SirStone
57b2ac3849
TASK 2 - power selection, a clear win. bestPower used an ABSOLUTE MinHitRate = 0.40 bar. Measured per-bin virtual rates (rolling-100 fraction) show no bin ever clears 40%, so 11 of 14 guns were stuck at bin 0 (power 1.0) even where higher bins were comparable: Linear p1.0 44% p1.5 39% p2.0 30% p3.0 29% old bin 0 -> new bin 3 Accel p1.0 44% p1.5 40% p2.0 26% p3.0 29% old bin 1 -> new bin 3 Pattern p1.0 50% p1.5 40% p2.0 27% p3.0 12% old bin 1 -> new bin 2 Replaced with a scale-aware PowerBarFrac = 0.50 (a dimensionless FRACTION of the gun's own best bin rate). 13 of 14 selections now pick heavier bullets. Real effect vs DrussGT (8 rounds x 3 runs): hit rate unchanged (7.56% -> 7.47%) but damage dealt +52% (157 -> 239 per run) and rounds end faster. Same accuracy, half the shots, half again more damage. TASK 1 - the TM pattern-classifier gun does NOT earn its slot. It was built as a mixture of experts with a corrected-Granmo TM as a multi-class gate over HeadOn/Linear/Circular/WallBounce/Accel, labelled by which expert's prediction was closest to the actual enemy position (an exact, supervised, per-shot label - no delayed credit). Offline it loses to the best of its OWN experts on essentially every fixture, and against DrussGT it cost real performance: baseline (path+relative) 7.56% real hit rate, damage 157 + power fix 7.47%, damage 239 + power fix + TM gun 5.59%, damage 133 The gun was selected on 806 ticks and fired 24 real shots at 4.2%. So the tree ships with EnableTmSelector = false: code and wiring kept intact for re-enabling, but it is not in the active rack. Worth recording from the clause dump: the gate DOES latch onto meaningful structure. On energy-threshold-turner, HeadOn's clauses key on the energy bits (the rule's own driving variable) while Circular keys on distance/velocity. So the TM is learning something real and interpretable - it simply cannot beat 'always pick the best expert'. Root cause (INFERRED): the closest-expert label is noisy because several experts are near-tied, and under the path metric the winner varies by power bin while the gate sees one shared per-tick input, so a one-vs-rest gate over a saturated 870-bit clause space has no margin to exploit. (Zero-padding the 2-frame window was tried first and saturated every clause at 256-755 included literals; alternating the two real frames fixed that.) Also factors the corrected feedback into an exported tmLearnDir and exports the encoding/TM primitives; the Tsetlin tests still reproduce the documented mean=13.8 included literals, so the refactor is behaviour-preserving. Verified: 33/33 guard checks, tsetlin tests green, metric checks green, new power-selection guard green (13/14 selections change; relative bar still picks bin 1 and not bin 3 for a [30,25,12,5]% profile), 12/12 offline==online acceptance under the shipped default.
763 lines
32 KiB
Nim
763 lines
32 KiB
Nim
## ModularBot — plugin gun architecture tracer bullet.
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## Guns: HeadOnGun (0), LinearGun (1), TsetlinGun (2), CircularGun (3), GFGun (4), PatternMatcherGun (5), WallBounceGun (6), AccelGun (7), StopShotGun (8), DisplacementGun (9), AveragedLeadGun (10), DecayGFGun (11), KNNGun (12), TmSelectorGun (13) via GunHarness.
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## Radar: RadarLockModule (1v1) / MeleeScanModule (2+ enemies), auto-switched per tick.
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## Movement: OscillatorModule (perpendicular strafing).
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import std/[math, os, strformat, tables, sets, json]
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import robocode_tankroyale_botapi
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import radar_harness/radar_interface
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import radars/radar_lock_module
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import radars/melee_scan
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import gun_harness/gun_interface
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import gun_harness/virtual_bullets as vb
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import gun_harness/selector
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import guns/head_on
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import guns/linear
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import guns/circular
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import guns/tsetlin
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import guns/guess_factor
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import guns/pattern_matcher
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import guns/wall_bounce
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import guns/accel_predictor
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import guns/stop_shot
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import guns/displacement
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import guns/averaged_lead
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import guns/decay_gf
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import guns/knn_gun
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import guns/tm_selector
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import movements/phantom_meteor
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import movements/rammer
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import movements/the_floor_is_lava
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import movement_harness/virtual_bodies as mvb
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import movement_harness/bullet_shadows
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import targeting/enemy_tracker
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import targeting/target_selector
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const botJsonPath = currentSourcePath().parentDir / "ModularBot.json"
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const DebugVBullets = false
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const DebugCircular = false
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## Registration switch for the TM selector gun (id 13). Set false to build a
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## rack without it (A/B runs); the tracker still reserves gun id 13 so the other
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## ids and per-gun stats are unchanged.
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##
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## VERDICT: left FALSE. The TM gate underperforms its own experts on every
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## offline fixture (energy-threshold 63% vs Circular 100%, random-walk 45% vs
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## WallBounce 68%, Corners 25% vs Accel 34%) and the DrussGT A/B showed real hit
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## rate 5.59% vs 7.47% for the power-fix-only rack. Flip to true to re-enable.
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const EnableTmSelector = false
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## Task A instrumentation: log every real shot + its eventual outcome to
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## /tmp/shot_log.jsonl. Set to false to compile all shot-log machinery out.
