353 lines
18 KiB
Nim
353 lines
18 KiB
Nim
## Gun selector — picks best gun×power, computes aim angle, gates firing.
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## Fires highest power with acceptable hit rate when the gun is aimed within a
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## range-dependent angular tolerance and gunHeat == 0.
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import std/math
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import std/os
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import std/strutils
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import gun_interface
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import virtual_bullets
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# ── rack membership (TR_RACK_*) ──────────────────────────────────────────────
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#
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# Per-gun rack membership, read ONCE at process start so a single frozen binary
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# can be re-racked without a rebuild — the same runtime pattern as
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# GUN_RACK_DISABLE. A gun's membership admits it into the 1v1 rack, the melee
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# rack, both, or neither:
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#
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# TR_RACK_PATTERN=both (shipped default: the ONLY admitted gun)
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# TR_RACK_HEADON=both -> re-admit HeadOn (used to restore the old rack)
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# TR_RACK_TSETLIN=1v1 -> 1v1 rack only
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# TR_RACK_DISPLACE=melee -> melee rack only
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# TR_RACK_KNN=off -> removed from both racks
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# TR_RACK_TMPATTERN=off (shipped default for the new TM pattern gun)
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#
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# SHIPPED DEFAULT IS `onlyPattern`: Pattern (id 5) is admitted in both racks and
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# every other gun is `off`. This is a deliberate, measured decision, not a
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# pruning heuristic — the virtual-fitness selector was measured to be NEGATIVE
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# value at every rack size tested (full, lean8, lean6, pairPC/PK/PL) and against
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# 10/10 adversaries, while Pattern alone is the best single gun in general. See
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# docs/selector_negative_value.md. The selector MECHANISM is retained in full
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# (chooseFromFit, the floor/band logic, hysteresis, virtual fitness) — the rack
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# merely has one member by default, so re-enabling any gun is a one-line env
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# override with no rebuild:
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#
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# Revert to the old full rack (all guns `both`, TMPATTERN `off`):
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# TR_RACK_PATTERN=both TR_RACK_HEADON=both TR_RACK_LINEAR=both \
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# TR_RACK_TSETLIN=both TR_RACK_CIRCULAR=both TR_RACK_GUESSFACTOR=both \
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# TR_RACK_WALLBOUNCE=both TR_RACK_ACCEL=both TR_RACK_STOPSHOT=both \
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# TR_RACK_DISPLACE=both TR_RACK_AVGLEAD=both TR_RACK_DECAYGF=both \
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# TR_RACK_KNN=both TR_RACK_TMSELECT=both ./ModularBot
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#
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# The mode itself is derived from SERVER truth (`getEnemyCount()`), never from
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# the tracker's known-enemy count, by `rackMode` in virtual_bullets — the same
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# transition the radar uses.
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const
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RackGunNames*: array[17, string] = [
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"HEADON", "LINEAR", "TSETLIN", "CIRCULAR", "GUESSFACTOR", "PATTERN",
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"WALLBOUNCE", "ACCEL", "STOPSHOT", "DISPLACE", "AVGLEAD", "DECAYGF",
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"KNN", "TMSELECT", "TMPATTERN", "TMHORIZON", "BITBRAIN"]
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RackEnvPrefix* = "TR_RACK_"
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## SHIPPED DEFAULT: `onlyPattern`. Pattern (id 5) is admitted in both racks;
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## every other gun is `off`. The selection mechanism is untouched and remains
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## fully functional — only the rack's membership changed. Re-enable any gun
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## with `TR_RACK_<GUN>`, or restore the old full rack with the one-liner in the
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## header comment. TMPATTERN (id 14) stays `off`: registered and forceable but
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## it never spawns a virtual bullet unless explicitly enabled, so the shared
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## VirtualTracker ring head — and every other gun's learning order — is
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## unchanged.
