SirRoboGarage/common_libs/guns/tm_horizon.nim

## tm_horizon.nim — a HORIZON-BASED Tsetlin Machine that CORRECTS the Pattern gun.
##
## Design (the exact brief this file implements):
##   * BASE  — the shipped best gun, `PatternMatcherGun` (guns/pattern_matcher).
##             Pattern supplies the prediction; the TM only CORRECTS it. The old
##             mistake of layering a TM on a weak base (Linear) is not repeated.
##   * INPUT — the 49-bit draft spec (`tm_diag/feature_spec.draftTMSpec`) PLUS a
##             4-bit horizon one-hot, i.e. 53 raw bits. The draft blocks are:
##               walls(8) / us(9) / motion(20) / bullets(12)  = 49
##             The horizon block is derived from the ACTUAL bullet flight time,
##             `speed = 20 - 3*power`, `h = round(dist / speed)`, clamped to
##             [10, 50] (the measured 5..9 dead zone is excluded).
##   * OUTPUT — TWO BINARIES, four quadrants:
##               (a) is the enemy LEFT or RIGHT of the base prediction?
##               (b) is the angular correction bigger or smaller than the median?
##             A multi-class head created the majority-class trap before; two
##             balanced binaries cannot.
##   * LABEL  — a FACT, not a correction: at tick t and horizon h, look up where
##             the enemy ACTUALLY was at t+h in our OWN observation ring. Never
##             cross a round boundary (pending samples are cleared on reset; the
##             last h ticks simply never resolve). Only samples whose enemy was
##             observed within `TMH_STALE_MAX` ticks are used — stale
##             observations are guesses and guessing in the answer key is what
##             shipped wrong labels before.
##   * TRAIN  — the machines SURVIVE round boundaries: learning accumulates
##             across every round of the same battle/enemy ("every battle i means
##             from round 1 to round end-battle, so retain all learning until the
##             enemy change"). Two different triggers wipe two different kinds of
##             state:
##               - `resetRoundState` (per-ROUND) clears ONLY the observation ring,
##                 the deferred-label queue and the motion/bullet/per-tick
##                 history. It runs from `onRoundStarted` and on a tick
##                 regression. Bots teleport back to their corners between
##                 rounds, so old positions are meaningless and would poison the
##                 labels.
##               - `resetLearning` (per-BATTLE / per-ENEMY) wipes the Tsetlin
##                 machines and every learned statistic, then clears the round
##                 state too. It runs on a NEW BATTLE (`onGameStarted`, with a
##                 round-1 fallback) and when the TARGET changes to a different
##                 bot id (`TR_TMHORIZON_RESET_ON_TARGET`, default on).
##             There is still NO persistence across battles: nothing is written
##             to disk and nothing carries into a different battle.
##   * APPLY  — a SMALL hit-optimal-style correction (default a few degrees,
##             `TR_TMHORIZON_SHIFT`), NOT the conditional median. Gate 2b showed
##             the error median (4-16 deg) is catastrophically wrong when the
##             hit-optimal shift is only ~±2-3.5 deg. `TR_TMHORIZON_SHIFT=0`
##             disables the correction entirely (pure predict arm).
##
## EXPECTED OUTCOME: this design is PREDICTED TO LOSE. Gate 2b measured that it
## needs ~80% side accuracy to break even on hits while the achievable signal is
## ~60%, so it is expected to lose to Pattern. It is built anyway because the
## user asked to see it in a real battle and because offline metrics have been
## wrong before. See `common_libs/tests/gate2b_hit_optimal_results.txt`.
##
## COST: per-tick work is cached the way Pattern caches its path (base bits once
## per tick, one TM evaluation per horizon bucket), so it stays in the
## neighbourhood of the 0.36 ms/tick TM gun rather than Tsetlin's ~5.3 ms/tick.
##
## Coordinate system: 0° = East, CCW positive (Tank Royale standard).

import std/[math, os, strutils, strformat]
import gun_harness/gun_interface
import guns/pattern_matcher
import tm_diag/tm_core

