372 lines
17 KiB
Nim
372 lines
17 KiB
Nim
## PPO_Bot — enemy tracker + state vector wired into the game loop.
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## Training: trajectory collected per tick, PPO update in background thread.
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import std/[os, strformat, strutils, math, times, algorithm]
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import arraymancer
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import tankroyale_botapi
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import network
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import actions
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import training
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import weights
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import ./enemy_tracker
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import ./state_vector
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# ── Hyperparameters from env vars (PPOB_ prefix) ─────────────────────────────
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# All optional; defaults match ppoUpdate signature in training.nim.
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proc getEnvFloat(name: string, default: float32): float32 =
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let v = getEnv(name)
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if v.len == 0: default else: parseFloat(v).float32
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proc getEnvInt(name: string, default: int): int =
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let v = getEnv(name)
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if v.len == 0: default else: parseInt(v)
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var
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hpLr: float32 = getEnvFloat("PPOB_LR", 3e-4'f32)
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hpClipEpsilon: float32 = getEnvFloat("PPOB_CLIP_EPSILON", 0.2'f32)
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hpEntropyCoeff: float32 = getEnvFloat("PPOB_ENTROPY_COEFF", 0.01'f32)
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hpValueLossCoeff: float32 = getEnvFloat("PPOB_VALUE_LOSS_COEFF", 0.5'f32)
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hpMaxGradNorm: float32 = getEnvFloat("PPOB_MAX_GRAD_NORM", 0.5'f32)
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hpGamma: float32 = getEnvFloat("PPOB_GAMMA", 0.99'f32)
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hpLam: float32 = getEnvFloat("PPOB_LAM", 0.95'f32)
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hpEpochs: int = getEnvInt("PPOB_EPOCHS", 4)
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hpMiniBatchSize: int = getEnvInt("PPOB_MINI_BATCH_SIZE", 64)
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hpUpdateInterval: int = getEnvInt("PPOB_UPDATE_INTERVAL", 10)
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# Wire logStd tunable params into network module vars (read before initActorCritic)
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logStdFloor = getEnvFloat("PPOB_LOG_STD_FLOOR", -3.0'f32)
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logStdCeiling = getEnvFloat("PPOB_LOG_STD_CEILING", 0.5'f32)
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initialLogStd = getEnvFloat("PPOB_INITIAL_LOG_STD", 0.0'f32)
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# ── Structured log output ─────────────────────────────────────────────────────
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let logFile = getEnv("PPOB_LOG_FILE") # empty → no JSON logging
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let evalOnly = getEnv("PPOB_EVAL_ONLY") == "1" # freeze training (pure evaluation)
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proc appendJsonLine(path, line: string) =
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## Append a JSON line to path; no-op if path is empty.
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if path.len == 0: return
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let f = open(path, fmAppend)
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f.writeLine(line)
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f.close()
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proc jsonFloat(v: float32): string =
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## Serialize a float for JSON; non-finite → null (keeps JSONL parseable).
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if v == v and v > -1e30'f32 and v < 1e30'f32: $v else: "null"
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proc hyperparmSnapshot(): string =
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## Compact JSON object of current hyperparams (no outer braces).
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&"\"lr\":{hpLr},\"clipEpsilon\":{hpClipEpsilon}," &
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&"\"entropyCoeff\":{hpEntropyCoeff},\"valueLossCoeff\":{hpValueLossCoeff}," &
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&"\"maxGradNorm\":{hpMaxGradNorm},\"gamma\":{hpGamma},\"lam\":{hpLam}," &
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&"\"epochs\":{hpEpochs},\"miniBatchSize\":{hpMiniBatchSize}," &
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&"\"logStdFloor\":{logStdFloor},\"logStdCeiling\":{logStdCeiling},\"initialLogStd\":{initialLogStd}"
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const botJsonPath = currentSourcePath().parentDir / "PPO_Bot.json"
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const weightsRoot = currentSourcePath().parentDir / "weights"
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type
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InFlightBullet = object
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x, y: float64 # current position
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vx, vy: float64 # velocity (pixels/tick)
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power: float64
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type PPOBot = ref object of Bot
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tracker: EnemyTracker
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buffer: TrajectoryBuffer
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prevEnergy: float32 # own energy last tick
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prevEnemyE: float32 # enemy energy last tick (from tracker)
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lastState: array[STATE_DIM, float32] # plain arrays — tensors NEVER cross threads
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lastAction: array[ACTION_DIM, float32]
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lastLogP: float32
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lastValue: float32
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hasLastTrans: bool
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lastActions: BotActions # previous tick's decoded actions (for state vector)
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roundRewardSum: float32 # cumulative reward this round (for live display)
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roundTicks: int # ticks this round
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# Fixed-size bullet buffer — NO heap on the shared bot object. A seq here is
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# allocated by the per-round bot thread and freed by the next round's thread
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# (bot.bullets = @[] on round start) → foreign-heap free under --threads:on +
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# ORC → SIGSEGV. N=4: the state vector only consumes the closest 3 slots.