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DefaultRackMembership*: array[17, RackMembership] = [
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rmOff, # 0 HEADON — off (measured: worst over-selected gun)
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rmOff, # 1 LINEAR — off
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rmOff, # 2 TSETLIN — off
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rmOff, # 3 CIRCULAR — off
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rmOff, # 4 GUESSFACTOR — off
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rmBoth, # 5 PATTERN — the only admitted gun (best single gun in general)
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rmOff, # 6 WALLBOUNCE — off
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rmOff, # 7 ACCEL — off
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rmOff, # 8 STOPSHOT — off
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rmOff, # 9 DISPLACE — off
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rmOff, # 10 AVGLEAD — off
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rmOff, # 11 DECAYGF — off
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rmOff, # 12 KNN — off
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rmOff, # 13 TMSELECT — off
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rmOff, # 14 TMPATTERN — off (already shipped off; TM pattern gun)
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rmOff, # 15 TMHORIZON — off (horizon-based TM corrector; expected to lose)
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rmOff] # 16 BITBRAIN — off (fine-grained ADE+SBC corrector)
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## NOTE: the table is registered in the SAME commit as the gun id (16) and the
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## live wiring, so `TR_RACK_BITBRAIN=both` is the ONLY thing that admits it and
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## an unset environment is byte-for-byte the shipped Pattern-only rack.
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proc parseRackMembership*(value: string): RackMembership =
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## Parse a `TR_RACK_<GUN>` value. Empty / unknown values fall back to the
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## shipped `both` and warn on stderr, so a typo cannot silently move a gun and
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## a bad value cannot take the bot down.
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case value.strip().toLowerAscii()
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of "", "both", "any": rmBoth
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of "1v1", "only1v1", "1v1only", "single", "lock": rmOnly1v1
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of "melee", "onlymelee", "multi": rmOnlyMelee
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of "off", "none", "disabled", "disable": rmOff
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else:
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stderr.writeLine("[gun_harness] unknown " & RackEnvPrefix & "<GUN>='" & value &
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"'; falling back to 'both' (valid: both|1v1|melee|off)")
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rmBoth
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proc loadRackMembership*(): array[len(RackGunNames), RackMembership] =
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## Default table plus every `TR_RACK_<GUN>` override. A proc (not inlined into
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## the `let`) so the unit test can exercise env parsing in-process.
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result = DefaultRackMembership
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for i in 0..<len(RackGunNames):
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let key = RackEnvPrefix & RackGunNames[i]
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let v = getEnv(key, "")
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if v.len > 0:
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result[i] = parseRackMembership(v)
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let ActiveRackMembership* = loadRackMembership()
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## Process-wide rack table, frozen at startup.
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proc rackMembershipName*(m: RackMembership): string =
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case m
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of rmBoth: "both"
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of rmOnly1v1: "1v1"
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of rmOnlyMelee: "melee"
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of rmOff: "off"
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proc rackModeName*(m: RackMode): string =
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case m
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of rm1v1: "1v1"
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of rmMelee: "melee"
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proc rackOverrides*(membership: openArray[RackMembership]): string =
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## Compact `GUN:mode,GUN:mode` list of entries that differ from the shipped
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## default table. Empty when the rack is at its default.
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for i in 0..<min(len(RackGunNames), membership.len):
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if membership[i] != rmBoth:
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if result.len > 0: result.add ","
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result.add RackGunNames[i] & ":" & rackMembershipName(membership[i])
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proc rackActive*(membership: openArray[RackMembership], mode: RackMode): string =
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## Comma-separated gun names admitted in `mode` (empty set prints as
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## `FULL` — the graceful-degradation fallback).