const
  ## ── feature geometry ────────────────────────────────────────────────────
  TMH_N_BASE* = 49               ## the draftTMSpec() bit count
  TMH_NH*     = 4                ## horizon one-hot width
  TMH_N_BITS* = TMH_N_BASE + TMH_NH   ## 53 raw bits
  TMH_NLITS*  = 2 * TMH_N_BITS        ## pos + neg literals
  ## ── horizon range (measured: 5..9 is a dead zone with no signal) ────────
  TMH_H_MIN*  = 10
  TMH_H_MAX*  = 50
  ## ── classifier shape (cheap; two binaries) ─────────────────────────────
  TMH_NCLAUSES* {.intdefine.} = 40
  TMH_NSTATES*  {.intdefine.} = 64
  TMH_S_DEF {.strdefine.} = "3.0"
  TMH_S* = parseFloat(TMH_S_DEF)
  ## Cold gate: below this many resolved samples the TM emits no correction.
  TMH_MIN_OBS* {.intdefine.} = 24
  ## A resolved sample is only used when the enemy was observed this recently.
  TMH_STALE_MAX* {.intdefine.} = 8
  ## ── rings ───────────────────────────────────────────────────────────────
  TMH_POS_RING* = 256            ## observation ring (> max horizon + lookback)
  TMH_PENDING_CAP* = 512         ## deferred-label queue (<= 4 spawns/tick * 50)
  TMH_BULLETS*  = 32             ## our own in-flight bullets (proxy)
  ## Magnitude-median histogram resolution. Fine enough that the median does not
  ## collapse to 0.0 when the bulk of |err| sits in the first bin (which would
  ## label every sample BIG and reintroduce a majority-class trap).
  TMH_ABS_RES*  = 0.1
  TMH_ABS_BINS* = 640   ## 0.1 deg bins up to 64 deg
  ## ── env knobs ───────────────────────────────────────────────────────────
  TMH_SHIFT_ENV*    = "TR_TMHORIZON_SHIFT"     ## deg; 0 = no correction arm
  TMH_BIG_MULT_ENV* = "TR_TMHORIZON_BIG_MULT"  ## scale when magnitude is BIG
  TMH_LOG_ENV*      = "TR_TMHORIZON_LOG"       ## 1 = per-change thinking log
  ## Reset the machines when the TARGET changes to a different bot id. Default
  ## ON: in 1v1 there is one enemy so it is a no-op; in melee it fires on target
  ## switches. Set 0 to observe melee without the per-switch wipe.
  TMH_RESET_ON_TARGET_ENV* = "TR_TMHORIZON_RESET_ON_TARGET"
  TMH_SHIFT_DEFAULT*    = 2.0
  TMH_BIG_MULT_DEFAULT* = 1.5
  TMH_RESET_ON_TARGET_DEFAULT* = true

type
  TmhTick* = object
    tick*: int
    ex*, ey*, eh*, es*: float
    lastSeenTick*: int

  TmhBullet = object
    ## INFERRED proxy for one of OUR real bullets: detected from a self-energy
    ## drop (0.05 < drop <= 3.1), direction proxied by self->enemy at fire time —
    ## exactly the offline `buildBulletSeries` model.
    arrivalTick: int
    ux, uy: float
    sx, sy: float
    active: bool

  TmhPending* = object
    ## One deferred training sample. `lits` is the exact literal vector the TM
    ## saw at fire time; the label is resolved h ticks later.
    fireTick*:  int
    horizon*:   int
    bucket*:    int
    selfX*, selfY*: float
    baseBearing*: float
    sidePred*:  int
    magPred*:   int
    warm*:      bool
    lits*:      array[TMH_NLITS, uint8]

  TmhEval = object
    valid: bool
    side: int
    sideConf: float
    mag: int

  TmHorizonGun* = object
    pattern*:    PatternMatcherGun
    sideMachine: TmMachine
    magMachine:  TmMachine
    # per-class scratch caches (avoid per-sample allocation)
    sideScratch: array[2, seq[uint8]]
    magScratch:  array[2, seq[uint8]]
    # observation ring
    ring:      array[TMH_POS_RING, TmhTick]
    ringValid: array[TMH_POS_RING, bool]
    # deferred labels
    pending:      array[TMH_PENDING_CAP, TmhPending]
    pendingCount*: int
    pendingDropped*: int
    # our own bullets (energy-drop proxy)
    bullets:     array[TMH_BULLETS, TmhBullet]
    bulletCount: int
    # per-tick caches
    cachedBits:     array[TMH_N_BASE, uint8]
    cachedBitsTick: int
    bitsValid:      bool
    bucketEval:     array[TMH_NH, TmhEval]
    # motion history
    lastTick:    int
    hasPrev:     bool
    sinceRev:    int
    lastNonzeroSign: int
    selfPrevEnergy: float
    hasSelfPrev: bool
    # enqueue dedupe (predict is called once per power bin)
    lastEnqTick:   int
    lastEnqBucket: int
    # logging
    lastLogKey:  string
    lastLogTick: int
    shiftConfigured: bool
    shiftDeg*:   float
    bigMult*:    float
    logEnabled*: bool
    # round seeding
    seedCounter: int
    # per-battle config: reset the machines when the target changes enemy id
    resetOnTarget*: bool
    # the enemy id the machines currently represent (-1 = none). Used by
    # `targetChanged` so first acquisition never wipes and a new BATTLE clears it.
    observedTargetId*: int
    # cumulative `trained` at the start of the current round, so the per-round
    # summary can report `thisRound` while `trained` keeps climbing.
    roundStartTrained*: int
    # magnitude-median histogram (TMH_ABS_RES deg bins)
    absHist: array[TMH_ABS_BINS, int]
    absCount: int
    # ── instrumentation ─────────────────────────────────────────────────────
    trained*:    int
    sideCorrect*, sideTotal*: int
    sidePredHist*: array[2, int]
    magPredHist*:  array[2, int]
    sideLabelHist*: array[2, int]
    magLabelHist*:  array[2, int]
    quadHist*:     array[4, int]
    lastSidePred*: int
    lastMagPred*:  int

