Autowalker is now using the GOAP AI system and works way better. Still quite a lot of jank in the code but that'll get removed over time. Next thing is being able to detect when its near an item/enemy and properly react.

ai.cpp

@@ -22,17 +22,17 @@ namespace ai {
     Action result(config["name"], config["cost"]);
 
     check(config.contains("needs"),
-        fmt::format("config_action: no 'needs' field", result.$name));
+        fmt::format("config_action: no 'needs' field", result.name));
     check(config.contains("effects"),
-        fmt::format("config_action: no 'effects' field", result.$name));
+        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));
+      check(profile.contains(name_key), fmt::format("config_action: profile does not have name {}", result.name, name_key));
       result.needs(profile.at(name_key), 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));
+      check(profile.contains(name_key), fmt::format("config_action: profile does not have name {}", result.name, name_key));
 
       result.effect(profile.at(name_key), bool(value));
     }
@@ -79,7 +79,7 @@ namespace ai {
       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);
+        AIMGR.actions.insert_or_assign(the_action.name, the_action);
       }
 
       // load all states

ai_debug.cpp

@@ -22,7 +22,7 @@ namespace ai {
   }
 
   void dump_action(AIProfile& profile, Action& action) {
-    fmt::println(" --ACTION: {}, cost={}", action.$name, action.$cost);
+    fmt::println(" --ACTION: {}, cost={}", action.name, action.cost);
 
     fmt::println("   PRECONDS:");
     dump_only(profile, action.$positive_preconds, true, true);
@@ -39,7 +39,7 @@ namespace ai {
     dump_state(profile, start);
     fmt::print("% ACTIONS PLANNED:");
     for(auto& action : script) {
-      fmt::print("{} ", action.$name);
+      fmt::print("{} ", action.name);
     }
     fmt::print("\n");
 

autowalker.cpp

@@ -89,9 +89,12 @@ bool Autowalker::path_player(Pathing& paths, Point& target_out) {
   bool found = paths.random_walk(target_out, false, PATHING_TOWARD);
 
   if(!found) {
-    dbc::log("no neighbor found in any direction, aborting autowalk");
-    matrix::dump("NO TOWARD", paths.$paths, target_out.x, target_out.y);
-    return false;
+    // failed to find a linear path, try diagonal
+    if(!paths.random_walk(target_out, false, PATHING_TOWARD, MOVE_DIAGONAL)) {
+      dbc::log("couldn't find a diagonal direction");
+      matrix::dump("MOVE FAIL PATHS", paths.$paths, target_out.x, target_out.y);
+      return false;
+    }
   }
 
   if(!fsm.$level.map->can_move(target_out)) {
@@ -111,6 +114,11 @@ void Autowalker::rotate_player(Point current, Point target) {
   int facing = fsm.$main_ui.$compass_dir;
   int target_facing = 0;
 
+  /* This is a massive pile of garbage. Need a way
+   * to determine player facing direction without
+   * hacking into the compass, and also do accurate
+   * turns.
+   */
   if(delta_x == -1 && delta_y == 0) {
     // west
     target_facing = 4;
@@ -123,9 +131,21 @@ void Autowalker::rotate_player(Point current, Point target) {
   } else if(delta_x == 0 && delta_y == -1) {
     // north
     target_facing = 6;
+  } else if(delta_x == 1 && delta_y == -1) {
+    // north east
+    target_facing = 5;
+  } else if(delta_x == 1 && delta_y == 1) {
+    // south east
+    target_facing = 1;
+  } else if(delta_x == -1 && delta_y == 1) {
+    // south west
+    target_facing = 3;
+  } else if(delta_x == -1 && delta_y == -1) {
+    // north west
+    target_facing = 5;
   } else {
     dbc::sentinel(
-        fmt::format("got more than 4 direction result: "
+        fmt::format("got more than 8 direction result: "
           "current={},{} "
           "target={},{} "
           "delta={},{} ",
@@ -197,31 +217,30 @@ void Autowalker::autowalk() {
 