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for i in 0..<min(len(RackGunNames), membership.len):
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if membership[i].admits(mode):
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if result.len > 0: result.add ","
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result.add RackGunNames[i]
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if result.len == 0: result = "FULL"
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# ── forced-share allocator (TR_RACK_SHARE) ───────────────────────────────────
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#
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# The shipped selector RANKS guns and lets the ranking (plus hysteresis) decide
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# each gun's share. `GUN_SELECTOR_FLOOR` is a FITNESS floor, so nothing
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# guarantees the second gun ANY share of the shots — the ~66/34 split observed
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# with a 2-gun rack is an OUTCOME, not a policy. `TR_RACK_SHARE` makes the share
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# a POLICY: when set, the live selection is a deterministic deficit-round-robin
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# over the named, ADMITTED guns instead of `chooseFromFit`'s ranking.
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#
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# TR_RACK_SHARE=pattern:50,bitbrain:50
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# TR_RACK_SHARE=pattern:0.7,bitbrain:0.3
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#
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# Values are RELATIVE weights (fractions or percentages — only the ratio
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# matters) and names are case-insensitive `RackGunNames` (the `GunNames` rack
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# order). The schedule holds each allocated gun for the selector dwell window
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# (`GUN_SELECTOR_DWELL`) so the turret converges between switches, exactly like
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# the shipped hysteresis; the share is therefore over dwell EPOCHS, and selected
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# ticks follow the weight ratio (the `gun_stats.jsonl` `selected` counts are the
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# liveness proof). OFF by default: an unset variable leaves the weights empty
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# and `selectGun` takes the unchanged ranking path byte-for-byte.
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const RackShareEnvVar* = "TR_RACK_SHARE"
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type
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RackShare* = object
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active*: bool
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weights*: seq[float] ## indexed by gun id; 0.0 = not in the schedule
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named*: seq[string] ## gun names in declared order (audit only)
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proc parseRackShare*(value: string,
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membership: openArray[RackMembership]): RackShare =
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## Parse `TR_RACK_SHARE`. Empty / malformed input is never fatal: it warns on
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## stderr and returns an INACTIVE share (empty weights), so a typo can only
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## fall back to the shipped selector, never take the bot down. A named gun
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## that the rack removes (`TR_RACK_<GUN>=off`) is a loud ERROR and also leaves
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## the share inactive — a forced share must only allocate among ADMITTED guns.
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let v = value.strip()
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if v.len == 0: return
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var weights = newSeq[float](len(RackGunNames))
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var named: seq[string]
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var total = 0.0
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for part in v.split(','):
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let p = part.strip()
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if p.len == 0: continue
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let ci = p.find(':')
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if ci <= 0 or ci == p.high:
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stderr.writeLine("[gun_harness] ERROR: bad " & RackShareEnvVar &
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" entry '" & p & "' (want GUN:weight); share disabled")
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return
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let gname = p[0..<ci].strip()
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var wstr = p[ci+1..^1].strip()
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if wstr.endsWith("%"): wstr = wstr[0..^2].strip()
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var w: float
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try: w = parseFloat(wstr)
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except ValueError:
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stderr.writeLine("[gun_harness] ERROR: bad " & RackShareEnvVar &
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" weight '" & wstr & "' for '" & gname &
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"'; share disabled")
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return
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if w < 0.0 or w != w:
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stderr.writeLine("[gun_harness] ERROR: " & RackShareEnvVar &
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" weight for '" & gname & "' must be >= 0; share disabled")
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return
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var gid = -1
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for i in 0..<len(RackGunNames):
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if RackGunNames[i].toLowerAscii() == gname.toLowerAscii():
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gid = i
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break
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if gid < 0:
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stderr.writeLine("[gun_harness] ERROR: unknown gun '" & gname & "' in " &
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RackShareEnvVar & " (valid: " &
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RackGunNames.join("|") & "); share disabled")
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return
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if gid < membership.len and membership[gid] == rmOff:
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stderr.writeLine("[gun_harness] ERROR: " & RackShareEnvVar & " names '" &
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RackGunNames[gid] & "' but TR_RACK_" & RackGunNames[gid] &
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"=off — a forced share allocates only among ADMITTED " &
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"guns; share disabled")
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return
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weights[gid] += w
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named.add RackGunNames[gid]
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total += w
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if total <= 0.0:
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stderr.writeLine("[gun_harness] ERROR: " & RackShareEnvVar &
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" weights sum to <= 0; share disabled")
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return
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for i in 0..<weights.len: weights[i] /= total
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result = RackShare(active: true, weights: weights, named: named)
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var parts: seq[string]
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for i in 0..<weights.len:
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if weights[i] > 0.0: parts.add RackGunNames[i] & "=" & $weights[i]
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stderr.writeLine("[gun_harness] " & RackShareEnvVar & " active: " &
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parts.join(" ") & " (deficit round-robin over dwell epochs)")
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let ActiveRackShare* = parseRackShare(getEnv(RackShareEnvVar, ""),
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ActiveRackMembership)
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## Process-wide forced-share schedule, frozen at startup. Empty weights when
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## `TR_RACK_SHARE` is unset or malformed.