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const ShotLog = true
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## Offline range recorder: when the TR_RECORD_WORLDSTATE env var is set, append
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## the exact WorldState the bot builds each tick to /tmp/worldstate_record.jsonl
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## so it can be replayed offline. This is a RUNTIME switch (not a compile-time
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## const) so the normal build never writes a fixture, while the acceptance test
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## can enable recording for just the battle it spawns by exporting the env var.
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let RecordWorldState* = existsEnv("TR_RECORD_WORLDSTATE")
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const WorldStateRecordPath = "/tmp/worldstate_record.jsonl"
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const GunNames = ["HeadOn", "Linear", "Tsetlin", "Circular", "GuessFactor", "Pattern", "WallBounce", "Accel", "StopShot", "Displace", "AvgLead", "DecayGF", "KNN", "TMSelect"]
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const
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CLR_GUN = "\e[33m" # yellow
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CLR_MOVE = "\e[36m" # cyan
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CLR_FIRE = "\e[31m" # red
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CLR_RADAR = "\e[32m" # green
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CLR_CHANGE = "\e[32m" # green (highlight for changed module)
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CLR_ROUND = "\e[1;37m" # bold white
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CLR_RST = "\e[0m" # reset
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type
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PendingShot = object
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## Metadata for one real shot, captured at setFire() time and resolved when
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## the server reports the bullet's fate (hit / wall / bullet).
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gunId: int
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angleErr: float ## |aim error| (deg) at fire time — the value the gate used
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distPx: float ## distance (px) to the aim point at fire time
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power: float
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tick: int
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targetId: int
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ModularBot = ref object of Bot
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hasContact: bool
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enemyBearing: float
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lastState: WorldState
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radar: RadarLockModule
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meleeScan: MeleeScanModule
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enemyCount: int
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initialEnemyCount: int
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radarMode: int # 0 = lock, 1 = melee
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tracker: VirtualTracker
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headOn: HeadOnGun
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linear: LinearGun
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circular: CircularGun
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tsetlin: TsetlinGun
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guessFactor: GFGun
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patternMatcher: PatternMatcherGun
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wallBounce: WallBounceGun
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accelGun: AccelGun
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stopShot: StopShotGun
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displace: DisplacementGun
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avgLead: AveragedLeadGun
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decayGF: DecayGFGun
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knnGun: KNNGun
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tmSelector: TmSelectorGun
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mover: TFILModule
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rammer: RammerModule
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isRamming: bool
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ramStuckTicks: int
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ramDurationTicks: int
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ramCooldownTicks: int
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moveTracker: VirtualBodyTracker
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virtualHits: int
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virtualMiss: int
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tick: int
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currentGun: int
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currentTargetId: int
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targetSwitchTick: int
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enemyTracker: EnemyTracker
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prevGun: int
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prevRadar: int
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prevTarget: int
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roundNumber: int
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realShotsFired: int
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realHits: int
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gunRealShots: array[14, int]
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gunRealHits: array[14, int]
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pendingFires: seq[PendingShot] ## FIFO of fired shots awaiting onBulletFired bulletId stamp
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bulletGun: Table[int, int] ## bulletId -> gun id, filled on onBulletFired, drained on resolution
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bulletShot: Table[int, PendingShot] ## bulletId -> shot metadata (Task A shot log)
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pendingHitBullets: HashSet[int] ## hit bulletIds seen before their onBulletFired stamp
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gunSelectionCount: array[14, int]
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lastKnownTargetId: int ## persists through death, used for round-end stats
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proc writeShotLog(shot: PendingShot, hit: bool, unresolved: bool) =
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## Task A: append one JSON line per resolved real shot. The write is fully
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## guarded so a full disk / bad path can never take the bot down.
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when ShotLog:
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let row = %*{
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"tick": shot.tick,
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"targetId": shot.targetId,
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"gunId": shot.gunId,
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"angleErr": shot.angleErr,
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"distPx": shot.distPx,
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"power": shot.power,
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"hit": hit,
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"unresolved": unresolved
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}
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try:
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let f = open("/tmp/shot_log.jsonl", fmAppend)
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f.writeLine($row)
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f.close()
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except CatchableError:
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discard # logging must never crash the bot
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proc resolveShotLog(bot: ModularBot, bulletId: int, hit: bool) =
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## Look up the shot metadata for a resolved bullet and log its fate once.
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## No-op when ShotLog is off (bulletShot is then never populated).
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if bot.bulletShot.hasKey(bulletId):
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writeShotLog(bot.bulletShot[bulletId], hit, false)
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bot.bulletShot.del(bulletId)
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proc registerOwnBullet(bot: ModularBot, bulletId: int) =
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## onBulletFired: the server assigns a unique bulletId per round. Stamp the
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## oldest pending fire with it, then credit that gun with a real shot.
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## The FIFO stays aligned because we only enqueue when setFire() succeeds
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## (server "bot.energy <= firepower" rejection is pre-empted by the energy guard).
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if bot.pendingFires.len == 0: return # unexpected: no pending fire to stamp
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let shot = bot.pendingFires[0]
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delete(bot.pendingFires, 0)
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bot.bulletGun[bulletId] = shot.gunId
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inc bot.gunRealShots[shot.gunId]
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when ShotLog:
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bot.bulletShot[bulletId] = shot
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# Same-turn fire+hit: the client sorts events by (turn asc, priority desc) and
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# BulletHitBot (70) outranks BulletFired (60), so onBulletHit may have run first.
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# If so, credit the hit now and drop the (already resolved) map entry.
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if bulletId in bot.pendingHitBullets:
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inc bot.gunRealHits[shot.gunId]
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bot.pendingHitBullets.excl(bulletId)
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bot.bulletGun.del(bulletId)
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bot.resolveShotLog(bulletId, true)
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proc resolveOwnBullet(bot: ModularBot, bulletId: int): int =
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## Look up the gun that fired bulletId and drop it from the in-flight map.
