SirRoboGarage/ModularBot_garage/tests/test_learned_surfer.nim

## Learned movement (SBC) — module unit / smoke test.
##
## No Java, no battle: a synthetic enemy fires at us on a fixed clock while our
## own bot integrates the commands the module returns, so the wave machinery,
## the state coding, the counted-SBC learner and the danger ranking are all
## exercised end to end.
##
##   nim c -r --nimcache:/tmp/nc_j128 --path:../../common_libs \
##     tests/test_learned_surfer.nim          # from ModularBot_garage/
##
## Checks:
##   1. the module satisfies the MovementModule concept
##   2. waves are detected from the energy drop and RESOLVE at the nominal
##      arrival tick with a valid 31-bin label
##   3. the counted SBC accumulates evidence, and the danger map is a proper
##      probability distribution (sums to 1)
##   4. the state code is in range and moves with our movement state
##   5. TR_LEARNED_DECAY_SHIFT=0 keeps the counters (no forgetting), the default
##      decays them
##   6. the run is deterministic

import std/[math, os]
import movements/learned_surfer
import gun_harness/gun_interface
import movement_harness/movement_interface

var checks = 0
var failures = 0

proc check(what: string, ok: bool) =
  inc checks
  if ok: echo "PASS  ", what
  else: echo "FAIL  ", what
  if not ok: inc failures

type Sim = object
  x, y, heading, speed: float
  enemyX, enemyY: float
  tick: int
  fireTick: int
  enemyEnergy: float

proc step(m: var LearnedSurferModule, s: var Sim): MoveCommand =
  let ws = WorldState(
    enemyX: s.enemyX, enemyY: s.enemyY, enemyEnergy: s.enemyEnergy,
    selfX: s.x, selfY: s.y, selfSpeed: s.speed, selfHeading: s.heading,
    arenaWidth: 800.0, arenaHeight: 600.0, tick: s.tick,
    enemies: @[EnemyInfo(id: 1, x: s.enemyX, y: s.enemyY,
                         heading: 180.0, speed: 0.0, energy: s.enemyEnergy)],
  )
  result = m.computeMove(ws)
  # integrate our own motion (max turn 10 deg/tick, speed 8 px/tick)
  s.heading += result.turnRate.clamp(-10.0, 10.0)
  let v = result.speed.clamp(-8.0, 8.0)
  s.x = min(780.0, max(20.0, s.x + v * cos(degToRad(s.heading))))
  s.y = min(580.0, max(20.0, s.y + v * sin(degToRad(s.heading))))
  s.speed = v
  inc s.tick
  # the enemy fires a power-1 bullet every 24 ticks (a 1.0 energy drop)
  if s.tick mod 24 == 0:
    s.enemyEnergy -= 1.0
    s.fireTick = s.tick
  if s.tick mod 24 == 1:
    s.enemyEnergy += 1.0     # energy is restored by the harness so the next
                             # drop is measurable again (synthetic stream only)

proc run(ticks: int, decayShift: int): LearnedSurferModule =
  putEnv(LearnedDecayShiftEnv, $decayShift)
  putEnv(LearnedDecayEveryEnv, "16")
  loadLearnedEnv()
  result = initLearnedSurfer()
  result.sbc.decayEvery = 16
  result.sbc.decayShift = decayShift
  var s = Sim(x: 400.0, y: 300.0, heading: 0.0, speed: 8.0,
              enemyX: 400.0, enemyY: 60.0, enemyEnergy: 100.0)
  for _ in 0..<ticks:
    discard result.step(s)

proc counters(m: LearnedSurferModule): int =
  var n = 0
  for c in m.sbc.counters:
    if c != 0'u8: inc n
  n

proc main() =
  # 1. concept
  check "MovementModule concept", isMovementModule(LearnedSurferModule)

  # 2./3./4. a real run
  var m = run(ticks = 600, decayShift = 1)
  check "waves were consumed (learned something)", counters(m) > 0
  check "the global histogram has the resolutions in it",
        (block:
          var t = 0
          for g in m.glob: t += g
          t > 5)
  check "wave-driven decisions were taken", m.decisions > 100
  echo "      resolutions in the global histogram = ",
    (block:
      var t = 0
      for g in m.glob: t += g
      t)

  # the danger map is a probability distribution for a populated cell
  var p: array[31, float]
  m.predictState(0, 0, p)
  var tot = 0.0
  for v in p: tot += v
  check "danger map sums to 1", abs(tot - 1.0) < 1e-9

  # 5. decay: with shift 0 the counters only grow
  let md = run(ticks = 600, decayShift = 0)
  check "decayShift=0 keeps a memory (counters present)", counters(md) > 0
  check "no-decay counts every resolution (no forgetting)",
        (block:
          var t = 0
          for g in md.glob: t += g
          t >= 20)                    # ~1 fire per 24 ticks, ~15-tick flight
  check "the decaying run keeps less mass than the no-decay run",
        (block:
          var a = 0
          for g in m.glob: a += g
          var b = 0
          for g in md.glob: b += g
          a <= b)

  # 6. determinism
  let a = run(ticks = 300, decayShift = 1)
  let b = run(ticks = 300, decayShift = 1)
  check "deterministic", counters(a) == counters(b)

  # 7. ablation knob: TR_LEARNED_GLOBAL ignores the state
  putEnv(LearnedGlobalEnv, "1")
  loadLearnedEnv()
  let g = run(ticks = 200, decayShift = 1)
  check "TR_LEARNED_GLOBAL still moves (prior-only map)", g.decisions > 20
  delEnv(LearnedGlobalEnv)
  putEnv(LearnedDecayShiftEnv, "")
  putEnv(LearnedDecayEveryEnv, "")
  loadLearnedEnv()

  echo ""
  echo "checks=", checks, " failures=", failures
  if failures > 0: quit(1)

main()