# ── small pure helpers ───────────────────────────────────────────────────────

proc wrapDeg(d: float): float {.inline.} =
  result = d
  while result > 180.0: result -= 360.0
  while result < -180.0: result += 360.0

proc wrapRad(r: float): float {.inline.} =
  result = r
  while result > PI: result -= 2.0 * PI
  while result < -PI: result += 2.0 * PI

proc signf(x: float): int {.inline.} =
  if x > 1e-9: 1 elif x < -1e-9: -1 else: 0

proc envFloatT(name: string, default: float): float =
  let v = getEnv(name, "")
  if v.len == 0: return default
  try: parseFloat(v.strip())
  except ValueError: default

proc envBoolT(name: string, default: bool): bool =
  case getEnv(name, "").strip().toLowerAscii()
  of "1", "true", "yes", "on": true
  of "0", "false", "no", "off": false
  else: default

# ── horizon maths (pure, unit-tested) ────────────────────────────────────────

proc tmhHorizonFor*(dist, bulletSpeed: float): int =
  ## Derive the horizon from the ACTUAL bullet flight time. `speed = 20-3*power`
  ## so `bulletSpeed` already encodes the energy-aware power policy's power.
  ## Clamped to the measured live band [10, 50].
  if bulletSpeed <= 0.0: return TMH_H_MIN
  result = int(round(dist / bulletSpeed))
  if result < TMH_H_MIN: result = TMH_H_MIN
  elif result > TMH_H_MAX: result = TMH_H_MAX

proc tmhHorizonBucket*(h: int): int =
  ## 4 one-hot buckets over [10, 50]: 10-19, 20-29, 30-39, 40-50.
  if h < 20: 0
  elif h < 30: 1
  elif h < 40: 2
  else: 3

proc tmhQuadrantName*(side, mag: int): string =
  ## `side` 1 = LEFT (positive angular error, CCW), 0 = RIGHT; `mag` 1 = BIG.
  ## `side < 0` means the model is cold and emits no correction.
  if side < 0: return "COLD"
  let s = if side == 1: "LEFT" else: "RIGHT"
  let m = if mag == 1: "LARGE" else: "SMALL"
  m & "-" & s

proc tmhApplyShift*(selfX, selfY, px, py, shiftDeg: float): GunPrediction =
  ## Rotate the base prediction point around the shooter by `shiftDeg` degrees
  ## (positive = CCW). The aim DISTANCE is preserved; only the bearing moves.
  let dx = px - selfX
  let dy = py - selfY
  let d = hypot(dx, dy)
  if d < 1e-9: return GunPrediction(x: px, y: py)
  let b = arctan2(dy, dx) + degToRad(shiftDeg)
  GunPrediction(x: selfX + cos(b) * d, y: selfY + sin(b) * d)

proc tmhLits*(base: array[TMH_N_BASE, uint8],
              bucket: int): array[TMH_NLITS, uint8] =
  ## Pack the 49 draft bits + the 4-bit horizon one-hot into the pos-then-neg
  ## literal layout the TM core uses.
  var raw: array[TMH_N_BITS, uint8]
  for i in 0..<TMH_N_BASE: raw[i] = base[i]
  raw[TMH_N_BASE + bucket] = 1'u8
  for i in 0..<TMH_N_BITS:
    result[i] = raw[i]
    result[i + TMH_N_BITS] = 1'u8 - raw[i]

# ── construction / reset ─────────────────────────────────────────────────────

proc initTmHorizonGun*(): TmHorizonGun =
  result.pattern = PatternMatcherGun()
  result.sideMachine = newMachine(TMH_N_BITS, 2, TMH_NCLAUSES, TMH_NSTATES,
                                  TMH_S, seed = 1)
  result.magMachine = newMachine(TMH_N_BITS, 2, TMH_NCLAUSES, TMH_NSTATES,
                                 TMH_S, seed = 2)
  for c in 0..1:
    result.sideScratch[c] = newSeq[uint8](TMH_NCLAUSES)
    result.magScratch[c]  = newSeq[uint8](TMH_NCLAUSES)
  result.lastTick = -1
  result.lastEnqTick = -1
  result.lastEnqBucket = -1
  result.shiftDeg = TMH_SHIFT_DEFAULT
  result.bigMult = TMH_BIG_MULT_DEFAULT
  result.resetOnTarget = TMH_RESET_ON_TARGET_DEFAULT
  result.observedTargetId = -1
  result.lastSidePred = -1
  result.lastMagPred = -1

proc ensureConfig(g: var TmHorizonGun) {.inline.} =
  ## Lazily read the env knobs on first use (like Pattern's radial knobs), so a
  ## unit test can poke the env in-process and an unset env cannot move the gun.
  if g.shiftConfigured: return
  g.shiftDeg = envFloatT(TMH_SHIFT_ENV, TMH_SHIFT_DEFAULT)
  g.bigMult = envFloatT(TMH_BIG_MULT_ENV, TMH_BIG_MULT_DEFAULT)
  g.logEnabled = envBoolT(TMH_LOG_ENV, false)
  g.resetOnTarget = envBoolT(TMH_RESET_ON_TARGET_ENV, TMH_RESET_ON_TARGET_DEFAULT)
  g.shiftConfigured = true