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## Returns the gun id, or -1 if the bullet was not attributed.
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result = bot.bulletGun.getOrDefault(bulletId, -1)
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if result >= 0:
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bot.bulletGun.del(bulletId)
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proc printConfig(bot: ModularBot, changed: string = "") =
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let gunName = GunNames[bot.currentGun]
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let radarName = if bot.radarMode == 0: "radar_lock" else: "melee_scan"
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let moveName = if bot.isRamming: "rammer" else: "tfil"
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let gc = if bot.currentGun != bot.prevGun or changed == "all": CLR_CHANGE else: ""
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let rc = if bot.radarMode != bot.prevRadar or changed == "all": CLR_CHANGE else: ""
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let tc = if bot.currentTargetId != bot.prevTarget or changed == "all": CLR_CHANGE else: ""
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let rst = CLR_RST
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echo "[config] " & gc & "gun=" & gunName & (if gc != "": rst else: "") &
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" | move=" & moveName &
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" | " & rc & "radar=" & radarName & (if rc != "": rst else: "") &
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" | enemies=" & $bot.enemyTracker.allAlive().len &
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" target=" & tc & "#" & $bot.currentTargetId & (if tc != "": rst else: "")
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bot.prevGun = bot.currentGun
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bot.prevRadar = bot.radarMode
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bot.prevTarget = bot.currentTargetId
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proc startWorldStateRecord(bot: ModularBot) =
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## Truncate the fixture and write the meta line at round start.
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if RecordWorldState:
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try:
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let f = open(WorldStateRecordPath, fmWrite)
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f.writeLine($(%*{"meta": {
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"adversary": "live-recorded",
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"source": "live",
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"perfect_info": false,
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"arena": {"w": getArenaWidth().float, "h": getArenaHeight().float},
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"note": "exact WorldState the bot built, with tracker lastSeenTick",
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}}))
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f.close()
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except CatchableError:
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discard
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proc finishWorldStateRecord(bot: ModularBot) =
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## Append the end marker so the offline replay can reproduce the live
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## resolver's final-tick behaviour: if the target died during the last go()
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## the live aim block was skipped, so no bullet resolved on that tick.
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if RecordWorldState:
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var died = false
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if bot.lastKnownTargetId >= 0 and bot.enemyTracker.enemies.contains(bot.lastKnownTargetId):
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died = not bot.enemyTracker.enemies[bot.lastKnownTargetId].alive
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try:
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let f = open(WorldStateRecordPath, fmAppend)
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f.writeLine($(%*{"end": {"enemy_died": died}}))
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f.close()
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except CatchableError:
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discard
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proc recordWorldState(bot: ModularBot, ws: WorldState) =
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## Append one tick of the state the bot ACTUALLY built (including the stale
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## tracker positions between radar scans) so the offline replay sees the same
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## information the guns saw online.
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if RecordWorldState:
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let tid = bot.currentTargetId
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var lst = -1
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if tid >= 0 and bot.enemyTracker.enemies.contains(tid):
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lst = bot.enemyTracker.enemies[tid].lastSeenTick
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var row = %*{
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"tick": ws.tick,
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"ex": ws.enemyX, "ey": ws.enemyY,
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"eh": ws.enemyHeading, "es": ws.enemySpeed, "ee": ws.enemyEnergy,
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"sx": ws.selfX, "sy": ws.selfY,
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"sh": ws.selfHeading, "ss": ws.selfSpeed, "se": ws.selfEnergy,
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"eid": tid,
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}
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if lst >= 0: row["lst"] = %lst
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try:
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let f = open(WorldStateRecordPath, fmAppend)
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f.writeLine($row)
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f.close()
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except CatchableError:
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discard
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proc buildState(bot: ModularBot, ex, ey, espeed, eheading, eenergy: float): WorldState =
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var ei: seq[EnemyInfo]
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for es in bot.enemyTracker.allAlive():
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ei.add EnemyInfo(id: es.id, x: es.x, y: es.y,
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heading: es.heading, speed: es.speed, energy: es.energy)
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result = WorldState(
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enemyX: ex,
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enemyY: ey,
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enemySpeed: espeed,
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enemyHeading: eheading,
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enemyEnergy: eenergy,
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selfX: getX(),
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selfY: getY(),
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selfSpeed: getSpeed(),
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selfHeading: getDirection(),
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selfRadarHeading: getRadarDirection(),
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selfEnergy: getEnergy(),
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arenaWidth: getArenaWidth().float,
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arenaHeight: getArenaHeight().float,
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tick: bot.tick,
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enemies: ei,
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)
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if RecordWorldState:
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bot.recordWorldState(result)
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method onScannedBot*(bot: ModularBot, e: ScannedBotEvent) =
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bot.enemyTracker.update(e.scannedBotId, e.x, e.y, e.direction, e.speed, e.energy, bot.tick)
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bot.hasContact = true
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method onBulletFired*(bot: ModularBot, e: BulletFiredEvent) =
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inc bot.realShotsFired
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bot.registerOwnBullet(e.bullet.bulletId)
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bot.moveTracker.shadows.addBullet(e.bullet.x, e.bullet.y,
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degToRad(e.bullet.direction), e.bullet.power)
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method onBulletHit*(bot: ModularBot, e: BulletHitBotEvent) =
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inc bot.realHits
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# onBulletHit only fires for our own bullets (victimId != myId); see json_parse.nim.