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bullets: array[4, InFlightBullet]
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bulletCount: int
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var ac = initActorCritic()
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var gAdamStates: ACAdamStates # persists across rounds
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var roundCounter = 0
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var roundsSinceUpdate = 0
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# ── Bot methods ───────────────────────────────────────────────────────────────
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method onScannedBot*(bot: PPOBot, e: ScannedBotEvent) =
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bot.tracker.update(e.x, e.y, e.direction, e.speed, e.energy)
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method onRoundStarted*(bot: PPOBot, e: RoundStartedEvent) =
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setAdjustGunForBodyTurn(true)
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setAdjustRadarForBodyTurn(true)
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setAdjustRadarForGunTurn(true)
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bot.tracker = initEnemyTracker()
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# Do NOT clear bot.buffer here — transitions accumulate across rounds
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# until hpUpdateInterval rounds have passed (cleared in onRoundEnded).
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bot.prevEnergy = 0.0'f32
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bot.prevEnemyE = 0.0'f32
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bot.hasLastTrans = false
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bot.roundRewardSum = 0.0'f32
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bot.roundTicks = 0
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bot.bulletCount = 0
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method onRoundEnded*(bot: PPOBot, e: RoundEndedEventForBot) =
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inc roundCounter
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inc roundsSinceUpdate
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debugLog("[PO-ENTER] round=" & $roundCounter & " tid=" & $getThreadId())
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# Add round-end score bonus to last transition and mark it as episode boundary
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let roundReward = computeRoundReward(e.results.totalScore.float32)
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if bot.hasLastTrans and bot.buffer.len > 0:
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let lastIdx = bot.buffer.len - 1
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bot.buffer.transitions[lastIdx].reward += roundReward
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bot.buffer.transitions[lastIdx].done = true
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# Training progress display — one line per round in the UI console
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let ticks = bot.buffer.len
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var avgR = 0.0'f32
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if ticks > 0:
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var rewardSum = 0.0'f32
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for i in 0 ..< bot.buffer.len: rewardSum += bot.buffer.transitions[i].reward
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avgR = rewardSum / ticks.float32
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let avgRStr = formatFloat(avgR.float, ffDecimal, 3)
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printToStdOut(&"R:{roundCounter} ticks:{ticks} buf:{bot.buffer.len} sinceUpd:{roundsSinceUpdate}/{hpUpdateInterval} avgR:{avgRStr} score:{e.results.totalScore}\n")
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echo &"R:{roundCounter} ticks:{ticks} buf:{bot.buffer.len} sinceUpd:{roundsSinceUpdate}/{hpUpdateInterval} avgR:{avgRStr} score:{e.results.totalScore}"
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writeFile(weightsRoot / "round_counter.txt", $roundCounter)
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if bot.buffer.len == 0:
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bot.hasLastTrans = false
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return
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# Emit per-round game-stats JSON line
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let ts = int(epochTime())
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let jline = &"""{{"type":"round","round":{roundCounter},"ticks":{ticks},"bufLen":{bot.buffer.len},"avgReward":{avgR},"score":{e.results.totalScore},"ts":{ts}}}"""
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appendJsonLine(logFile, jline)
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# PPOB_EVAL_ONLY=1 → freeze training (pure evaluation): skip ppoUpdate and
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# checkpoint save, but keep advancing/writing round_counter.txt so run.sh's
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# remaining-rounds bookkeeping still works, and keep the game line above.
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if evalOnly:
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bot.buffer.clear()
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bot.hasLastTrans = false
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roundsSinceUpdate = 0
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return
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# Always save weights every round so round_counter.txt stays current.
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saveCheckpoint(ac, gAdamStates, weightsRoot, roundCounter)
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# Only update policy every hpUpdateInterval rounds (~3000 transitions).
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if roundsSinceUpdate >= hpUpdateInterval:
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# ponytail: synchronous update. Arraymancer tensors can't cross threads under
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# ORC — training-thread ppoUpdate frees/rebinds tensors owned by the bot
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# thread's heap (SIGSEGV, reproduced with a lone trainer thread on a fixed
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# buffer; save/channel/forward exonerated). The bot API runs events on one
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# bot thread, so inline is single-threaded. Revert to a background thread
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# only if tensors are rebuilt from plain data on that thread.