proc setShift*(g: var TmHorizonGun, shiftDeg: float, bigMult = TMH_BIG_MULT_DEFAULT) =
  ## Explicit per-gun override (tests / offline sweeps). Writes the same fields
  ## the env path writes, so the measured code path is identical.
  g.shiftDeg = shiftDeg
  g.bigMult = bigMult
  g.shiftConfigured = true

proc setResetOnTarget*(g: var TmHorizonGun, on: bool) =
  ## Explicit per-gun override (tests). Writes the same field the env path does
  ## and freezes config, so a later `ensureConfig` cannot move it.
  g.resetOnTarget = on
  g.shiftConfigured = true

proc resetRoundState*(g: var TmHorizonGun) =
  ## PER-ROUND wipe ONLY. Clears the observation ring, the deferred-label queue
  ## and every piece of motion / bullet / per-tick history that is meaningless
  ## once the bots teleport back to their starting corners. The Tsetlin machines
  ## and their learned statistics are LEFT UNTOUCHED: learning accumulates across
  ## rounds of the same battle/enemy. This is the ONLY reset that runs at a plain
  ## round boundary.
  g.pendingCount = 0
  g.bulletCount = 0
  g.hasPrev = false
  g.hasSelfPrev = false
  g.sinceRev = 0
  g.lastNonzeroSign = 0
  g.lastTick = -1
  g.lastEnqTick = -1
  g.lastEnqBucket = -1
  g.bitsValid = false
  g.lastLogKey = ""
  g.lastLogTick = -1
  g.lastSidePred = -1
  g.lastMagPred = -1
  for i in 0..<TMH_NH:
    g.bucketEval[i] = TmhEval()
  for i in 0..<TMH_POS_RING: g.ringValid[i] = false
  # A fresh round starts here: remember the cumulative count so the per-round
  # summary can report `thisRound` while `trained` keeps climbing.
  g.roundStartTrained = g.trained

proc resetLearning*(g: var TmHorizonGun, reason = "") =
  ## PER-BATTLE / PER-ENEMY wipe. Wipes the Tsetlin machines and every learned
  ## statistic, then clears the per-round state too (a new enemy makes the old
  ## observations and pending labels meaningless). Called on a NEW BATTLE
  ## (`onGameStarted`, with a round-1 fallback) and when the TARGET changes to a
  ## different bot id. NEVER called at a plain round boundary — that is
  ## `resetRoundState`. There is still no persistence across battles.
  let trainedWas = g.trained
  inc g.seedCounter
  g.sideMachine.resetMachine(seed = 1000'u64 + uint64(g.seedCounter))
  g.magMachine.resetMachine(seed  = 2000'u64 + uint64(g.seedCounter))
  g.trained = 0
  g.sideCorrect = 0
  g.sideTotal = 0
  g.pendingDropped = 0
  g.observedTargetId = -1
  for i in 0..1:
    g.sidePredHist[i] = 0
    g.magPredHist[i] = 0
    g.sideLabelHist[i] = 0
    g.magLabelHist[i] = 0
  for i in 0..<4: g.quadHist[i] = 0
  for i in 0..<TMH_ABS_BINS: g.absHist[i] = 0
  g.absCount = 0
  g.resetRoundState()
  if reason.len > 0:
    g.ensureConfig()
    if g.logEnabled:
      echo fmt"[tmh-reset] reason={reason} trained_was={trainedWas}"

proc targetChanged*(g: var TmHorizonGun, enemyId: int): bool =
  ## Per-ENEMY reset: when the selected target changes to a DIFFERENT bot id,
  ## wipe the machines (the user's reset condition is literally "until the enemy
  ## change"). First acquisition (`observedTargetId < 0`) never wipes, so the
  ## round-start pick does not cold-start the gun every round. Gated by
  ## `TR_TMHORIZON_RESET_ON_TARGET` (default on); returns true when it wiped.
  g.ensureConfig()
  if not g.resetOnTarget: return false
  if enemyId < 0: return false
  if g.observedTargetId >= 0 and enemyId != g.observedTargetId:
    g.resetLearning("target_change")
    g.observedTargetId = enemyId
    return true
  g.observedTargetId = enemyId
  false