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let gunId = bot.resolveOwnBullet(e.bullet.bulletId)
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if gunId >= 0:
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inc bot.gunRealHits[gunId]
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bot.resolveShotLog(e.bullet.bulletId, true)
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else:
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bot.pendingHitBullets.incl(e.bullet.bulletId) # defer until onBulletFired
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bot.moveTracker.shadows.removeBulletNear(e.bullet.x, e.bullet.y)
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method onBulletHitWall*(bot: ModularBot, e: BulletHitWallEvent) =
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discard bot.resolveOwnBullet(e.bullet.bulletId) # miss: free the attribution slot
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bot.resolveShotLog(e.bullet.bulletId, false)
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bot.moveTracker.shadows.removeBulletNear(e.bullet.x, e.bullet.y)
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bot.mover.removeBulletNear(e.bullet.x, e.bullet.y)
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method onBulletHitBullet*(bot: ModularBot, e: BulletHitBulletEvent) =
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discard bot.resolveOwnBullet(e.bullet.bulletId) # bullet-vs-bullet: free the slot
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bot.resolveShotLog(e.bullet.bulletId, false)
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bot.moveTracker.shadows.removeBulletNear(e.bullet.x, e.bullet.y)
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bot.mover.removeBulletNear(e.bullet.x, e.bullet.y)
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method onHitByBullet*(bot: ModularBot, e: HitByBulletEvent) =
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bot.moveTracker.registerHit(e.bullet.power, e.bullet.direction, getX(), getY())
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method onRoundEnded*(bot: ModularBot, e: RoundEndedEventForBot) =
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## Dump per-gun virtual bullet stats to /tmp/gun_stats.jsonl (one line per round).
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if RecordWorldState:
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bot.finishWorldStateRecord()
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# Use lastKnownTargetId: currentTargetId is -1 if enemy died before round end
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let targetId = if bot.currentTargetId >= 0: bot.currentTargetId else: bot.lastKnownTargetId
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# Per-target fitness when known, else a deterministic recency-weighted aggregate
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# over all enemies (see VirtualTracker.fitnessFor). Using the shared proc keeps
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# this stats dump identical to what the gun selector sees.
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let fit = bot.tracker.fitnessFor(targetId)
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var gunsArr = newJArray()
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for gid in 0..<14:
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var totalShots = 0
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var totalHits = 0
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for binIdx in 0..<len(vb.PowerBins):
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let fw = fit[gid].bins[binIdx]
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let n = min(fw.count, vb.WindowSize)
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totalShots += n
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for k in 0..<n:
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if fw.hits[k]: inc totalHits
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let hitRate = if totalShots > 0: totalHits.float / totalShots.float else: 0.0
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let rShots = bot.gunRealShots[gid]
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let rHits = bot.gunRealHits[gid]
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let rRate = if rShots > 0: rHits.float * 100.0 / rShots.float else: 0.0
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gunsArr.add(%*{
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"id": gid,
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"name": GunNames[gid],
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"vShots": totalShots,
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"vHits": totalHits,
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"hitRate": (hitRate * 100.0).int,
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"selected": bot.gunSelectionCount[gid],
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"realShots": rShots,
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"realHits": rHits,
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"realHitRate": rRate.round(1)
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})
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let row = %*{
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"round": bot.roundNumber,
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"targetId": targetId,
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"guns": gunsArr,
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"realShots": bot.realShotsFired,
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"realHits": bot.realHits,
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"score": e.results.totalScore,
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"bulletDmg": e.results.bulletDamage,
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"vDropped": bot.tracker.droppedBullets,
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"vStarved": bot.guessFactor.waveStarved + bot.decayGF.waveStarved + bot.knnGun.waveStarved
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}
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let f = open("/tmp/gun_stats.jsonl", fmAppend)
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f.writeLine($row)
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f.close()
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# Task A: shots still in flight at round end never resolved, so count them as
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# misses for the shot log (matching how realHits/realShots treats them).
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# Shots fired but never stamped by onBulletFired are not counted in realShots
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# either, so they are dropped rather than logged.
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when ShotLog:
|
|
for _, shot in bot.bulletShot:
|
|
writeShotLog(shot, false, true)
|
|
bot.bulletShot.clear()
|
|
bot.pendingFires.setLen(0)
|
|
|
|
method onRoundStarted*(bot: ModularBot, e: RoundStartedEvent) =
|
|
bot.roundNumber = e.roundNumber
|
|
if RecordWorldState:
|
|
bot.startWorldStateRecord()
|
|
bot.realShotsFired = 0
|
|
bot.realHits = 0
|
|
bot.lastKnownTargetId = -1
|
|
bot.pendingFires.setLen(0)
|
|
bot.bulletGun.clear()
|
|
bot.bulletShot.clear()
|
|
bot.pendingHitBullets.clear()
|
|
for i in 0..<14:
