From b2c1b220ace33909f60b78dcb72cbea38f8573dd Mon Sep 17 00:00:00 2001
From: "Zed A. Shaw" <zed.shaw@gmail.com>
Date: Tue, 11 Mar 2025 00:32:11 -0400
Subject: [PATCH] ai.cpp now has a nice easy to use API for loading and running
the GOAP things.
---
ai.cpp | 158 +++++++++++++++++++++++++++++------
ai.hpp | 22 ++++-
assets/ai.json | 85 +++++++++++++++++++
tests/ai.cpp | 220 +++++++++++++++++++++++++++++++++++++++++++++++++
4 files changed, 458 insertions(+), 27 deletions(-)
create mode 100644 assets/ai.json
create mode 100644 tests/ai.cpp
diff --git a/ai.cpp b/ai.cpp
index aaee0d7..14ad7f0 100644
--- a/ai.cpp
+++ b/ai.cpp
@@ -3,6 +3,7 @@
namespace ai {
using namespace nlohmann;
+ using namespace dbc;
bool is_subset(State& source, State& target) {
State result = source & target;
@@ -29,31 +30,6 @@ namespace ai {
}
}
- void Action::load(nlohmann::json& profile, nlohmann::json& config) {
- dbc::check(config.contains("needs"),
- fmt::format("Action.load({}): no 'needs' field", $name));
- dbc::check(config.contains("effects"),
- fmt::format("Action.load({}): no 'effects' field", $name));
-
- for(auto& [name_key, value] : profile.items()) {
- dbc::check(value < STATE_MAX, fmt::format("Action.load({}): profile field {} has value {} greater than STATE_MAX {}", $name, (std::string)name_key, (int)value, STATE_MAX));
- }
-
- for(auto& [name_key, value] : config["needs"].items()) {
- dbc::check(profile.contains(name_key), fmt::format("Action.load({}): profile does not have name {}", $name, name_key));
- int name = profile[name_key].template get<int>();
-
- needs(name, bool(value));
- }
-
- for(auto& [name_key, value] : config["effects"].items()) {
- dbc::check(profile.contains(name_key), fmt::format("Action.load({}): profile does not have name {}", $name, name_key));
-
- int name = profile[name_key].template get<int>();
-
- effect(name, bool(value));
- }
- }
bool Action::can_effect(State& state) {
return ((state & $positive_preconds) == $positive_preconds) &&
@@ -92,7 +68,7 @@ namespace ai {
}
ActionState find_lowest(std::unordered_map<ActionState, int>& open_set) {
- dbc::check(!open_set.empty(), "open set can't be empty in find_lowest");
+ check(!open_set.empty(), "open set can't be empty in find_lowest");
const ActionState *result = nullptr;
int lowest_score = SCORE_MAX;
@@ -148,4 +124,134 @@ namespace ai {
return std::nullopt;
}
+
+ static AIManager AIMGR;
+ static bool initialized = false;
+
+ inline void validate_profile(nlohmann::json& profile) {
+ for(auto& [name_key, value] : profile.items()) {
+ check(value < STATE_MAX,
+ fmt::format("profile field {} has value {} greater than STATE_MAX {}", (std::string)name_key, (int)value, STATE_MAX));
+ }
+ }
+
+ Action config_action(nlohmann::json& profile, nlohmann::json& config) {
+ check(config.contains("name"), "config_action: action config missing name");
+ check(config.contains("cost"), "config_action: action config missing cost");
+
+ validate_profile(profile);
+
+ Action result(config["name"], config["cost"]);
+
+ check(config.contains("needs"),
+ fmt::format("config_action: no 'needs' field", result.$name));
+ check(config.contains("effects"),
+ fmt::format("config_action: no 'effects' field", result.$name));
+
+ for(auto& [name_key, value] : config["needs"].items()) {
+ check(profile.contains(name_key), fmt::format("config_action: profile does not have name {}", result.$name, name_key));
+ int name = profile[name_key].template get<int>();
+
+ result.needs(name, bool(value));
+ }
+
+ for(auto& [name_key, value] : config["effects"].items()) {
+ check(profile.contains(name_key), fmt::format("config_action: profile does not have name {}", result.$name, name_key));
+
+ int name = profile[name_key].template get<int>();
+