# ── history / observation ring ───────────────────────────────────────────────

proc ringAt(g: TmHorizonGun, tick: int): tuple[ok: bool, t: TmhTick] =
  let slot = ((tick mod TMH_POS_RING) + TMH_POS_RING) mod TMH_POS_RING
  if g.ringValid[slot] and g.ring[slot].tick == tick:
    (true, g.ring[slot])
  else:
    (false, TmhTick())

proc ringValidCount*(g: TmHorizonGun): int =
  ## Observability / test seam: how many observation-ring slots are valid.
  for i in 0..<TMH_POS_RING:
    if g.ringValid[i]: inc result

proc ringHas*(g: TmHorizonGun, tick: int): bool =
  ## Observability / test seam: is there a valid observation exactly at `tick`?
  ## Used to prove a round boundary drops the old positions (so a label can never
  ## be built from a position across the boundary).
  g.ringAt(tick).ok

proc sideClauseStates*(g: TmHorizonGun): seq[int16] =
  ## Test / observability seam: a snapshot of the side head's learned clause
  ## states, so a test can prove the machines survive or are wiped by a reset.
  g.sideMachine.teams[0] & g.sideMachine.teams[1]

proc sideClausesAllExclude*(g: TmHorizonGun): bool =
  ## Test seam: true when every side clause is at the Exclude boundary.
  for c in 0..<g.sideMachine.nClasses:
    for i in 0..<g.sideMachine.teams[c].len:
      if g.sideMachine.teams[c][i] != 0: return false
  true

proc addBullet(g: var TmHorizonGun, b: TmhBullet) =
  if g.bulletCount < TMH_BULLETS:
    g.bullets[g.bulletCount] = b
    inc g.bulletCount
  else:
    for i in 1..<TMH_BULLETS: g.bullets[i - 1] = g.bullets[i]
    g.bullets[TMH_BULLETS - 1] = b

proc bulletFeatures(g: var TmHorizonGun, state: WorldState): tuple[tta: int, lat: float] =
  ## Nearest in-flight (proxy) bullet: ticks-to-arrival and the enemy's lateral
  ## offset from that bullet's path. `tta < 0` means none.
  result.tta = -1
  result.lat = 0.0
  var w = 0
  for i in 0..<g.bulletCount:
    var b = g.bullets[i]
    if not b.active: continue
    if state.tick > b.arrivalTick:
      b.active = false
      continue
    g.bullets[w] = b
    inc w
    let ta = b.arrivalTick - state.tick
    if result.tta < 0 or ta < result.tta:
      result.tta = ta
      let vx = state.enemyX - b.sx
      let vy = state.enemyY - b.sy
      result.lat = b.ux * vy - b.uy * vx
  g.bulletCount = w

proc tmhUpdateHistory(g: var TmHorizonGun, state: WorldState) =
  ## Once per tick: write the observation ring, advance the reversal counter and
  ## the self-energy-drop bullet proxy.
  let slot = ((state.tick mod TMH_POS_RING) + TMH_POS_RING) mod TMH_POS_RING
  var lst = state.tick
  if state.enemies.len > 0: lst = state.enemies[0].lastSeenTick
  g.ring[slot] = TmhTick(tick: state.tick, ex: state.enemyX, ey: state.enemyY,
                         eh: state.enemyHeading, es: state.enemySpeed,
                         lastSeenTick: lst)
  g.ringValid[slot] = true

  let sg = signf(state.enemySpeed)
  if sg != 0:
    if g.lastNonzeroSign != 0 and sg != g.lastNonzeroSign: g.sinceRev = 0
    else: inc g.sinceRev
    g.lastNonzeroSign = sg
  else:
    inc g.sinceRev

  if g.hasSelfPrev:
    let drop = g.selfPrevEnergy - state.selfEnergy
    if drop > 0.05 and drop <= 3.1:
      let power = clamp(drop, 0.1, 3.0)
      let speed = 20.0 - 3.0 * power
      let dx = state.enemyX - state.selfX
      let dy = state.enemyY - state.selfY
      let nrm = max(1e-6, hypot(dx, dy))
      let flight = int(ceil(nrm / speed))
      g.addBullet(TmhBullet(arrivalTick: state.tick + flight,
                            ux: dx / nrm, uy: dy / nrm,
                            sx: state.selfX, sy: state.selfY, active: true))
  g.selfPrevEnergy = state.selfEnergy
  g.hasSelfPrev = true

# ── the 49 draft bits, live ──────────────────────────────────────────────────

proc tmhBaseBits*(g: var TmHorizonGun, state: WorldState): array[TMH_N_BASE, uint8] =
  ## The draftTMSpec() blocks, computed from the live bot state + the observation
  ## ring. Block layout (mirrors draftTMSpec):
  ##   0..3  dist-to-nearest-wall | 4..7  which-wall-nearest
  ##   8..13 dist-from-us         | 14..16 enemy-heading-vs-line-to-us
  ##   17..19 turn-direction t,t-1,t-2 | 20..24 ticks-since-reversal
  ##   25..27 turn-consistency-10 | 28..30 distance-moved-10
  ##   31..33 speed-trend-10      | 34..36 turn-rate-change-5
  ##   37..41 time-until-bullet   | 42..48 bullet-lateral-offset
  var b: array[TMH_N_BASE, uint8]
  template put1(idx: int) = b[idx] = 1'u8

  let ex = state.enemyX
  let ey = state.enemyY

  # walls (8)
  let dL = ex
  let dR = state.arenaWidth - ex
  let dT = state.arenaHeight - ey
  let dB = ey
  let dmin = min(min(dL, dR), min(dT, dB))
  if dmin < 50.0: put1(0)
  elif dmin < 100.0: put1(1)
  elif dmin < 200.0: put1(2)
  else: put1(3)
  var wb = 0
  let walls = [dL, dR, dT, dB]
  for w in 1..3:
    if walls[w] < walls[wb]: wb = w
  put1(4 + wb)