|
|
bot.gunSelectionCount[i] = 0
|
|
bot.gunRealShots[i] = 0
|
|
bot.gunRealHits[i] = 0
|
|
# Reset per-round integrity counters so each /tmp/gun_stats.jsonl line reports
|
|
# that round's numbers (summing the lines gives the session total).
|
|
bot.tracker.droppedBullets = 0
|
|
bot.guessFactor.wavePushes = 0
|
|
bot.guessFactor.waveStarved = 0
|
|
bot.decayGF.wavePushes = 0
|
|
bot.decayGF.waveStarved = 0
|
|
bot.knnGun.wavePushes = 0
|
|
bot.knnGun.waveStarved = 0
|
|
setAdjustGunForBodyTurn(true)
|
|
setAdjustRadarForBodyTurn(true)
|
|
setAdjustRadarForGunTurn(true)
|
|
setBodyColor("#FF9900") # PhantomMeteor: deep orange/gold
|
|
bot.radar.init()
|
|
bot.mover.resetRound()
|
|
bot.enemyTracker.resetRound()
|
|
bot.isRamming = false
|
|
bot.ramStuckTicks = 0
|
|
bot.ramDurationTicks = 0
|
|
bot.ramCooldownTicks = 0
|
|
bot.hasContact = false
|
|
bot.tick = 0
|
|
bot.currentGun = -1
|
|
bot.currentTargetId = -1
|
|
bot.targetSwitchTick = 0
|
|
# Defensive fallback: if onGameStarted hasn't run, use live enemy count from API
|
|
if bot.initialEnemyCount == 0:
|
|
bot.initialEnemyCount = getEnemyCount()
|
|
bot.enemyCount = bot.initialEnemyCount
|
|
# ponytail: default to melee until confirmed 1v1 via scans, avoids stale enemyCount issue
|
|
bot.radarMode = 1 # Start in melee_scan; will switch to radar_lock (0) if tracker confirms 1v1
|
|
bot.moveTracker.resetRound(getX(), getY(), getDirection(), getSpeed())
|
|
bot.currentGun = 0
|
|
# Apply radar colors for initial mode
|
|
if bot.radarMode == 0:
|
|
setRadarColor("#004444")
|
|
setScanColor("#0D4D4D")
|
|
else:
|
|
setRadarColor("#443300")
|
|
setScanColor("#4D3D0D")
|
|
bot.printConfig("all")
|
|
# tracker fitness persists across rounds (rolling window carries over)
|
|
|
|
method onBotDeath*(bot: ModularBot, e: BotDeathEvent) =
|
|
echo "[death] victimId=", e.victimId, " wasTarget=", (e.victimId == bot.currentTargetId),
|
|
" trackerAlive=", (if bot.enemyTracker.enemies.contains(e.victimId): $bot.enemyTracker.enemies[e.victimId].alive else: "notInTracker")
|
|
echo CLR_MOVE & "[death] victimId=" & $e.victimId & " wasTarget=" & $(e.victimId == bot.currentTargetId) & CLR_RST
|
|
bot.enemyTracker.markDead(e.victimId)
|
|
if bot.enemyCount > 0:
|
|
dec bot.enemyCount
|
|
if e.victimId == bot.currentTargetId:
|
|
bot.isRamming = false
|
|
bot.currentTargetId = -1
|
|
|
|
method onGameStarted*(bot: ModularBot, e: GameStartedEventForBot) =
|
|
# minNumberOfParticipants == maxNumberOfParticipants for fixed battles; self is -1
|
|
bot.initialEnemyCount = e.gameSetup.minNumberOfParticipants - 1
|
|
|
|
proc shouldSwitchTarget(bot: ModularBot, candidateId: int): bool =
|
|
## Hysteresis: only switch when there is a clear reason.
|
|
if bot.currentTargetId < 0: return true
|
|
let cur = bot.enemyTracker.enemies.getOrDefault(bot.currentTargetId)
|
|
if not cur.alive: return true
|
|
if bot.tick - cur.lastSeenTick >= 20: return true # stale
|
|
if bot.tick - bot.targetSwitchTick < 10: return false # cooldown
|
|
if candidateId == bot.currentTargetId: return false
|
|
let cand = bot.enemyTracker.enemies.getOrDefault(candidateId)
|
|
let sx = getX(); let sy = getY()
|
|
let curDist = hypot(cur.x - sx, cur.y - sy)
|
|
let candDist = hypot(cand.x - sx, cand.y - sy)
|
|
if candDist < curDist * 0.7: return true # significantly closer
|
|
if cand.energy < 10.0 and cand.energy < getEnergy(): return true # finisher opportunity
|
|
return false
|
|
|
|
method run*(bot: ModularBot) =
|
|
while isRunning():
|
|
inc bot.tick
|
|
|
|
# Ram cooldown countdown
|
|
if bot.ramCooldownTicks > 0:
|
|
dec bot.ramCooldownTicks
|
|
|
|
# Safety: reset invalid target before any logic
|
|
if bot.currentTargetId >= 0:
|
|
if not bot.enemyTracker.enemies.contains(bot.currentTargetId) or
|
|
not bot.enemyTracker.enemies[bot.currentTargetId].alive:
|
|
echo CLR_MOVE & "[target-invalid] id=" & $bot.currentTargetId & " resetting" & CLR_RST
|
|
bot.currentTargetId = -1
|
|
bot.isRamming = false
|
|
|
|
|
|
if not bot.hasContact:
|
|
setTargetSpeed(0.0)
|
|
setTurnRate(0.0)