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const
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## ── Range-aware firing gate ────────────────────────────────────────────────
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## A real shot departs with whatever misalignment the gun had at fire time,
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## while a virtual bullet is spawned exactly on the prediction and carries zero
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## aim error. At distance `d` the target subtends an angular half-width of
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## `atan(BotRadius / d)`, so a fixed degree threshold is simultaneously too
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## loose at long range (throws away shots that cannot hit) and too tight up
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## close (holds fire when the bot is already inside the hit cone).
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##
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## We therefore derive the tolerance from the target's angular radius:
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##
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## tolDeg = radToDeg(arctan(BotRadius * SafetyFactor / distPx))
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##
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## clamped to [MinAimThresholdDeg, MaxAimThresholdDeg].
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##
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## SafetyFactor shrinks/expands the accepted cone: 1.0 == the full geometric
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## half-width, < 1.0 is stricter. Fitted empirically from real-shot data
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## (Task A, 2611 real shots behind a wide-open 20 deg measurement gate).
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## The geometric model is only weakly identified: prediction error dominates
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## the hit rate, and the measured 50%-hit knee is noisy (0.9-1.4x the
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## geometric cone at 200-800 px; the 400-600 px bucket is ill-defined because
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## its baseline hit rate is already ~50%). Simulating the gate directly on the
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## measurement data showed 0.6 Pareto-dominates the old fixed 2.0 deg gate
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## (61.4% vs 60.2% hit rate with MORE shots), and the live sweep confirms the
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## observed preference for tighter gates. 0.6 is the shipped compromise:
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## tighter than the raw geometry while still loosening close range.
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SafetyFactor* = 0.6
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## Floor: keeps the tolerance strictly positive so a perfectly aligned gun can
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## always fire at any range, and guards the gate against collapsing to 0
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## (a never-fire deadlock) at extreme distances.
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MinAimThresholdDeg* = 0.05
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## Ceiling: at point-blank range the geometric cone grows without bound; a
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## >10 deg misalignment is a coin toss even at ~100 px, so cap it here.
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MaxAimThresholdDeg* = 10.0
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proc aimToleranceDeg*(distPx: float): float =
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## Angular half-width (deg) the gun may be off by and still plausibly hit a
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## target `distPx` px away, scaled by SafetyFactor and clamped.
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##
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## Degenerate distances (0 or unavailable) fall back to the ceiling rather than
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## dividing by zero; NaN is treated the same way (the `not (distPx > 0.0)`
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## test is false for NaN). +Inf falls through to arctan(0) == 0 and then the
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## floor, which is correct: an infinitely distant target is a point.
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if not (distPx > 0.0): return MaxAimThresholdDeg
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result = radToDeg(arctan(BotRadius * SafetyFactor / distPx))
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if result < MinAimThresholdDeg: result = MinAimThresholdDeg
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elif result > MaxAimThresholdDeg: result = MaxAimThresholdDeg
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proc aimAngle*(selfX, selfY, targetX, targetY: float): float =
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## Absolute bearing in degrees (0=East, CCW+) toward (targetX, targetY).