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printToStdOut(&" train→ R:{roundCounter} bufLen:{bot.buffer.len}\n")
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echo &" train→ R:{roundCounter} bufLen:{bot.buffer.len}"
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let m = ppoUpdate(ac, bot.buffer,
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lastValue = 0.0'f32,
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adamStates = gAdamStates,
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epochs = hpEpochs,
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miniBatchSize = hpMiniBatchSize,
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clipEpsilon = hpClipEpsilon,
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entropyCoeff = hpEntropyCoeff,
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valueLossCoeff = hpValueLossCoeff,
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lr = hpLr,
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maxGradNorm = hpMaxGradNorm,
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gamma = hpGamma,
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lam = hpLam)
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printToStdOut(&" trained R:{roundCounter} aLoss:{formatFloat(m.actorLoss.float, ffDecimal, 4)} vLoss:{formatFloat(m.valueLoss.float, ffDecimal, 4)} gNorm:{formatFloat(m.gradNorm.float, ffDecimal, 3)}\n")
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echo &" trained R:{roundCounter} aLoss:{formatFloat(m.actorLoss.float, ffDecimal, 4)} vLoss:{formatFloat(m.valueLoss.float, ffDecimal, 4)} gNorm:{formatFloat(m.gradNorm.float, ffDecimal, 3)}"
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# Emit training-health JSON line
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let hp = hyperparmSnapshot()
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let ts2 = int(epochTime())
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let jline2 = &"""{{"type":"train","round":{roundCounter},"actorLoss":{jsonFloat(m.actorLoss)},"valueLoss":{jsonFloat(m.valueLoss)},"gradNorm":{jsonFloat(m.gradNorm)},"ts":{ts2},{hp}}}"""
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appendJsonLine(logFile, jline2)
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bot.buffer.clear()
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roundsSinceUpdate = 0
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bot.hasLastTrans = false
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debugLog("[PO-EXIT] round=" & $roundCounter & " tid=" & $getThreadId())
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method run(bot: PPOBot) =
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debugLog("[RUN-ENTER] tid=" & $getThreadId())
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# Seed energy and goto/aimTo targets on first tick (remainingDistance = 0 initially)
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bot.prevEnergy = getEnergy().float32
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bot.prevEnemyE = if bot.tracker.hasContact: bot.tracker.current.energy.float32 else: 0.0'f32
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bot.lastActions.gotoX = getX()
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bot.lastActions.gotoY = getY()
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bot.lastActions.aimToX = getX()
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bot.lastActions.aimToY = getY()
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while isRunning():
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bot.tracker.deadReckon()
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# Spawn bullet when enemy fired last scan tick. Edge-triggered: the flag is
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# consumed later (after the state build) so a radar gap (deadReckon ticks)
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# can't spawn k phantom bullets from one shot — exactly one bullet, and
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# state index 12 still pulses 1 on the detection tick.
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if bot.tracker.hasContact and bot.tracker.current.hasFired:
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if bot.bulletCount < 4:
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let power = bot.tracker.current.lastFirePower
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let speed = 20.0 - 3.0 * power
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# Approximate gun direction: bearing from enemy toward our position
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let myX = getX(); let myY = getY()
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let ang = arctan2(myY - bot.tracker.current.y, myX - bot.tracker.current.x)
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bot.bullets[bot.bulletCount] = InFlightBullet(
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x: bot.tracker.current.x,
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y: bot.tracker.current.y,
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vx: speed * cos(ang),
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vy: speed * sin(ang),
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power: power,
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)
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inc bot.bulletCount
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# Advance in-flight bullets and prune those off-arena (in-place compaction
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# into the fixed buffer — no per-tick heap churn).
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let aW = float64(getArenaWidth()); let aH = float64(getArenaHeight())
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var n = 0
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for i in 0 ..< bot.bulletCount:
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let b = bot.bullets[i]
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let nx = b.x + b.vx; let ny = b.y + b.vy
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if nx >= 0.0 and nx <= aW and ny >= 0.0 and ny <= aH:
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bot.bullets[n] = InFlightBullet(x: nx, y: ny, vx: b.vx, vy: b.vy, power: b.power)
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inc n
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bot.bulletCount = n
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# Convert to BulletData for state vector (closest 3 by distance to us)
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let myX2 = getX(); let myY2 = getY()
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var bulletData: array[4, BulletData]
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var bulletDataCount = 0
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for i in 0 ..< bot.bulletCount:
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let b = bot.bullets[i]
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bulletData[bulletDataCount] = BulletData(x: b.x, y: b.y, power: b.power)
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inc bulletDataCount
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# sort ascending by distance so the nearest threats fill slots 0-2
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if bulletDataCount > 1:
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bulletData.toOpenArray(0, bulletDataCount - 1).sort(proc(a, b: BulletData): int =
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let da = hypot(a.x - myX2, a.y - myY2)
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let db = hypot(b.x - myX2, b.y - myY2)
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cmp(da, db))
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setRadarTurnRate(bot.tracker.getRadarTurnRate(getX(), getY(), getDirection(), getRadarDirection()))
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let botData = BotStateData(
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x: getX(),
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y: getY(),
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direction: getDirection(),
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speed: getSpeed(),
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energy: getEnergy(),
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gunDirection: getGunDirection(),
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gunHeat: getGunHeat(),
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arenaWidth: float64(getArenaWidth()),
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arenaHeight: float64(getArenaHeight()),
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)
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let remainingGotoDistance = hypot(bot.lastActions.gotoX - botData.x,
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bot.lastActions.gotoY - botData.y)
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let remainingGunAngle = abs(normalizeRelativeAngle(
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directionTo(botData.x, botData.y, bot.lastActions.aimToX, bot.lastActions.aimToY) -
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botData.gunDirection))
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let state = buildStateVector(botData, bot.tracker, remainingGotoDistance, remainingGunAngle, bulletData, bulletDataCount)
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# Consume the fired flag AFTER the state build: state index 12 saw the
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# detection-tick pulse, and the next iteration's spawn check sees false —
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# one shot → exactly one bullet, even across deadReckon gaps.