+ result.effect(name, bool(value));
+ }
+
+ return result;
+ }
+
+ State config_state(nlohmann::json& profile, nlohmann::json& config) {
+ State result;
+ validate_profile(profile);
+
+ for(auto& [name_key, value] : config.items()) {
+ check(profile.contains(name_key), fmt::format("config_state: profile does not have name {}", name_key));
+
+ int name = profile[name_key].template get<int>();
+ result[name] = bool(value);
+ }
+
+ return result;
+ }
+
+ void init() {
+ initialized = true;
+ Config config("assets/ai.json");
+
+ // profile specifies what keys (bitset indexes) are allowed
+ // and how they map to the bitset of State
+ AIMGR.profile = config["profile"];
+ validate_profile(AIMGR.profile);
+
+ // load all actions
+ auto& actions = config["actions"];
+ for(auto& action_vars : actions) {
+ auto the_action = config_action(AIMGR.profile, action_vars);
+ AIMGR.actions.insert_or_assign(the_action.$name, the_action);
+ }
+
+ // load all states
+ auto& states = config["states"];
+ for(auto& [name, state_vars] : states.items()) {
+ auto the_state = config_state(AIMGR.profile, state_vars);
+ AIMGR.states.insert_or_assign(name, the_state);
+ }
+
+ auto& scripts = config["scripts"];
+ for(auto& [script_name, action_names] : scripts.items()) {
+ std::vector<Action> the_script;
+ for(auto name : action_names) {
+
+ check(AIMGR.actions.contains(name),
+ fmt::format("ai::init(): script {} uses action {} that doesn't exist",
+ (std::string)script_name, (std::string)name));
+
+ the_script.push_back(AIMGR.actions.at(name));
+ }
+
+ AIMGR.scripts.insert_or_assign(script_name, the_script);
+ }
+ }
+
+ State load_state(std::string state_name) {
+ check(initialized, "you forgot to initialize the AI first.");
+ check(AIMGR.states.contains(state_name), fmt::format(
+ "ai::load_state({}): state does not exist in config",
+ state_name));
+
+ return AIMGR.states.at(state_name);
+ }
+
+ Action load_action(std::string action_name) {
+ check(initialized, "you forgot to initialize the AI first.");
+ check(AIMGR.states.contains(action_name), fmt::format(
+ "ai::load_action({}): action does not exist in config",
+ action_name));
+ return AIMGR.actions.at(action_name);
+ }
+
+ std::vector<Action> load_script(std::string script_name) {
+ check(AIMGR.scripts.contains(script_name), fmt::format(
+ "ai::load_script(): no script named {} configured", script_name));
+ return AIMGR.scripts.at(script_name);
+ }
+
+ std::optional<Script> plan(std::string script_name, State start, State goal) {
+ check(initialized, "you forgot to initialize the AI first.");
+ auto script = load_script(script_name);
+ return plan_actions(script, start, goal);
+ }
+
+ int state_id(std::string name) {
+ check(AIMGR.profile.contains(name), fmt::format(
+ "ai::state_id({}): id is not configured in profile",
+ name));
+ return AIMGR.profile.at(name);
+ }
}
diff --git a/ai.hpp b/ai.hpp
index fc30eb9..03b6282 100644
--- a/ai.hpp
+++ b/ai.hpp
@@ -5,6 +5,7 @@
#include <limits>
#include <optional>
#include <nlohmann/json.hpp>
+#include "config.hpp"
namespace ai {
constexpr const int SCORE_MAX = std::numeric_limits<int>::max();
@@ -30,7 +31,6 @@ namespace ai {
void needs(int name, bool val);
void effect(int name, bool val);
- void load(nlohmann::json &profile, nlohmann::json& config);
bool can_effect(State& state);
State apply_effect(State& state);
@@ -61,6 +61,26 @@ namespace ai {
int distance_to_goal(State& from, State& to);
std::optional<Script> plan_actions(std::vector<Action>& actions, State& start, State& goal);
+
+ struct AIManager {
+ nlohmann::json profile;
+
+ std::unordered_map<std::string, Action> actions;
+ std::unordered_map<std::string, State> states;
+ std::unordered_map<std::string, std::vector<Action>> scripts;
+ };
+
+ void init();