  # us (9)
  let rng = hypot(ex - state.selfX, ey - state.selfY)
  var ub = 5
  if rng < 100.0: ub = 0
  elif rng < 200.0: ub = 1
  elif rng < 300.0: ub = 2
  elif rng < 400.0: ub = 3
  elif rng < 600.0: ub = 4
  put1(8 + ub)

  let lane = arctan2(state.selfY - ey, state.selfX - ex)
  let hdg = degToRad(state.enemyHeading)
  let perp = abs(sin(hdg - lane))
  var hb = 1
  if perp < 0.5: hb = 2
  elif perp > 0.866: hb = 0
  put1(14 + hb)

  # motion (20)
  for k in 0..2:
    let cur = g.ringAt(state.tick - k)
    let prv = g.ringAt(state.tick - k - 1)
    if cur.ok and prv.ok:
      let d = wrapDeg(cur.t.eh - prv.t.eh)
      if d > 1e-6: put1(17 + k)

  var rb = 4
  let sr = g.sinceRev
  if sr < 5: rb = 0
  elif sr < 10: rb = 1
  elif sr < 20: rb = 2
  elif sr < 40: rb = 3
  put1(20 + rb)

  var pos = 0
  var neg = 0
  for k in 0..9:
    let cur = g.ringAt(state.tick - k)
    let prv = g.ringAt(state.tick - k - 1)
    if cur.ok and prv.ok:
      let d = wrapDeg(cur.t.eh - prv.t.eh)
      if d > 1e-6: inc pos
      elif d < -1e-6: inc neg
  let tot = pos + neg
  let cons = if tot > 0: max(pos, neg).float / tot.float else: 0.0
  var cb = 0
  if cons > 0.8: cb = 2
  elif cons >= 0.5: cb = 1
  put1(25 + cb)

  let j10 = g.ringAt(state.tick - 10)
  let dm = if j10.ok: hypot(ex - j10.t.ex, ey - j10.t.ey) else: 0.0
  var mb = 1
  if dm < 20.0: mb = 0
  elif dm > 50.0: mb = 2
  put1(28 + mb)

  let spd10 = if j10.ok: abs(j10.t.es) else: abs(state.enemySpeed)
  let spdDiff = abs(state.enemySpeed) - spd10
  var sb = 1
  if spdDiff < -0.5: sb = 0
  elif spdDiff > 0.5: sb = 2
  put1(31 + sb)

  var r1 = 0.0
  var n1 = 0
  for k in 0..4:
    let cur = g.ringAt(state.tick - k)
    let prv = g.ringAt(state.tick - k - 1)
    if cur.ok and prv.ok:
      r1 += abs(wrapDeg(cur.t.eh - prv.t.eh)); inc n1
  var r2 = 0.0
  var n2 = 0
  for k in 5..9:
    let cur = g.ringAt(state.tick - k)
    let prv = g.ringAt(state.tick - k - 1)
    if cur.ok and prv.ok:
      r2 += abs(wrapDeg(cur.t.eh - prv.t.eh)); inc n2
  let m1 = if n1 > 0: r1 / n1.float else: 0.0
  let m2 = if n2 > 0: r2 / n2.float else: 0.0
  let dtr = m1 - m2
  var tb = 1
  if dtr < -0.3: tb = 0
  elif dtr > 0.3: tb = 2
  put1(34 + tb)

  # bullets (12) — INFERRED from self-energy drops (no gun heading live)
  let (tta, lat) = g.bulletFeatures(state)
  var b1 = 0
  if tta >= 0:
    if tta < 5: b1 = 1
    elif tta < 10: b1 = 2
    elif tta < 20: b1 = 3
    else: b1 = 4
  put1(37 + b1)

  var lb = 3
  if lat < -72.0: lb = 0
  elif lat < -36.0: lb = 1
  elif lat < -18.0: lb = 2
  elif lat <= 18.0: lb = 3
  elif lat <= 36.0: lb = 4
  elif lat <= 72.0: lb = 5
  else: lb = 6
  put1(42 + lb)

  result = b

# ── TM evaluation / training (no per-sample allocation) ──────────────────────

proc tmhEvalOne(m: TmMachine, lits: array[TMH_NLITS, uint8],
                caches: var array[2, seq[uint8]]): tuple[cls: int, conf: float] =
  var votes: array[2, float]
  for c in 0..1:
    votes[c] = tmForward(m, m.teams[c], lits, caches[c])
  let cls = if votes[1] > votes[0]: 1 else: 0
  let margin = abs(votes[1] - votes[0])
  let conf =
    if m.half > 0: clamp(margin / (2.0 * float(m.half)), 0.0, 1.0)
    else: 0.0
  (cls, conf)

proc tmhTrainOne(m: var TmMachine, lits: array[TMH_NLITS, uint8], label: int,
                 caches: var array[2, seq[uint8]]) =
  var votes: array[2, float]
  for c in 0..1:
    votes[c] = tmForward(m, m.teams[c], lits, caches[c])
  for c in 0..1:
    let d = if c == label: 1.0 else: -1.0
    tmLearnDir(m, m.teams[c], lits, caches[c], votes[c], d)