     // need a test for plan complete and only action is END
     for(auto action : a_plan.script) {
-      if(action.$name == "find_enemy") {
+      if(action.name == "find_enemy") {
         // this is where to test if enemy found and update state
         fmt::println("FINDING AN ENEMY");
         auto paths = path_to_enemies();
-        auto pos = get_current_position();
-        matrix::dump("FINDING", paths.$paths, pos.x, pos.y);
         process_move(paths);
-      } else if(action.$name == "kill_enemy") {
+        send_event(gui::Event::ATTACK);
+      } else if(action.name == "kill_enemy") {
         fmt::println("KILLING ENEMY");
         process_combat();
-      } else if(action.$name == "find_healing") {
+      } else if(action.name == "find_healing") {
         fmt::println("FINDING HEALING");
         auto paths = path_to_items();
         process_move(paths);
         // do the path to healing thing
-      } else if(action.$name == "collect_items") {
+      } else if(action.name == "collect_items") {
         fmt::println("COLLECTING ITEMS");
         auto paths = path_to_items();
         process_move(paths);
         // path to the items and get them all
-      } else if(action.$name == "END") {
+      } else if(action == ai::FINAL_ACTION) {
         fmt::println("END STATE, complete? {}", a_plan.complete);
         fsm.autowalking = false;
       } else {
-        fmt::println("Unknown action: {}", action.$name);
+        fmt::println("Unknown action: {}", action.name);
       }
 
       move_attempts++;

goap.cpp

@@ -31,6 +31,11 @@ namespace ai {
     }
   }
 
+  void Action::ignore(int name) {
+    $positive_preconds[name] = false;
+    $negative_preconds[name] = false;
+  }
+
 
   bool Action::can_effect(State& state) {
     return ((state & $positive_preconds) == $positive_preconds) &&
@@ -41,16 +46,15 @@ namespace ai {
     return (state | $positive_effects) & ~$negative_effects;
   }
 
-  int distance_to_goal(State& from, State& to) {
+  int distance_to_goal(State from, State to, Action& action) {
     auto result = from ^ to;
-    return result.count();
+    return result.count() + action.cost;
   }
 
   Script reconstruct_path(std::unordered_map<Action, Action>& came_from, Action& current) {
     Script total_path{current};
-    int count = 0;
 
-    while(came_from.contains(current) && count++ < 10) {
+    while(came_from.contains(current)) {
       current = came_from.at(current);
       if(current != FINAL_ACTION) {
         total_path.push_front(current);
@@ -60,12 +64,12 @@ namespace ai {
     return total_path;
   }
 
-  inline int h(State& start, State& goal) {
-    return distance_to_goal(start, goal);
+  inline int h(State start, State goal, Action& action) {
+    return distance_to_goal(start, goal, action);
   }
 
-  inline int d(State& start, State& goal) {
-    return distance_to_goal(start, goal);
+  inline int d(State start, State goal, Action& action) {
+    return distance_to_goal(start, goal, action);
   }
 
   ActionState find_lowest(std::unordered_map<ActionState, int>& open_set) {
@@ -90,7 +94,7 @@ namespace ai {
     ActionState current{FINAL_ACTION, start};
 
     g_score[start] = 0;
-    open_set[current] = g_score[start] + h(start, goal);
+    open_set[current] = g_score[start] + h(start, goal, current.action);
 
     while(!open_set.empty()) {
       current = find_lowest(open_set);
@@ -109,7 +113,7 @@ namespace ai {
         }
 
         auto neighbor = neighbor_action.apply_effect(current.state);
-        int d_score = d(current.state, neighbor);
+        int d_score = d(current.state, neighbor, current.action);
         int tentative_g_score = g_score[current.state] + d_score;
         int neighbor_g_score = g_score.contains(neighbor) ? g_score[neighbor] : SCORE_MAX;
         if(tentative_g_score < neighbor_g_score) {
@@ -118,7 +122,7 @@ namespace ai {
           g_score[neighbor] = tentative_g_score;
           // open_set gets the fScore
           ActionState neighbor_as{neighbor_action, neighbor};
-          open_set[neighbor_as] = tentative_g_score + h(neighbor, goal);
+          open_set[neighbor_as] = tentative_g_score + h(neighbor, goal, neighbor_as.action);
         }
       }
     }

goap.hpp

@@ -12,6 +12,7 @@ namespace ai {
   using AIProfile = std::unordered_map<std::string, int>;
 
   constexpr const int SCORE_MAX = std::numeric_limits<int>::max();
+
   constexpr const size_t STATE_MAX = 32;
 
   using State = std::bitset<STATE_MAX>;
@@ -20,8 +21,8 @@ namespace ai {
   const State ALL_ONES = ~ALL_ZERO;
 
   struct Action {
-    std::string $name;
-    int $cost = 0;
+    std::string name;
+    int cost = 0;
 
     State $positive_preconds;
     State $negative_preconds;
@@ -30,16 +31,17 @@ namespace ai {
     State $negative_effects;
 
     Action(std::string name, int cost) :
-      $name(name), $cost(cost) { }
+      name(name), cost(cost) { }
 
     void needs(int name, bool val);
     void effect(int name, bool val);
+    void ignore(int name);
 
     bool can_effect(State& state);
     State apply_effect(State& state);
 
     bool operator==(const Action& other) const {
-      return other.$name == $name;
+      return other.name == name;
     }
   };
 
