--- a/addons/core/Scripts/Game/ERR/10_AI/ERR_HQ.c +++ b/addons/core/Scripts/Game/ERR/10_AI/ERR_HQ.c @@ -1085,12 +1085,17 @@ if (task.RoadIntercept && !ERR_HQRoadIntercept.Eligible(belief, now)) { LostOrder(unit, now); return; } } if (Fighting(unit)) { LostOrder(unit, now); return; } + bool memorySearch = task.Role == ERR_HQPursuitRole.SEARCH && !task.Investigation() + && !task.RoadIntercept && task.SecuritySite.IsEmpty(); + if (memorySearch && (!ERR_HQPursuitRules.Finite(task.SearchRadiusMetres) + || task.SearchRadiusMetres < 45 || task.SearchRadiusMetres > 110)) { LostOrder(unit, now); return; } int deliveryId; if (unit.Downlink) deliveryId = unit.Downlink.MessageId; ResourceName waypointResource = ERR_Resources.SearchWaypoint(); if (task.RoadIntercept || !task.SecuritySite.IsEmpty()) waypointResource = ERR_Resources.DefendWaypoint(); AIWaypoint waypoint = AIWaypoint.Cast(ERR_Actors.Spawn(waypointResource, ERR_Actors.Ground(task.Destination))); if (!waypoint) { LostOrder(unit, now); m_Journal.Write("ORDER FAILED", "waypoint spawn failed", order.MessageId); return; } + if (memorySearch) waypoint.SetCompletionRadius(task.SearchRadiusMetres); if (unit.Assignment) RememberCompletedHunt(unit.Task, now); unit.Release(); unit.Task = task; @@ -1294,6 +1299,7 @@ if (!m_Coverage.Select(belief.PredictedPosition, belief.Radius, belief.Position, now, destination, reserved)) continue; ERR_HQTask task = new ERR_HQTask(); task.BeliefId = belief.BeliefId; task.BeliefRevision = belief.BeliefRevision; task.Role = ERR_HQPursuitRole.SEARCH; + task.SearchRadiusMetres = ERR_HQPursuitRules.SearchRadius(belief.Radius); task.Destination = destination; task.QueuedAt = now; task.ExpiresAt = now + ERR_HQPursuitRules.TaskLifetimeSeconds(task.Role, vector.DistanceXZ(unit.PlanPosition, destination)) * 1000; task.ApproachBearing = bearing; @@ -1544,6 +1550,7 @@ if (!best) continue; ERR_HQTask task = new ERR_HQTask(); task.BeliefId = belief.BeliefId; task.BeliefRevision = belief.BeliefRevision; task.Role = role; task.RoadIntercept = roadIntercept; + if (role == ERR_HQPursuitRole.SEARCH && !roadIntercept) task.SearchRadiusMetres = ERR_HQPursuitRules.SearchRadius(belief.Radius); task.Destination = destination; task.QueuedAt = now; task.ExpiresAt = now + ERR_HQPursuitRules.TaskLifetimeSeconds(role, vector.DistanceXZ(best.PlanPosition, destination)) * 1000; task.ApproachBearing = bestBearing; --- a/addons/core/Scripts/Game/ERR/10_AI/ERR_HQPursuit.c +++ b/addons/core/Scripts/Game/ERR/10_AI/ERR_HQPursuit.c @@ -41,6 +41,13 @@ if (slot == 0) return ERR_HQPursuitRole.INTERCEPT; if (slot == 2 && confidence >= 0.8 && uncertainty <= 100) return ERR_HQPursuitRole.CONTAIN; return ERR_HQPursuitRole.SEARCH; + } + // Radius of one native search grid, copied from delivered uncertainty when + // the task is queued. This does not enlarge the reported swept-ground proof. + static float SearchRadius(float uncertainty) + { + if (!Finite(uncertainty) || uncertainty < 0) return 0; + return Math.Clamp(uncertainty, 45, 110); } static float LifetimeSeconds(ERR_HQPursuitRole role) { --- a/addons/core/Scripts/Game/ERR/10_AI/ERR_HQTask.c +++ b/addons/core/Scripts/Game/ERR/10_AI/ERR_HQTask.c @@ -12,6 +12,7 @@ int BeliefId; int BeliefRevision; ERR_HQPursuitRole Role; + float SearchRadiusMetres; vector Destination; float QueuedAt; float ExpiresAt; --- a/addons/core/Scripts/Game/ERR/10_AI/ERR_NativePatrolHQProbe.c +++ b/addons/core/Scripts/Game/ERR/10_AI/ERR_NativePatrolHQProbe.c @@ -20,6 +20,7 @@ if (!belief) return false; ERR_HQTask task = new ERR_HQTask(); task.BeliefId = belief.BeliefId; task.BeliefRevision = belief.BeliefRevision; + task.SearchRadiusMetres = ERR_HQPursuitRules.SearchRadius(belief.Radius); task.Destination = order.Position; task.QueuedAt = order.ObservedAt; task.ExpiresAt = order.ObservedAt + 120000; unit.PendingTask = task; --- a/tests/test_hq_delivered_task.py +++ b/tests/test_hq_delivered_task.py @@ -13,7 +13,7 @@ for typ in ('ERR_HQUnit','ERR_HQTask','ERR_GameMode','ERR_HQReport','ERR_HQBelief','ERR_ForceRecord','ERR_HQHuntWindow','AIWaypoint'): s=re.sub(r'\b'+typ+r' (?=\w)',typ+'* ',s) s=re.sub(r'foreach \((ERR_HQUnit\*) (\w+) : ([^)]+)\)',r'for (\1 \2 : \3)',s) - for name in ('unit','other','task','planned','order','belief','record','mode','Group','hunt','m_Mode','lostActive','lostPending'): + for name in ('unit','other','task','planned','order','belief','record','mode','Group','hunt','waypoint','m_Mode','lostActive','lostPending'): s=s.replace(name+'.',name+'->') s=s.replace('ResourceName ', 'int ').replace('.IsEmpty()', '.empty()') s=s.replace('PendingOrder.', 'PendingOrder->').replace('Assignment.', 'Assignment->') @@ -28,7 +28,7 @@ if 'protected void ReleaseLostForce(' in P.read_text(): methods=cpp(body(P,'protected void ReleaseLostForce('))+'\n'+methods missing=cpp(body(P,'if (!unit.Group && !unit.Uplink)')).replace('m_Units.Remove(i)', 'm_Units.erase(m_Units.begin()+i)') cleanup=cpp(body(P,' foreach (ERR_HQUnit unit : m_Units)\n {\n if (!unit.Assignment && !unit.PendingOrder) continue;\n if (!unit.PlanEligible || assigned > globalLimit)')) -R=ROOT/'addons/core/Scripts/Game/ERR/10_AI/ERR_HQPursuit.c' +R=Path(os.environ.get('ERR_HQ_PURSUIT_SOURCE',ROOT/'addons/core/Scripts/Game/ERR/10_AI/ERR_HQPursuit.c')) rules='\n'.join(cpp(body(R,x)) for x in ('static bool Finite(', 'static bool PositionValid(', 'static bool Actionable(', 'static bool Heading(', 'static ERR_HQPursuitRole Role(')) eligible=cpp(body(ROAD,'static bool Eligible(')) run(r''' @@ -37,6 +37,7 @@ #include #include #include +#include using string=std::string; templatestring Format(T...){return "order";} struct vector{float x=0,y=0,z=0;float& operator[](int i){return i==0?x:(i==1?y:z);}float Length(){return std::sqrt(x*x+y*y+z*z);}}; @@ -48,10 +49,10 @@ }; struct Math{static float Min(float a,float b){return std::min(a,b);}static float Max(float a,float b){return std::max(a,b);}}; struct ERR_HQTask{string SecuritySite;bool RoadIntercept=false,ReleaseOnly=false;ERR_HQTask* ReplacesTask=nullptr;string WatchSourceId;int WatchMessageId=0,WatchRequestId=0; - int BeliefId=1,BeliefRevision=2;ERR_HQPursuitRole Role=ERR_HQPursuitRole::SEARCH;vector Destination{40,0,50};float QueuedAt=0,ExpiresAt=60000;bool Investigation(){return !WatchSourceId.empty();}string Name(){return "search";}}; + int BeliefId=1,BeliefRevision=2;ERR_HQPursuitRole Role=ERR_HQPursuitRole::SEARCH;vector