SirRoboGarage/ModularBot_garage/src/ModularBot.nim

## ModularBot — plugin gun architecture tracer bullet.
## Guns: HeadOnGun (0), LinearGun (1), TsetlinGun (2), CircularGun (3), GFGun (4), PatternMatcherGun (5), AntiSurferGun (6) via GunHarness.
## Radar: RadarLockModule via radar harness.
## Movement: OscillatorModule (perpendicular strafing).

import std/[math, os, strformat]
import robocode_tankroyale_botapi
import radar_harness/radar_interface
import radars/radar_lock_module
import gun_harness/gun_interface
import gun_harness/virtual_bullets as vb
import gun_harness/selector
import guns/head_on
import guns/linear
import guns/circular
import guns/tsetlin
import guns/guess_factor
import guns/pattern_matcher
import guns/anti_surfer
import guns/wall_bounce
import movements/phantom_meteor

const botJsonPath = currentSourcePath().parentDir / "ModularBot.json"
const DebugVBullets = false
const DebugCircular = false
const GunNames = ["HeadOn", "Linear", "Tsetlin", "Circular", "GuessFactor", "Pattern", "AntiSurf", "WallBounce"]

type
  ModularBot = ref object of Bot
    hasContact:   bool
    enemyBearing: float
    lastState:    WorldState
    radar:        RadarLockModule
    tracker:      VirtualTracker
    headOn:       HeadOnGun
    linear:       LinearGun
    circular:     CircularGun
    tsetlin:      TsetlinGun
    guessFactor:  GFGun
    patternMatcher: PatternMatcherGun
    antiSurfer:   AntiSurferGun
    wallBounce:   WallBounceGun
    mover:        PhantomMeteorModule
    virtualHits:  int
    virtualMiss:  int
    tick:         int
    currentGun:   int

proc buildState(bot: ModularBot, ex, ey, espeed, eheading, eenergy: float): WorldState =
  WorldState(
    enemyX:       ex,
    enemyY:       ey,
    enemySpeed:   espeed,
    enemyHeading: eheading,
    enemyEnergy:  eenergy,
    selfX:        getX(),
    selfY:        getY(),
    selfSpeed:        getSpeed(),
    selfHeading:      getDirection(),
    selfRadarHeading: getRadarDirection(),
    selfEnergy:       getEnergy(),
    arenaWidth:  getArenaWidth().float,
    arenaHeight: getArenaHeight().float,
    tick:        bot.tick,
  )

method onScannedBot*(bot: ModularBot, e: ScannedBotEvent) =
  bot.enemyBearing = directionTo(getX(), getY(), e.x, e.y)
  bot.hasContact   = true
  bot.lastState    = bot.buildState(e.x, e.y, e.speed, e.direction, e.energy)

  # Collect predictions for all power bins from 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 asPreds:   array[len(PowerBins), GunPrediction]
  var wbPreds:   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]))
    asPreds[i]   = bot.antiSurfer.predict(bot.lastState, bulletSpeed(PowerBins[i]))
    wbPreds[i]   = bot.wallBounce.predict(bot.lastState, bulletSpeed(PowerBins[i]))

  bot.tracker.spawnBullets(0, headsUp,   bot.lastState)
  bot.tracker.spawnBullets(1, linPreds,  bot.lastState)
  # Skip TM virtual bullets during warmup so cold predictions don't hurt its fitness window
  if bot.tsetlin.isWarmedUp():
    bot.tracker.spawnBullets(2, tmPreds,   bot.lastState)
  bot.tracker.spawnBullets(3, circPreds, bot.lastState)
  bot.tracker.spawnBullets(4, gfPreds,   bot.lastState)
  bot.tracker.spawnBullets(5, pmPreds,   bot.lastState)
  bot.tracker.spawnBullets(6, asPreds,   bot.lastState)
  bot.tracker.spawnBullets(7, wbPreds,   bot.lastState)

  # Resolve bullets that have travelled far enough
  let st = bot.lastState
  bot.tracker.tickBullets(st, 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.antiSurfer.onResult(fe)
    of 7: bot.wallBounce.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)