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result = radToDeg(arctan2(targetY - selfY, targetX - selfX))
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proc shouldFire*(currentGunDir, targetAngle, gunHeat, distPx: float): bool =
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## Returns true when the gun is within the range-aware angular tolerance and
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## cool enough to fire. `distPx` is the distance (px) to the aim point.
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var delta = (targetAngle - currentGunDir) mod 360.0
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if delta > 180.0: delta -= 360.0
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elif delta < -180.0: delta += 360.0
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abs(delta) <= aimToleranceDeg(distPx) and gunHeat <= 0.0
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proc selectShotPolicy*(t: var VirtualTracker, targetId = -1, tick = 0,
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dist = 0.0, selfEnergy = 100.0,
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enemyEnergy = 100.0,
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ramming = false,
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rackMode: RackMode = rm1v1,
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membership: openArray[RackMembership] = [],
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share: seq[float] = ActiveRackShare.weights
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): (GunId, int, float, PowerCap) =
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## `selectShot` plus the energy-aware power-policy decision, so a caller can
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## log the cap and its reason (see `applyPowerPolicy` in virtual_bullets).
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##
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## `dist` is the current distance (px) to the target, `selfEnergy` our own
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## energy and `enemyEnergy` the target's remaining energy (drives the
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## finishing cap); `ramming` exempts the caps (the movement code's `shouldRam`
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## is the single source of truth). The policy is applied identically wherever
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## this is called, so live and any offline caller cannot diverge.
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##
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## `rackMode` is the server-truth enemy-count mode (`rackMode`); `membership`
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## is the process-wide `TR_RACK_*` table, passed by the live bot. An empty
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## membership admits every gun (the pre-change behaviour).
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let gunId = t.selectGun(targetId, tick,
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rackMode = rackMode, membership = membership,
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share = share)
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let (prefBin, preferred) = t.bestPower(gunId, targetId)
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# pEst / pRef mirror `bestPower`'s own fitness source (per-target when data
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# exists, else the deterministic aggregate). An empty bin carries no rate of
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# its own, so it borrows the gun's aggregate — the same "no data" case the
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# policy documents.
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let fit = t.fitnessFor(targetId)
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let pRef = if PowerRefFixed > 0.0: PowerRefFixed
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else: gunRate(fit[gunId], pooled = true)
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let pEst =
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if fit[gunId].bins[prefBin].count == 0: pRef
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else: fit[gunId].bins[prefBin].hitRate()
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let dec = applyPowerPolicy(preferred, dist, selfEnergy, pEst, pRef, ramming,
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enemyEnergy = enemyEnergy)
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result = (gunId, binIndexForPower(dec.power), dec.power, dec)
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proc selectShot*(t: var VirtualTracker, targetId = -1, tick = 0,
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dist = 0.0, selfEnergy = 100.0,
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enemyEnergy = 100.0,
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ramming = false,
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rackMode: RackMode = rm1v1,
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membership: openArray[RackMembership] = []): (GunId, int, float) =
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## Returns (gunId, powerBinIdx, power) — the shot to take this tick.
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## Pass targetId to pick the best gun for that specific enemy. `tick` drives
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## the minimum-dwell hysteresis (see `selectGun`). `dist`/`selfEnergy`/
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## `enemyEnergy`/`ramming` feed the energy-aware power cap (`TR_POWER_POLICY`);
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## defaults keep every existing caller compiling, and `TR_POWER_POLICY=0`
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## reproduces the uncapped `bestPower` preference. Use `selectShotPolicy` when
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## the cap/reason is needed.
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let (gunId, binIdx, power, _) =
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t.selectShotPolicy(targetId, tick, dist, selfEnergy,
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enemyEnergy = enemyEnergy, ramming = ramming,
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rackMode = rackMode, membership = membership)
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result = (gunId, binIdx, power)
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