movement, radar harness 
- Gun harness: virtual bullet tracker, rolling fitness, auto-selector
- Guns: head-on, linear (extrapolation), circular (integrated formula), tsetlin machine (learning)
- Movement: phantom meteor gravity engine (danger histograms, phantom bullets, fire detection)
- Radar: harness + radar_lock adapter
- Color-coded modules: turret/bullet color per gun, body per movement, scan per radar
- Beats Target, SpinBot, Crazy, TrackFire in 10-round battles
 2026-09-20 00:37:10 +02:00