  # Log gun switch + update turret/bullet colors
  if selectedGun != bot.currentGun:
    echo fmt"[gun] switched: {GunNames[selectedGun]}"
    bot.currentGun = selectedGun
    case selectedGun
    of 0: setTurretColor("#FF3333"); setBulletColor("#FF6666")  # HeadOn: warm red
    of 1: setTurretColor("#3366FF"); setBulletColor("#6699FF")  # Linear: electric blue
    of 2: setTurretColor("#9933FF"); setBulletColor("#CC66FF")  # Tsetlin: violet
    of 3: setTurretColor("#33CC33"); setBulletColor("#66FF66")  # Circular: emerald
    of 4: setTurretColor("#FFCC00"); setBulletColor("#FFE066")  # GuessFactor: yellow
    of 5: setTurretColor("#FF6600"); setBulletColor("#FF9944")  # Pattern: orange
    of 6: setTurretColor("#00CCFF"); setBulletColor("#66DDFF")  # AntiSurf: cyan
    of 7: setTurretColor("#CCCCCC"); setBulletColor("#EEEEEE")  # WallBounce: silver/white
    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.antiSurfer.predict(bot.lastState, bulletSpeed(power))
    of 7: bot.wallBounce.predict(bot.lastState, bulletSpeed(power))
    else: bot.headOn.predict(bot.lastState, bulletSpeed(power))
  let target = aimAngle(getX(), getY(), pred.x, pred.y)

  let gunDir   = getGunDirection()
  let gunHeat  = getGunHeat()
  let gunDelta = (target - gunDir) mod 360.0
  var normDelta = gunDelta
  if normDelta > 180.0:  normDelta -= 360.0
  elif normDelta < -180.0: normDelta += 360.0

  if shouldFire(gunDir, target, gunHeat):
    discard setFire(power)

  # Turn gun toward predicted point every scan
  setGunTurnRate(normDelta)


method onRoundEnded*(bot: ModularBot, e: RoundEndedEventForBot) =
  discard  # Skip detailed logging for now

method onRoundStarted*(bot: ModularBot, e: RoundStartedEvent) =
  setAdjustGunForBodyTurn(true)
  setAdjustRadarForBodyTurn(true)
  setAdjustRadarForGunTurn(true)
  setBodyColor("#FF9900")   # PhantomMeteor: deep orange/gold
  setRadarColor("#00CCCC")  # RadarLock: cyan/teal
  setScanColor("#33FFFF")   # RadarLock scan arc: bright teal
  bot.radar.init()
  bot.hasContact = false
  bot.tick       = 0
  bot.currentGun = -1  # Reset to trigger initial log on first selectShot
  bot.mover.resetRound()
  echo fmt"[gun] starting: {GunNames[0]}"
  # tracker fitness persists across rounds (rolling window carries over)

method onGameStarted*(bot: ModularBot, e: GameStartedEventForBot) =
  discard

method run*(bot: ModularBot) =
  while isRunning():
    inc bot.tick

    if not bot.hasContact:
      setTargetSpeed(0.0)
      setTurnRate(0.0)
      setRadarTurnRate(45.0)
      go()
      continue

    # Movement harness: oscillate perpendicular to enemy
    let (spd, tr) = bot.mover.computeMove(bot.lastState)
    setTargetSpeed(spd)
    setTurnRate(tr)

    setRadarTurnRate(bot.radar.computeScan(bot.lastState))
    go()

when isMainModule:
  var bot = ModularBot(
    tracker:    vb.initTracker(8),  # 0: HeadOn, 1: Linear, 2: Tsetlin, 3: Circular, 4: GuessFactor, 5: Pattern, 6: AntiSurf, 7: WallBounce
    headOn:     HeadOnGun(),
    linear:     LinearGun(),
    circular:   CircularGun(),
    tsetlin:    initTsetlinGun(),
    guessFactor: initGFGun(),
    patternMatcher: PatternMatcherGun(),
    antiSurfer:  initAntiSurferGun(),
    wallBounce:  initWallBounceGun(),
    radar:      RadarLockModule(),
    mover:      initPhantomMeteor(),
    currentGun: -1,
  )
  start(bot, botJsonPath)