|
|
setRadarTurnRate(45.0)
|
|
go()
|
|
continue
|
|
|
|
# --- Target selection (sticky) ---
|
|
let candidateId = selectTarget(bot.enemyTracker, getX(), getY(), tmClosest)
|
|
if bot.shouldSwitchTarget(candidateId):
|
|
if candidateId != bot.currentTargetId:
|
|
bot.currentTargetId = candidateId
|
|
bot.targetSwitchTick = bot.tick
|
|
bot.printConfig("target")
|
|
if bot.currentTargetId >= 0:
|
|
bot.lastKnownTargetId = bot.currentTargetId
|
|
|
|
# --- Refresh target state FIRST, before ram decision ---
|
|
let tid = bot.currentTargetId
|
|
if tid >= 0 and bot.enemyTracker.enemies.contains(tid) and
|
|
bot.enemyTracker.enemies[tid].alive:
|
|
let tgt = bot.enemyTracker.getEnemy(tid)
|
|
bot.enemyBearing = directionTo(getX(), getY(), tgt.x, tgt.y)
|
|
bot.lastState = bot.buildState(tgt.x, tgt.y, tgt.speed, tgt.heading, tgt.energy)
|
|
|
|
# Ram decision — harness decides, not the movement module (uses fresh lastState)
|
|
let ws = bot.lastState
|
|
let ramDist = hypot(ws.enemyX - ws.selfX, ws.enemyY - ws.selfY)
|
|
let ramFinisher = bot.ramCooldownTicks == 0 and ws.enemyEnergy > 0 and ramDist < 300.0 and ws.enemyEnergy < 20.0 and ws.selfEnergy > ws.enemyEnergy
|
|
let ramOpportunity = bot.ramCooldownTicks == 0 and ws.enemyEnergy > 0 and ramDist < 50.0 and ws.selfEnergy > ws.enemyEnergy + 30.0
|
|
let ramDesperation = bot.ramCooldownTicks == 0 and ws.enemyEnergy > 0 and ws.selfEnergy < 5.0 and ws.enemyEnergy < 5.0 and ramDist < 150.0
|
|
let shouldRam = bot.currentTargetId >= 0 and
|
|
(ramFinisher or ramOpportunity or ramDesperation)
|
|
|
|
if shouldRam and not bot.isRamming:
|
|
bot.isRamming = true
|
|
bot.ramStuckTicks = 0
|
|
bot.ramDurationTicks = 0
|
|
if ramFinisher:
|
|
echo "[ram:enter] reason=finisher dist=", ramDist.int, " selfEnergy=", ws.selfEnergy.int, " enemyEnergy=", ws.enemyEnergy.int
|
|
elif ramOpportunity:
|
|
echo "[ram:enter] reason=opportunity dist=", ramDist.int, " energyAdv=", (ws.selfEnergy - ws.enemyEnergy).int
|
|
elif ramDesperation:
|
|
echo "[ram:enter] reason=desperation selfEnergy=", ws.selfEnergy.int
|
|
elif not shouldRam and bot.isRamming:
|
|
bot.isRamming = false
|
|
|
|
if bot.isRamming:
|
|
inc bot.ramDurationTicks
|
|
if ramDist < 5.0:
|
|
inc bot.ramStuckTicks
|
|
else:
|
|
bot.ramStuckTicks = 0
|
|
if bot.ramStuckTicks > 10:
|
|
bot.isRamming = false
|
|
bot.currentTargetId = -1
|
|
bot.ramStuckTicks = 0
|
|
bot.ramDurationTicks = 0
|
|
bot.ramCooldownTicks = 30
|
|
elif bot.ramDurationTicks > 60:
|
|
bot.isRamming = false
|
|
bot.currentTargetId = -1
|
|
bot.ramStuckTicks = 0
|
|
bot.ramDurationTicks = 0
|
|
bot.ramCooldownTicks = 30
|
|
|
|
let (spd, tr) = if shouldRam:
|
|
bot.mover.clearGraphics()
|
|
bot.rammer.computeMove(ws)
|
|
else:
|
|
bot.mover.computeMove(ws)
|
|
setTargetSpeed(spd)
|
|
setTurnRate(tr)
|
|
|
|
# Auto-switch radar based on live enemy count from tracker (ground truth from scans)
|
|
let liveEnemyCount = bot.enemyTracker.allAlive().len
|
|
let targetMode = if liveEnemyCount == 1: 0 else: 1
|
|
if targetMode != bot.radarMode:
|
|
bot.radarMode = targetMode
|
|
if bot.radarMode == 0:
|
|
bot.radar.init() # re-lock onto survivor
|
|
setRadarColor("#004444")
|
|
setScanColor("#0D4D4D")
|
|
else:
|
|
setRadarColor("#443300")
|
|
setScanColor("#4D3D0D")
|
|
bot.printConfig("radar")
|
|
|
|
let radarRate = if bot.radarMode == 0:
|
|
bot.radar.computeScan(bot.lastState)
|
|
else:
|
|
bot.meleeScan.computeScan(bot.lastState)
|
|
setRadarTurnRate(radarRate)
|
|
go()
|
|
|
|
# --- Aim + fire from tracked state (not scan event) ---
|
|
if tid >= 0 and bot.enemyTracker.enemies.contains(tid) and
|
|
bot.enemyTracker.enemies[tid].alive:
|
|
# Spawn virtual bullets for all guns
|
|
var headsUp: array[len(PowerBins), GunPrediction]
|
|
var linPreds: array[len(PowerBins), GunPrediction]
|
|
var tmPreds: array[len(PowerBins), GunPrediction]
|
|
var circPreds: array[len(PowerBins), GunPrediction]
|
|
var gfPreds: array[len(PowerBins), GunPrediction]
|
|
var pmPreds: array[len(PowerBins), GunPrediction]
|
|