+
+ Action config_action(nlohmann::json& profile, nlohmann::json& config);
+ State config_state(nlohmann::json& profile, nlohmann::json& config);
+
+ int state_id(std::string name);
+ State load_state(std::string state_name);
+ Action load_action(std::string action_name);
+ std::vector<Action> load_script(std::string script_name);
+
+ std::optional<Script> plan(std::string script_name, State start, State goal);
}
template<> struct std::hash<ai::Action> {
diff --git a/assets/ai.json b/assets/ai.json
new file mode 100644
index 0000000..6dbb6df
--- /dev/null
+++ b/assets/ai.json
@@ -0,0 +1,85 @@
+{
+ "profile": {
+ "target_acquired": 0,
+ "target_lost": 1,
+ "target_in_warhead_range": 2,
+ "target_dead": 3
+ },
+ "actions": [
+ {
+ "name": "searchSpiral",
+ "cost": 10,
+ "needs": {
+ "target_acquired": false,
+ "target_lost": true
+ },
+ "effects": {
+ "target_acquired": true
+ }
+ },
+ {
+ "name": "searchSerpentine",
+ "cost": 5,
+ "needs": {
+ "target_acquired": false,
+ "target_lost": false
+ },
+ "effects": {
+ "target_acquired": true
+ }
+ },
+ {
+ "name": "searchSpiral",
+ "cost": 5,
+ "needs": {
+ "target_acquired": false,
+ "target_lost": true
+ },
+ "effects": {
+ "target_acquired": true
+ }
+ },
+ {
+ "name": "interceptTarget",
+ "cost": 5,
+ "needs": {
+ "target_acquired": true,
+ "target_dead": false
+ },
+ "effects": {
+ "target_in_warhead_range": true
+ }
+ },
+ {
+ "name": "detonateNearTarget",
+ "cost": 5,
+ "needs": {
+ "target_in_warhead_range": true,
+ "target_acquired": true,
+ "target_dead": false
+ },
+ "effects": {
+ "target_dead": true
+ }
+ }
+ ],
+ "states": {
+ "test_start": {
+ "target_acquired": false,
+ "target_lost": true,
+ "target_in_warhead_range": false,
+ "target_dead": false
+ },
+ "test_goal": {
+ "target_dead": true
+ }
+ },
+ "scripts": {
+ "test1": [
+ "searchSpiral",
+ "searchSerpentine",
+ "searchSpiral",
+ "interceptTarget",
+ "detonateNearTarget"]
+ }
+}
diff --git a/tests/ai.cpp b/tests/ai.cpp
new file mode 100644
index 0000000..32450e1
--- /dev/null
+++ b/tests/ai.cpp
@@ -0,0 +1,220 @@
+#include <catch2/catch_test_macros.hpp>
+#include "dbc.hpp"
+#include "ai.hpp"
+#include <iostream>
+
+using namespace dbc;
+using namespace nlohmann;
+
+TEST_CASE("worldstate works", "[ai]") {
+ enum StateNames {
+ ENEMY_IN_RANGE,
+ ENEMY_DEAD
+ };
+
+ ai::State goal;
+ ai::State start;
+ std::vector<ai::Action> actions;
+
+ // start off enemy not dead and not in range
+ start[ENEMY_DEAD] = false;
+ start[ENEMY_IN_RANGE] = false;
+
+ // end goal is enemy is dead
+ goal[ENEMY_DEAD] = true;
+
+ ai::Action move_closer("move_closer", 10);
+ move_closer.needs(ENEMY_IN_RANGE, false);
+ move_closer.effect(ENEMY_IN_RANGE, true);
+
+ REQUIRE(move_closer.can_effect(start));
+ auto after_move_state = move_closer.apply_effect(start);
+ REQUIRE(start[ENEMY_IN_RANGE] == false);
+ REQUIRE(after_move_state[ENEMY_IN_RANGE] == true);
+ REQUIRE(after_move_state[ENEMY_DEAD] == false);
+ // start is clean but after move is dirty
+ REQUIRE(move_closer.can_effect(start));
+ REQUIRE(!move_closer.can_effect(after_move_state));
+ REQUIRE(ai::distance_to_goal(start, after_move_state) == 1);
+
+ ai::Action kill_it("kill_it", 10);
+ kill_it.needs(ENEMY_IN_RANGE, true);
+ kill_it.needs(ENEMY_DEAD, false);
+ kill_it.effect(ENEMY_DEAD, true);
+
+ REQUIRE(!kill_it.can_effect(start));
+ REQUIRE(kill_it.can_effect(after_move_state));
+
+ auto after_kill_state = kill_it.apply_effect(after_move_state);
+ REQUIRE(!kill_it.can_effect(after_kill_state));
+ REQUIRE(ai::distance_to_goal(after_move_state, after_kill_state) == 1);
+
+ actions.push_back(kill_it);
+ actions.push_back(move_closer);
+
+ REQUIRE(start != goal);
+}
+
+TEST_CASE("basic feature tests", "[ai]") {
+ enum StateNames {