# ── magnitude median (running histogram) ─────────────────────────────────────

proc recordAbs(g: var TmHorizonGun, a: float) =
  var idx = int(a / TMH_ABS_RES)
  if idx < 0: idx = 0
  if idx >= TMH_ABS_BINS: idx = TMH_ABS_BINS - 1
  inc g.absHist[idx]
  inc g.absCount

proc medianAbs(g: TmHorizonGun): float =
  if g.absCount == 0: return 0.0
  let half = g.absCount div 2
  var cum = 0
  for i in 0..<TMH_ABS_BINS:
    cum += g.absHist[i]
    if cum > half: return i.float * TMH_ABS_RES + TMH_ABS_RES * 0.5
  63.95

# ── deferred label resolution ────────────────────────────────────────────────

proc tmhResolveOne(g: var TmHorizonGun, state: WorldState,
                   p: TmhPending): bool =
  ## Resolve one due sample against our OWN observation at `fireTick + horizon`.
  ## Returns false when the sample must be DROPPED (missing / stale
  ## observation); a perfectly balanced (zero-error) sample is consumed without
  ## training and counts as resolved.
  let slot = ((state.tick mod TMH_POS_RING) + TMH_POS_RING) mod TMH_POS_RING
  if not g.ringValid[slot] or g.ring[slot].tick != state.tick: return false
  if state.tick - g.ring[slot].lastSeenTick > TMH_STALE_MAX: return false
  let act = g.ring[slot]
  let ba = arctan2(act.ey - p.selfY, act.ex - p.selfX)
  let err = wrapRad(ba - p.baseBearing)
  let absE = abs(err)

  if absE >= 1e-9:
    let med = g.medianAbs()
    let sideLabel = if err > 0.0: 1 else: 0
    let magLabel = if absE > med: 1 else: 0
    if p.warm:
      inc g.sideTotal
      if p.sidePred == sideLabel: inc g.sideCorrect
    inc g.sideLabelHist[sideLabel]
    inc g.magLabelHist[magLabel]
    tmhTrainOne(g.sideMachine, p.lits, sideLabel, g.sideScratch)
    tmhTrainOne(g.magMachine, p.lits, magLabel, g.magScratch)
    inc g.trained
  g.recordAbs(absE)
  true

proc tmhResolvePending(g: var TmHorizonGun, state: WorldState) =
  ## Resolve every sample due at this tick, compacting the queue in place.
  ## Samples whose horizon reaches past the round end are simply never due and
  ## are discarded by the next `resetRoundState` (a plain round boundary).
  var w = 0
  for i in 0..<g.pendingCount:
    let p = g.pending[i]
    let due = p.fireTick + p.horizon
    if due > state.tick:
      g.pending[w] = p
      inc w
    elif due == state.tick:
      if not g.tmhResolveOne(state, p):
        inc g.pendingDropped
    else:
      inc g.pendingDropped
  g.pendingCount = w

proc tmhEnqueue(g: var TmHorizonGun, state: WorldState, baseBearing: float,
                h, bucket: int, lits: array[TMH_NLITS, uint8],
                sidePred, magPred: int, warm: bool) =
  if g.pendingCount >= TMH_PENDING_CAP:
    inc g.pendingDropped
    return
  g.pending[g.pendingCount] = TmhPending(
    fireTick: state.tick, horizon: h, bucket: bucket,
    selfX: state.selfX, selfY: state.selfY, baseBearing: baseBearing,
    sidePred: sidePred, magPred: magPred, warm: warm, lits: lits)
  inc g.pendingCount
  if warm:
    inc g.sidePredHist[sidePred]
    inc g.magPredHist[magPred]
    inc g.quadHist[sidePred * 2 + magPred]

# ── logging ──────────────────────────────────────────────────────────────────

proc tmhLog(g: var TmHorizonGun, state: WorldState, bulletSpeed: float,
            h, side, mag: int, sideConf, shift: float, aimDeg: float) =
  ## ONE change-gated line (behind `TR_TMHORIZON_LOG=1`) so the user can see it
  ## think per shot, not per tick. Format:
  ##   [tmh] h=22 p=2.0 pred=LARGE-LEFT shift=-3.0 aim=173.2 gun=Pattern conf=0.62 trained=1841
  if not g.logEnabled: return
  let q = tmhQuadrantName(side, mag)
  # Gate on the PREDICTION (quadrant) and the applied shift — NOT on the horizon,
  # which changes almost every tick as the range moves and would spam the log.
  let key = fmt"{q}|{shift:.1f}"
  if key == g.lastLogKey: return
  if state.tick == g.lastLogTick: return
  g.lastLogKey = key
  g.lastLogTick = state.tick
  let power = (20.0 - bulletSpeed) / 3.0
  echo fmt"[tmh] h={h} p={power:.1f} pred={q} shift={shift:.1f} " &
       fmt"aim={aimDeg:.1f} gun=Pattern conf={sideConf:.2f} trained={g.trained}"