Destination{40,0,50};float SearchRadiusMetres=60,QueuedAt=0,ExpiresAt=60000;bool Investigation(){return !WatchSourceId.empty();}string Name(){return "search";}}; struct ERR_HQReport{string TravelMode="on foot";int MessageId=10;float ObservedAt=0;}; struct ERR_HQRoute{int MessageId=20;}; -struct AIWaypoint{int resource=0,deletes=0;static AIWaypoint* Cast(AIWaypoint* p){return p;}}; +struct AIWaypoint{int resource=0,deletes=0,configured=0;float radius=30;void SetCompletionRadius(float r){assert(!configured);radius=r;configured++;}static AIWaypoint* Cast(AIWaypoint* p){return p;}}; struct SCR_AIGroup{int removals=0,additions=0;AIWaypoint* last=nullptr;void RemoveWaypoint(AIWaypoint* w){removals++;last=w;}void AddWaypointAt(AIWaypoint* w,int at){assert(at==0);additions++;last=w;}}; struct ERR_ForceRecord{bool Eliminated=false;int Duty=2,HomeDuty=1;vector DutyTarget,HomePosition;}; struct Ledger{ERR_ForceRecord record;ERR_ForceRecord* FindGroup(SCR_AIGroup*){return &record;}}; @@ -85,6 +86,23 @@ void Retained(){assert(unit.Task==&active&&unit.Assignment==&oldReport&&unit.Waypoint==&previous&&previous.deletes==0&&group.removals==0&&!unit.PendingTask&&!unit.PendingOrder&&!unit.Downlink);} }; int main(){ + // The copied radius is used before installation even if current uncertainty grows. + for(float radius:{45.f,60.f,110.f}){Fixture f;f.next.SearchRadiusMetres=radius;f.belief.Radius=500; + float deadline=f.next.ExpiresAt;f.hq.DeliverOrder(&f.unit,1000); + assert(f.group.additions==1&&f.unit.Waypoint->radius==radius&&f.unit.Waypoint->configured==1); + assert(f.next.SearchRadiusMetres==radius&&f.next.ExpiresAt==deadline);} + // Malformed snapshot cannot spawn or replace the delivered previous assignment. + for(float radius:{0.f,44.99f,110.01f,-1.f,std::numeric_limits::quiet_NaN(),std::numeric_limits::infinity()}){ + Fixture f;f.next.SearchRadiusMetres=radius;f.hq.DeliverOrder(&f.unit,1000);f.Retained();assert(ERR_Actors::spawns==0);} + // Missing patrol, road/security defend, interception and containment keep native defaults. + for(int kind=0;kind<5;kind++){Fixture f;f.next.SearchRadiusMetres=std::numeric_limits::quiet_NaN(); + if(kind==0)f.next.WatchSourceId="missing-original"; + if(kind==1)f.next.RoadIntercept=true; + if(kind==2)f.next.SecuritySite="site"; + if(kind==3)f.next.Role=ERR_HQPursuitRole::INTERCEPT; + if(kind==4){f.next.Role=ERR_HQPursuitRole::CONTAIN;f.belief.Confidence=.9f;} + f.hq.DeliverOrder(&f.unit,1000);assert(f.group.additions==1&&f.unit.Waypoint->radius==30&&f.unit.Waypoint->configured==0);} + // Alarm-only deliveries retain their weak SEARCH/mobile policy even if a queued task is tampered with. for(int invalid=0;invalid<5;invalid++){Fixture f;f.belief.Kind=ERR_HQMemoryKind::ALARM; ERR_HQUnit other;ERR_HQTask otherTask;ERR_HQReport alarm;alarm.TravelMode="heard vehicle alarm"; @@ -217,3 +235,6 @@ } ''') print('PASS: actual delivered-task lineage, expiry, old-order retention, native commit, release, road precision expiry and duplicate delivery') + +delivery=body(P,'protected void DeliverOrder(') +assert delivery.index('waypoint.SetCompletionRadius(task.SearchRadiusMetres)') < delivery.index('unit.Release();') < delivery.index('unit.Group.AddWaypointAt') --- a/tests/test_hq_planner_budget.py +++ b/tests/test_hq_planner_budget.py @@ -44,13 +44,14 @@ namespace ERR_HQMemoryKind{enum{SIGHTING,GUNFIRE,ALARM};} namespace ERR_HQPursuitRole{enum{SEARCH,INTERCEPT,CONTAIN};} struct ERR_HQReport{int id=0;ERR_HQReport* Snapshot(){return this;}}; -struct ERR_HQTask{int BeliefId=0,BeliefRevision=0,Role=0,ApproachBearing=0;bool RoadIntercept=false;Vec Destination;float QueuedAt=0,ExpiresAt=0;string Name(){return "task";}}; +struct ERR_HQTask{int BeliefId=0,BeliefRevision=0,Role=0,ApproachBearing=0;bool RoadIntercept=false;Vec Destination;float SearchRadiusMetres=0,QueuedAt=0,ExpiresAt=0;string Name(){return "task";}}; struct ERR_HQRoute{int MessageId=0;string Payload;}; struct Group{Vec pos;Vec GetOrigin(){return pos;}}; struct ERR_HQUnit{int Id=0,Radio=0,HomeId=0,ForceSourceId=0;struct Group* Group=nullptr;ERR_HQReport* Assignment=nullptr;ERR_HQReport* PendingOrder=nullptr;ERR_HQTask* PendingTask=nullptr;ERR_HQRoute* Downlink=nullptr;bool PlanFighting=false,PlanEligible=true,HomeGuard=false;Vec PlanPosition;}; struct ERR_HQBelief{int BeliefId=0,BeliefRevision=1,MessageId=1,Kind=0;float Confidence=.7,ObservedAt=1000,Radius=100;Vec Position,PredictedPosition,Velocity;bool HasVelocity=true;ERR_HQReport* Report=nullptr;}; struct ERR_HQHuntWindow{float NextHunt=0;}; struct ERR_HQPursuitRules{ + static float SearchRadius(float radius){return std::clamp(radius,45.f,110.f);} static bool Actionable(float c,float age,float r){return c>=.15&&age>=0&&r<=2000;} static bool Heading(Vec,bool h){return h;} static int Role(float,float,float,bool h,int slot){return h?slot:0;} @@ -91,7 +92,7 @@ } }; void Equal(Setup&a,Setup&b){assert(a.h.m_Journal.writes==b.h.m_Journal.writes&&a.h.m_Coverage.selections==b.h.m_Coverage.selections&&a.h.m_HomeAvailable.v==b.h.m_HomeAvailable.v); - for(int i=0;i<128;i++){auto x=a.units[i].PendingTask,y=b.units[i].PendingTask;assert(bool(x)==bool(y));if(!x)continue;assert(x->BeliefId==y->BeliefId&&x->Role==y->Role&&x->RoadIntercept==y->RoadIntercept&&x->Destination==y->Destination&&x->ExpiresAt==y->ExpiresAt&&x->ApproachBearing==y->ApproachBearing);} + for(int i=0;i<128;i++){auto x=a.units[i].PendingTask,y=b.units[i].PendingTask;assert(bool(x)==bool(y));if(!x)continue;assert(x->SearchRadiusMetres==y->SearchRadiusMetres&&x->BeliefId==y->BeliefId&&x->Role==y->Role&&x->RoadIntercept==y->RoadIntercept&&x->Destination==y->Destination&&x->ExpiresAt==y->ExpiresAt&&x->ApproachBearing==y->ApproachBearing);} for(auto [id,window]:a.h.hunts)assert(window.NextHunt==b.h.hunts[id].NextHunt); } int main(){ --- a/tests/test_hq_pursuit.py +++ b/tests/test_hq_pursuit.py @@ -2,7 +2,7 @@ import os, re from pathlib import Path from policy_harness import ROOT, body, run -P = ROOT/'addons/core/Scripts/Game/ERR/10_AI/ERR_HQPursuit.c' +P = Path(os.environ.get('ERR_HQ_PURSUIT_SOURCE',ROOT/'addons/core/Scripts/Game/ERR/10_AI/ERR_HQPursuit.c')) source = P.read_text() # Exercise the real planner expression against the same actual policy methods. HQ = Path(os.environ.get('ERR_HQ_SOURCE', ROOT/'addons/core/Scripts/Game/ERR/10_AI/ERR_HQ.c')) @@ -13,7 +13,7 @@ methods = '\n'.join(body(P, signature) for signature in ( 'static bool Finite(', 'static bool PositionValid(', 'static int Limit(', 'static bool Actionable(', 'static bool Heading(', 'static ERR_HQPursuitRole Role(', 'static float LifetimeSeconds(', - 'static float TaskLifetimeSeconds(', 'static bool CanCommit(', 'static int Bearing(', 'static bool BearingAllowed(', 'static vector Direction(', + 'static float SearchRadius(', 'static float TaskLifetimeSeconds(', 'static bool CanCommit(', 'static int Bearing(', 'static bool BearingAllowed(', 'static vector Direction(', 'static vector Objective(', 'static float Score(', 'static bool Better(')) methods = methods.replace('Math.', 'Math::').replace('vector.', 'vector::') methods = methods.replace('ERR_HQPursuitRole.', 'ERR_HQPursuitRole::') @@ -55,6 +55,10 @@ ERR_HQPursuitRole PlannerRole(Belief belief,float age,int slot){return '''+planner_role+r''';} bool near(float a,float b){return std::abs(a-b)<0.001f;} int main(){ + assert(Rules::SearchRadius(0)==45&&Rules::SearchRadius(44.99)==45&&Rules::SearchRadius(45)==45); + assert(Rules::SearchRadius(73)==73&&Rules::SearchRadius(110)==110&&Rules::SearchRadius(2000)==110); + assert(Rules::SearchRadius(-1)==0&&Rules::SearchRadius(std::numeric_limits::quiet_NaN())==0&&Rules::SearchRadius(std::numeric_limits::infinity())==0); + using Role=ERR_HQPursuitRole; assert(Rules::Limit(-1)==0&&Rules::Limit(0)==0&&Rules::Limit(1)==1); assert(Rules::Limit(3)==3&&Rules::Limit(8)==3); @@ -186,3 +190,27 @@ assert forbidden not in source, f'pursuit must consume snapshots only: {forbidden}' assert all(len(line)<120 for line in source.splitlines()) print('PASS: actual bounded pursuit roles/objectives/scores, stale search degradation, physical/busy/home guards, finite lifetime and two-bearing escape gap; no hidden player reads or spawning') + +for signature in ('protected void Assign(', 'protected void Retask('): + section=body(HQ,signature) + line=next(line.strip() for line in section.splitlines() if 'task.SearchRadiusMetres =' in line) + line=line.replace('ERR_HQPursuitRules.', 'Rules::').replace('ERR_HQPursuitRole.', 'Role::') + run(r""" +#include +#include +#include +#include +enum class Role {SEARCH,INTERCEPT,CONTAIN}; +struct Math{static float Clamp(float n,float a,float b){return std::clamp(n,a,b);}}; +struct Rules{ +"""+body(P,'static bool Finite(')+body(P,'static float SearchRadius(').replace('Math.','Math::')+r""" +}; +struct Task{float SearchRadiusMetres=0;};struct Belief{float Radius=0;}; +void Queue(Task& task,Belief& belief,Role role,bool roadIntercept){ +"""+line+r""" +} +int main(){for(float radius:{0.f,60.f,500.f}){Task task;Belief belief{radius};Queue(task,belief,Role::SEARCH,false);float copied=Rules::SearchRadius(radius);assert(task.SearchRadiusMetres==copied);belief.Radius=1900;assert(task.SearchRadiusMetres==copied);} +"""+(r"""for(Role role:{Role::INTERCEPT,Role::CONTAIN}){Task task;Belief belief{100};Queue(task,belief,role,false);assert(task.SearchRadiusMetres==0);}Task road;Belief belief{100};Queue(road,belief,Role::SEARCH,true);assert(road.SearchRadiusMetres==0);""" if 'Assign' in signature else '')+r""" +} +""") +print('PASS: actual finite45..110 radius and both ordinary search queue snapshot expressions')