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bot.tracker.current.hasFired = false
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let (rawActs, logP) = ac.actorForward(state, deterministic = evalOnly)
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let value = ac.criticForward(state)
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let ex = if bot.tracker.hasContact: bot.tracker.current.x else: botData.arenaWidth / 2.0
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let ey = if bot.tracker.hasContact: bot.tracker.current.y else: botData.arenaHeight / 2.0
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let acts = mapActions(rawActs,
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getGunHeat().float,
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botData.arenaWidth, botData.arenaHeight,
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botData.x, botData.y,
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botData.direction, botData.speed, botData.gunDirection,
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ex, ey)
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# Compute tick reward from energy deltas + dense shaping
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let curEnergy = getEnergy().float32
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let curEnemyE = if bot.tracker.hasContact: bot.tracker.current.energy.float32 else: bot.prevEnemyE
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let myDelta = curEnergy - bot.prevEnergy
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let enemyDelta = curEnemyE - bot.prevEnemyE
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let arenaDiag = float32(sqrt(botData.arenaWidth * botData.arenaWidth +
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botData.arenaHeight * botData.arenaHeight))
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let distEnemy = if bot.tracker.hasContact:
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float32(hypot(bot.tracker.current.x - botData.x,
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bot.tracker.current.y - botData.y))
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else: arenaDiag
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let gunToEnemy = if bot.tracker.hasContact:
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abs(normalizeRelativeAngle(
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arctan2(bot.tracker.current.y - botData.y,
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bot.tracker.current.x - botData.x) * 180.0 / PI -
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botData.gunDirection)).float32
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else: 180.0'f32
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let tickReward = computeTickReward(myDelta, enemyDelta,
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distToEnemy = distEnemy,
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maxDist = arenaDiag,
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gunBearingAbs = gunToEnemy)
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# Track running reward for in-game display
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bot.roundRewardSum += tickReward
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inc bot.roundTicks
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# Finalise previous transition with the reward from this tick's state change
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if bot.hasLastTrans:
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let tr = Transition(
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state: bot.lastState,
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action: bot.lastAction,
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logProb: bot.lastLogP,
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reward: tickReward,
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value: bot.lastValue,
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done: false, # episode boundary set in onRoundEnded
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)
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bot.buffer.add(tr)
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# Store current for next tick — plain arrays only. `state`/`rawActs` tensors
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# live and die on this thread; a NEW bot thread runs each round, so storing
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# tensors in the shared bot object would free round-N's heap memory from
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# round N+1's thread (SIGSEGV; confirmed empirically).
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bot.lastState = stateToArr(state)
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bot.lastAction = actionToArr(rawActs)
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bot.lastLogP = logP
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bot.lastValue = value
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bot.prevEnergy = curEnergy
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bot.prevEnemyE = curEnemyE
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bot.hasLastTrans = true
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bot.lastActions = acts
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setTargetSpeed(acts.targetSpeed.float)
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setTurnRate(acts.turnRate.float)
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setGunTurnRate(acts.gunTurnRate.float)
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if acts.shouldFire:
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discard setFire(acts.firePower.float)
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# In-game training progress overlay
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let avgR = if bot.roundTicks > 0: bot.roundRewardSum / bot.roundTicks.float32
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else: 0.0'f32
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let avgRStr = formatFloat(avgR.float, ffDecimal, 2)
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drawText(&"R:{roundCounter} avg:{avgRStr}", getX(), getY() - 40.0)
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go()
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when isMainModule:
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createDir(weightsRoot)
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cleanStaleTempDirs(weightsRoot)
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let loadResult = loadBestAvailable(ac, gAdamStates, weightsRoot)
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if loadResult.loaded:
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roundCounter = loadResult.roundNum
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var bot = PPOBot(
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tracker: initEnemyTracker(),
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buffer: initTrajectoryBuffer(),
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)
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start(bot, botJsonPath)
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