@@ -66,14 +68,14 @@ namespace ai {
 
   bool is_subset(State& source, State& target);
 
-  int distance_to_goal(State& from, State& to);
+  int distance_to_goal(State from, State to, Action& action);
 
   ActionPlan plan_actions(std::vector<Action>& actions, State start, State goal);
 }
 
 template<> struct std::hash<ai::Action> {
   size_t operator()(const ai::Action& p) const {
-    return std::hash<std::string>{}(p.$name);
+    return std::hash<std::string>{}(p.name);
   }
 };
 

matrix.cpp

@@ -19,8 +19,10 @@ namespace matrix {
         print("{:x}<", cell);
       } else if(cell == WALL_PATH_LIMIT) {
         print("# ");
-      } else if(cell > 15) {
-        print("[{:x}]", cell);
+      } else if(cell > 15 && cell < 32) {
+        print("{:x}+", cell - 16);
+      } else if(cell > 31) {
+        print("* ");
       } else {
         print("{:x} ", cell);
       }

pathing.cpp

@@ -74,15 +74,21 @@ void Pathing::clear_target(const Point &at) {
   $input[at.y][at.x] = 1;
 }
 
-bool Pathing::random_walk(Point &out, bool random, int direction) {
+bool Pathing::random_walk(Point &out, bool random, int direction, size_t dir_count) {
   bool zero_found = false;
+  dbc::check(dir_count == 4 || dir_count == 8, "Only 8 or 4 directions allowed.");
 
   // just make a list of the four directions
-  std::array<Point, 4> dirs{{
+  std::array<Point, 8> dirs{{
       {out.x,out.y-1}, // north
       {out.x+1,out.y}, // east
       {out.x,out.y+1}, // south
-      {out.x-1,out.y} // west
+      {out.x-1,out.y}, // west
+
+      {out.x+1,out.y-1}, // north east
+      {out.x+1,out.y+1}, // south east
+      {out.x-1,out.y+1}, // south west
+      {out.x-1,out.y-1} // north west
   }};
 
   // get the current dijkstra number
@@ -93,7 +99,7 @@ bool Pathing::random_walk(Point &out, bool random, int direction) {
   int rand_start = Random::uniform<int>(0, dirs.size());
 
   // go through all possible directions
-  for(size_t i = 0; i < dirs.size(); i++) {
+  for(size_t i = 0; i < dir_count; i++) {
     // but start at the random start, effectively randomizing
     // which valid direction to go
     // BUG: this might be wrong given the above ranom from 0-size

pathing.hpp

@@ -7,6 +7,7 @@ using matrix::Matrix;
 
 constexpr const int PATHING_TOWARD=1;
 constexpr const int PATHING_AWAY=-1;
+constexpr const int MOVE_DIAGONAL=8;
 
 class Pathing {
 public:
@@ -28,7 +29,7 @@ public:
   Matrix &paths() { return $paths; }
   Matrix &input() { return $input; }
   int distance(Point to) { return $paths[to.y][to.x];}
-  bool random_walk(Point &out, bool random, int direction);
+  bool random_walk(Point &out, bool random, int direction, size_t dir_count = 4);
 
   bool INVARIANT();
 };

tests/ai.cpp

@@ -7,7 +7,7 @@
 using namespace dbc;
 using namespace nlohmann;
 
-TEST_CASE("worldstate works", "[ai]") {
+TEST_CASE("state and actions work", "[ai]") {
   enum StateNames {
     ENEMY_IN_RANGE,
     ENEMY_DEAD
@@ -36,7 +36,7 @@ TEST_CASE("worldstate works", "[ai]") {
   // 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);
+  REQUIRE(ai::distance_to_goal(start, after_move_state, move_closer) == 11);
 
   ai::Action kill_it("kill_it", 10);
   kill_it.needs(ENEMY_IN_RANGE, true);
@@ -48,7 +48,10 @@ TEST_CASE("worldstate works", "[ai]") {
 
   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);
+  REQUIRE(ai::distance_to_goal(after_move_state, after_kill_state, kill_it) == 11);
+
+  kill_it.ignore(ENEMY_IN_RANGE);
+  REQUIRE(kill_it.can_effect(after_move_state));
 
   actions.push_back(kill_it);
   actions.push_back(move_closer);
@@ -117,7 +120,7 @@ TEST_CASE("ai as a module like sound/sprites", "[ai]") {
 
   auto state = start;
   for(auto& action : a_plan.script) {
-    fmt::println("ACTION: {}", action.$name);
+    fmt::println("ACTION: {}", action.name);
     state = action.apply_effect(state);
   }