+ ENEMY_IN_RANGE,
+ ENEMY_DEAD
+ };
+
+ ai::State goal;
+ ai::State start;
+ std::vector<ai::Action> actions;
+
+ // start off enemy not dead and not in range
+ start[ENEMY_DEAD] = false;
+ start[ENEMY_IN_RANGE] = false;
+
+ // end goal is enemy is dead
+ goal[ENEMY_DEAD] = true;
+
+ ai::Action move_closer("move_closer", 10);
+ move_closer.needs(ENEMY_IN_RANGE, false);
+ move_closer.effect(ENEMY_IN_RANGE, true);
+
+ ai::Action kill_it("kill_it", 10);
+ kill_it.needs(ENEMY_IN_RANGE, true);
+ // this is duplicated on purpose to confirm that setting
+ // a positive then a negative properly cancels out
+ kill_it.needs(ENEMY_DEAD, true);
+ kill_it.needs(ENEMY_DEAD, false);
+
+ // same thing with effects
+ kill_it.effect(ENEMY_DEAD, false);
+ kill_it.effect(ENEMY_DEAD, true);
+
+ // order seems to matter which is wrong
+ actions.push_back(kill_it);
+ actions.push_back(move_closer);
+
+ auto result = ai::plan_actions(actions, start, goal);
+ REQUIRE(result != std::nullopt);
+
+ auto state = start;
+
+ for(auto& action : *result) {
+ state = action.apply_effect(state);
+ }
+
+ REQUIRE(state[ENEMY_DEAD]);
+}
+
+TEST_CASE("wargame test from cppAI", "[ai]") {
+ std::vector<ai::Action> actions;
+ auto profile = R"({
+ "target_acquired": 0,
+ "target_lost": 1,
+ "target_in_warhead_range": 2,
+ "target_dead": 3
+ })"_json;
+
+ // Now establish all the possible actions for the action pool
+ // In this example we're providing the AI some different FPS actions
+ auto config = R"({
+ "name": "searchSpiral",
+ "cost": 5,
+ "needs": {
+ "target_acquired": false,
+ "target_lost": true
+ },
+ "effects": {
+ "target_acquired": true
+ }
+ })"_json;
+ auto spiral = ai::config_action(profile, config);
+ actions.push_back(spiral);
+
+ config = R"({
+ "name": "searchSerpentine",
+ "cost": 5,
+ "needs": {
+ "target_acquired": false,
+ "target_lost": false
+ },
+ "effects": {
+ "target_acquired": true
+ }
+ })"_json;
+ auto serpentine = ai::config_action(profile, config);
+ actions.push_back(serpentine);
+
+ config = R"({
+ "name": "interceptTarget",
+ "cost": 5,
+ "needs": {
+ "target_acquired": true,
+ "target_dead": false
+ },
+ "effects": {
+ "target_in_warhead_range": true
+ }
+ })"_json;
+ auto intercept = ai::config_action(profile, config);
+ actions.push_back(intercept);
+
+ config = R"({
+ "name": "detonateNearTarget",
+ "cost": 5,
+ "needs": {
+ "target_in_warhead_range": true,
+ "target_acquired": true,
+ "target_dead": false
+ },
+ "effects": {
+ "target_dead": true
+ }
+ })"_json;
+
+ auto detonateNearTarget = ai::config_action(profile, config);
+ actions.push_back(detonateNearTarget);
+
+ // Here's the initial state...
+ config = R"({
+ "target_acquired": false,
+ "target_lost": true,
+ "target_in_warhead_range": false,
+ "target_dead": false
+ })"_json;
+ auto initial_state = ai::config_state(profile, config);
+
+ // ...and the goal state
+ config = R"({
+ "target_dead": true
+ })"_json;
+ auto goal_target_dead = ai::config_state(profile, config);
+
+ auto result = ai::plan_actions(actions, initial_state, goal_target_dead);
+ REQUIRE(result != std::nullopt);
+
+ auto state = initial_state;
+
+ for(auto& action : *result) {
+ fmt::println("ACTION: {}", action.$name);
+ state = action.apply_effect(state);
+ }
+
+ REQUIRE(state[profile["target_dead"]]);
+}
+
+TEST_CASE("ai as a module like sound/sprites", "[ai]") {
+ ai::init();
+
+ auto start = ai::load_state("test_start");
+ auto goal = ai::load_state("test_goal");
+
+ auto script = ai::plan("test1", start, goal);
+ REQUIRE(script != std::nullopt);
+
+ auto state = start;
+ for(auto& action : *script) {
+ fmt::println("ACTION: {}", action.$name);
+ state = action.apply_effect(state);
+ }
+
+ REQUIRE(state[ai::state_id("target_dead")]);
+
+}