var wbPreds: array[len(PowerBins), GunPrediction]
|
|
var acPreds: array[len(PowerBins), GunPrediction]
|
|
var ssPreds: array[len(PowerBins), GunPrediction]
|
|
var dsPreds: array[len(PowerBins), GunPrediction]
|
|
var alPreds: array[len(PowerBins), GunPrediction]
|
|
var dgPreds: array[len(PowerBins), GunPrediction]
|
|
var knnPreds: array[len(PowerBins), GunPrediction]
|
|
var tmselPreds: array[len(PowerBins), GunPrediction]
|
|
for i in 0..<len(PowerBins):
|
|
headsUp[i] = bot.headOn.predict(bot.lastState, bulletSpeed(PowerBins[i]))
|
|
linPreds[i] = bot.linear.predict(bot.lastState, bulletSpeed(PowerBins[i]))
|
|
tmPreds[i] = bot.tsetlin.predict(bot.lastState, bulletSpeed(PowerBins[i]))
|
|
circPreds[i] = bot.circular.predict(bot.lastState, bulletSpeed(PowerBins[i]))
|
|
gfPreds[i] = bot.guessFactor.predict(bot.lastState, bulletSpeed(PowerBins[i]))
|
|
pmPreds[i] = bot.patternMatcher.predict(bot.lastState, bulletSpeed(PowerBins[i]))
|
|
wbPreds[i] = bot.wallBounce.predict(bot.lastState, bulletSpeed(PowerBins[i]))
|
|
acPreds[i] = bot.accelGun.predict(bot.lastState, bulletSpeed(PowerBins[i]))
|
|
ssPreds[i] = bot.stopShot.predict(bot.lastState, bulletSpeed(PowerBins[i]))
|
|
dsPreds[i] = bot.displace.predict(bot.lastState, bulletSpeed(PowerBins[i]))
|
|
alPreds[i] = bot.avgLead.predict(bot.lastState, bulletSpeed(PowerBins[i]))
|
|
dgPreds[i] = bot.decayGF.predict(bot.lastState, bulletSpeed(PowerBins[i]))
|
|
knnPreds[i] = bot.knnGun.predict(bot.lastState, bulletSpeed(PowerBins[i]))
|
|
if EnableTmSelector:
|
|
tmselPreds[i] = bot.tmSelector.predict(bot.lastState, bulletSpeed(PowerBins[i]))
|
|
|
|
bot.tracker.spawnBullets(0, headsUp, bot.lastState, tid)
|
|
bot.tracker.spawnBullets(1, linPreds, bot.lastState, tid)
|
|
if bot.tsetlin.isWarmedUp():
|
|
bot.tracker.spawnBullets(2, tmPreds, bot.lastState, tid)
|
|
bot.tracker.spawnBullets(3, circPreds, bot.lastState, tid)
|
|
bot.tracker.spawnBullets(4, gfPreds, bot.lastState, tid)
|
|
bot.tracker.spawnBullets(5, pmPreds, bot.lastState, tid)
|
|
bot.tracker.spawnBullets(6, wbPreds, bot.lastState, tid)
|
|
bot.tracker.spawnBullets(7, acPreds, bot.lastState, tid)
|
|
bot.tracker.spawnBullets(8, ssPreds, bot.lastState, tid)
|
|
bot.tracker.spawnBullets(9, dsPreds, bot.lastState, tid)
|
|
bot.tracker.spawnBullets(10, alPreds, bot.lastState, tid)
|
|
bot.tracker.spawnBullets(11, dgPreds, bot.lastState, tid)
|
|
bot.tracker.spawnBullets(12, knnPreds, bot.lastState, tid)
|
|
if EnableTmSelector and bot.tmSelector.isWarmedUp():
|
|
bot.tracker.spawnBullets(13, tmselPreds, bot.lastState, tid)
|
|
|
|
# Build slim enemy table for tickBullets
|
|
var enemyPositions: Table[int, tuple[x, y: float, lastSeenTick: int, alive: bool]]
|
|
for id, es in bot.enemyTracker.enemies:
|
|
enemyPositions[id] = (x: es.x, y: es.y, lastSeenTick: es.lastSeenTick, alive: es.alive)
|
|
|
|
let st = bot.lastState
|
|
bot.tracker.tickBullets(st, enemyPositions, proc(gunId: GunId, binIdx: int, fe: FeedbackEvent) =
|
|
case gunId
|
|
of 0: bot.headOn.onResult(fe)
|
|
of 1: bot.linear.onResult(fe)
|
|
of 2: bot.tsetlin.onResult(fe)
|
|
of 3:
|
|
bot.circular.onResult(fe)
|
|
when DebugCircular:
|
|
let ax = st.enemyX
|
|
let ay = st.enemyY
|
|
echo fmt"[circ-vb] predicted=({fe.prediction.x:.0f},{fe.prediction.y:.0f}) actual=({ax:.0f},{ay:.0f}) miss={fe.missDistance:.1f}px hit={fe.hit}"
|
|
of 4: bot.guessFactor.onResult(fe)
|
|
of 5: bot.patternMatcher.onResult(fe)
|
|
of 6: bot.wallBounce.onResult(fe)
|
|
of 7: bot.accelGun.onResult(fe)
|
|
of 8: bot.stopShot.onResult(fe)
|
|
of 9: bot.displace.onResult(fe)
|
|
of 10: bot.avgLead.onResult(fe)
|
|
of 11: bot.decayGF.onResult(fe)
|
|
of 12: bot.knnGun.onResult(fe)
|
|
of 13: bot.tmSelector.onResult(fe)
|
|
else: discard
|
|
if fe.hit: inc bot.virtualHits else: inc bot.virtualMiss
|
|
when DebugVBullets:
|
|
let total = bot.virtualHits + bot.virtualMiss
|
|
let pct = if total > 0: bot.virtualHits.float / total.float * 100.0 else: 0.0
|
|
echo fmt"[vbullet] gun={gunId} bin={binIdx} miss={fe.missDistance:.1f}px hit={fe.hit} | total hits={bot.virtualHits}/{total} ({pct:.1f}%)"