proc roundSummary*(g: var TmHorizonGun) =
  ## Per-round summary on round end (behind the same log switch), so the user can
  ## watch it learn across the round.
  g.ensureConfig()
  if not g.logEnabled: return
  let thisRound = g.trained - g.roundStartTrained
  let acc = if g.sideTotal > 0: g.sideCorrect.float / g.sideTotal.float * 100.0
            else: 0.0
  echo fmt"[tmh-round] trained={g.trained} thisRound={thisRound} pending={g.pendingCount} " &
       fmt"dropped={g.pendingDropped} sideAcc={g.sideCorrect}/{g.sideTotal} " &
       fmt"({acc:.1f}%) " &
       fmt"quad=[SR:{g.quadHist[0]} LR:{g.quadHist[1]} " &
       fmt"SL:{g.quadHist[2]} LL:{g.quadHist[3]}] " &
       fmt"sidePred=[R:{g.sidePredHist[0]} L:{g.sidePredHist[1]}] " &
       fmt"magPred=[S:{g.magPredHist[0]} B:{g.magPredHist[1]}] " &
       fmt"labels=[side R:{g.sideLabelHist[0]} L:{g.sideLabelHist[1]} " &
       fmt"mag S:{g.magLabelHist[0]} B:{g.magLabelHist[1]}]"

# ── Gun interface ────────────────────────────────────────────────────────────

proc isWarmedUp*(g: TmHorizonGun): bool {.inline.} = true

proc predict*(g: var TmHorizonGun, state: WorldState,
              bulletSpeed: float): GunPrediction =
  g.ensureConfig()

  # Round boundary: a tick regression means a new round. Clear ONLY the
  # per-round state (ring + deferred labels); the machines SURVIVE so learning
  # accumulates across the whole battle.
  if state.tick < g.lastTick: g.resetRoundState()

  # Once-per-tick: observe the world, then resolve any labels now due.
  if state.tick != g.lastTick:
    g.tmhUpdateHistory(state)
    g.tmhResolvePending(state)
    g.lastTick = state.tick
    for i in 0..<TMH_NH: g.bucketEval[i] = TmhEval()

  # The base prediction is Pattern. The TM only corrects it.
  let base = g.pattern.predict(state, bulletSpeed)
  if bulletSpeed <= 0.0: return base

  let dist = hypot(state.enemyX - state.selfX, state.enemyY - state.selfY)
  let h = tmhHorizonFor(dist, bulletSpeed)
  let bucket = tmhHorizonBucket(h)

  # Base bits cached once per tick (Pattern-style per-tick caching).
  if not g.bitsValid or g.cachedBitsTick != state.tick:
    g.cachedBits = g.tmhBaseBits(state)
    g.cachedBitsTick = state.tick
    g.bitsValid = true
  let lits = tmhLits(g.cachedBits, bucket)

  # Evaluate each horizon bucket at most once per tick.
  if not g.bucketEval[bucket].valid:
    let (sideCls, sideConf) = tmhEvalOne(g.sideMachine, lits, g.sideScratch)
    let (magCls, _) = tmhEvalOne(g.magMachine, lits, g.magScratch)
    g.bucketEval[bucket] = TmhEval(valid: true, side: sideCls,
                                   sideConf: sideConf, mag: magCls)
  let ev = g.bucketEval[bucket]

  let warm = g.trained >= TMH_MIN_OBS
  let side = if warm: ev.side else: -1
  let mag = if warm: ev.mag else: -1
  g.lastSidePred = side
  g.lastMagPred = mag

  let baseBearing = arctan2(base.y - state.selfY, base.x - state.selfX)

  # Enqueue one sample per (tick, bucket); predict runs once per power bin.
  if g.lastEnqTick != state.tick or g.lastEnqBucket != bucket:
    g.tmhEnqueue(state, baseBearing, h, bucket, lits, side, mag, warm)
    g.lastEnqTick = state.tick
    g.lastEnqBucket = bucket

  # Small hit-optimal-style correction (NOT the conditional median).
  var shift = 0.0
  if warm and g.shiftDeg != 0.0:
    let magScale = if mag == 1: g.bigMult else: 1.0
    let sgn = if side == 1: 1.0 else: -1.0
    shift = sgn * g.shiftDeg * magScale

  let pred =
    if shift == 0.0: base
    else: tmhApplyShift(state.selfX, state.selfY, base.x, base.y, shift)

  let aimDeg = radToDeg(arctan2(pred.y - state.selfY, pred.x - state.selfX))
  g.tmhLog(state, bulletSpeed, h, side, mag, ev.sideConf, shift, aimDeg)
  pred

proc onResult*(g: var TmHorizonGun, e: FeedbackEvent) =
  ## The label comes from our own observation ring, not from virtual-bullet
  ## feedback, so there is nothing to do here. The hook exists for the rack.
  discard