|
|
)
|
|
|
|
# Gun selection + fire
|
|
let (selectedGun, _, power) = selectShot(bot.tracker, tid)
|
|
bot.gunSelectionCount[selectedGun] += 1
|
|
if selectedGun != bot.currentGun:
|
|
bot.currentGun = selectedGun
|
|
case selectedGun
|
|
of 0: setTurretColor("#FF3333"); setBulletColor("#FF6666")
|
|
of 1: setTurretColor("#3366FF"); setBulletColor("#6699FF")
|
|
of 2: setTurretColor("#9933FF"); setBulletColor("#CC66FF")
|
|
of 3: setTurretColor("#33CC33"); setBulletColor("#66FF66")
|
|
of 4: setTurretColor("#FFCC00"); setBulletColor("#FFE066")
|
|
of 5: setTurretColor("#FF6600"); setBulletColor("#FF9944")
|
|
of 6: setTurretColor("#CCCCCC"); setBulletColor("#EEEEEE")
|
|
of 7: setTurretColor("#FF00FF"); setBulletColor("#FF66FF")
|
|
of 8: setTurretColor("#990000"); setBulletColor("#CC3333")
|
|
of 9: setTurretColor("#006600"); setBulletColor("#009900")
|
|
of 10: setTurretColor("#996633"); setBulletColor("#CC9966")
|
|
of 11: setTurretColor("#008888"); setBulletColor("#00AAAA")
|
|
of 12: setTurretColor("#CC00CC"); setBulletColor("#FF44FF")
|
|
of 13: setTurretColor("#00FFCC"); setBulletColor("#66FFDD")
|
|
else: discard
|
|
|
|
let pred = case selectedGun
|
|
of 1: bot.linear.predict(bot.lastState, bulletSpeed(power))
|
|
of 2: bot.tsetlin.predict(bot.lastState, bulletSpeed(power))
|
|
of 3: bot.circular.predict(bot.lastState, bulletSpeed(power))
|
|
of 4: bot.guessFactor.predict(bot.lastState, bulletSpeed(power))
|
|
of 5: bot.patternMatcher.predict(bot.lastState, bulletSpeed(power))
|
|
of 6: bot.wallBounce.predict(bot.lastState, bulletSpeed(power))
|
|
of 7: bot.accelGun.predict(bot.lastState, bulletSpeed(power))
|
|
of 8: bot.stopShot.predict(bot.lastState, bulletSpeed(power))
|
|
of 9: bot.displace.predict(bot.lastState, bulletSpeed(power))
|
|
of 10: bot.avgLead.predict(bot.lastState, bulletSpeed(power))
|
|
of 11: bot.decayGF.predict(bot.lastState, bulletSpeed(power))
|
|
of 12: bot.knnGun.predict(bot.lastState, bulletSpeed(power))
|
|
of 13: bot.tmSelector.predict(bot.lastState, bulletSpeed(power))
|
|
else: bot.headOn.predict(bot.lastState, bulletSpeed(power))
|
|
let aimTarget = aimAngle(getX(), getY(), pred.x, pred.y)
|
|
|
|
let gunDir = getGunDirection()
|
|
let gunHeat = getGunHeat()
|
|
let gunDelta = (aimTarget - gunDir) mod 360.0
|
|
var normDelta = gunDelta
|
|
if normDelta > 180.0: normDelta -= 360.0
|
|
elif normDelta < -180.0: normDelta += 360.0
|
|
|
|
# Distance to the aim point drives the range-aware gate (Task B) and is
|
|
# recorded per shot (Task A).
|
|
let distPx = hypot(pred.x - getX(), pred.y - getY())
|
|
|
|
if shouldFire(gunDir, aimTarget, gunHeat, distPx):
|
|
# Enqueue the selected gun so onBulletFired can stamp the server's bulletId.
|
|
# getEnergy() > power mirrors the server's "bot.energy <= firepower" reject.
|
|
if setFire(power) and getEnergy() > power:
|
|
bot.pendingFires.add(PendingShot(
|
|
gunId: selectedGun,
|
|
angleErr: abs(normDelta),
|
|
distPx: distPx,
|
|
power: power,
|
|
tick: bot.tick,
|
|
targetId: tid,
|
|
))
|
|
|
|
setGunTurnRate(normDelta)
|
|
|
|
when isMainModule:
|
|
var bot = ModularBot(
|
|
tracker: vb.initTracker(14), # 0: HeadOn, 1: Linear, 2: Tsetlin, 3: Circular, 4: GuessFactor, 5: Pattern, 6: WallBounce, 7: Accel, 8: StopShot, 9: Displace, 10: AvgLead, 11: DecayGF, 12: KNN, 13: TMSelect
|
|
headOn: HeadOnGun(),
|
|
linear: LinearGun(),
|
|
circular: CircularGun(),
|
|
tsetlin: initTsetlinGun(),
|
|
guessFactor: initGFGun(),
|
|
patternMatcher: PatternMatcherGun(),
|
|
wallBounce: initWallBounceGun(),
|
|
accelGun: initAccelGun(),
|
|
stopShot: initStopShotGun(),
|
|
displace: initDisplacementGun(),
|
|
avgLead: initAveragedLeadGun(),
|
|
decayGF: initDecayGFGun(),
|
|
knnGun: initKNNGun(),
|
|
tmSelector: initTmSelectorGun(),
|
|
radar: RadarLockModule(),
|
|
meleeScan: initMeleeScan(),
|
|
mover: TFILModule(debugGraphics: true),
|
|
rammer: initRammer(),
|
|
moveTracker: mvb.initVirtualBodyTracker(1),
|
|
currentGun: -1,
|
|
)
|
|
start(bot, botJsonPath)
|