Pathing refactor

README.md

@@ -107,6 +107,8 @@ There are a couple of helpful global variables:
 There are some debugging tools built into the project:
 
 * Run and draw path - `AI.getPathDebugger().debug(new RoomPosition(43, 13, 'E21S48'), new RoomPosition(25,25,'E26S51'), 3, {avoidHostiles: true, avoidOwnedRooms: true, avoidFriendlyRooms: false, maxOps: 2000})`
+* Run and draw cost matrix - `AI.getCostMatrixDebugger().debug("W8N4", 'open_space')` and `AI.getCostMatrixDebugger().clear()`\
+* Get debug info on path cache - `AI.kingdom.getPathCache().debug()`
 
 ### Creeps
 

src/behavior.build.js

@@ -19,17 +19,17 @@ const selectSite = behaviorTree.leafNode(
           return 1 - site.progress / site.progressTotal;
         case STRUCTURE_STORAGE:
           return 2 - site.progress / site.progressTotal;
-        case STRUCTURE_LINK:
+        case STRUCTURE_CONTAINER:
           return 3 - site.progress / site.progressTotal;
-        case STRUCTURE_TERMINAL:
+        case STRUCTURE_LINK:
           return 4 - site.progress / site.progressTotal;
-        case STRUCTURE_RAMPART:
+        case STRUCTURE_TERMINAL:
           return 5 - site.progress / site.progressTotal;
-        case STRUCTURE_EXTRACTOR:
+        case STRUCTURE_RAMPART:
           return 6 - site.progress / site.progressTotal;
-        case STRUCTURE_LAB:
+        case STRUCTURE_EXTRACTOR:
           return 7 - site.progress / site.progressTotal;
-        case STRUCTURE_CONTAINER:
+        case STRUCTURE_LAB:
           return 8 - site.progress / site.progressTotal;
         case STRUCTURE_EXTENSION:
           return 9 - site.progress / site.progressTotal;

src/behavior.harvest.js → src/behavior.harvest.ts

@@ -1,11 +1,11 @@
 
-const behaviorTree = require('./lib.behaviortree');
-const {FAILURE, SUCCESS, RUNNING} = require('./lib.behaviortree');
-const behaviorMovement = require('./behavior.movement');
-const {MEMORY_SOURCE, MEMORY_ASSIGN_ROOM} = require('./constants.memory');
-const {numEnemeiesNearby, numOfSourceSpots} = require('./helpers.proximity');
+import * as behaviorTree from "./lib.behaviortree";
+import {FAILURE, SUCCESS, RUNNING} from "./lib.behaviortree";
+import * as behaviorMovement from "./behavior.movement";
+import {MEMORY_SOURCE, MEMORY_ASSIGN_ROOM} from "./constants.memory";
+import {numEnemeiesNearby, numOfSourceSpots} from "./helpers.proximity";
 
-module.exports.selectHarvestSource = behaviorTree.leafNode(
+export const selectHarvestSource = behaviorTree.leafNode(
   'bt.harvest.selectHarvestSource',
   (creep, trace, kingdom) => {
     let sources = creep.room.find(FIND_SOURCES);
@@ -42,11 +42,11 @@ module.exports.selectHarvestSource = behaviorTree.leafNode(
   },
 );
 
-module.exports.moveToHarvestRoom = behaviorTree.repeatUntilSuccess(
+export const moveToHarvestRoom = behaviorTree.repeatUntilSuccess(
   'bt.movement.room.harvest',
   behaviorTree.leafNode(
     'move_to_harvest_room',
-    (creep) => {
+    (creep, trace, kingdom) => {
       const room = creep.memory[MEMORY_ASSIGN_ROOM];
       // If creep doesn't have a harvest room assigned, we are done
       if (!room) {
@@ -61,43 +61,44 @@ module.exports.moveToHarvestRoom = behaviorTree.repeatUntilSuccess(
         reusePath: 50,
         maxOps: 1500,
       });
+      trace.log('move to', {result});
+
       if (result === ERR_NO_PATH) {
         return FAILURE;
       }
-      if (result === ERR_INVALID_ARGS) {
-        return FAILURE;
-      }
 
       return RUNNING;
     },
   ),
 );
 
-module.exports.moveToHarvest = behaviorTree.leafNode(
+export const moveToHarvest = behaviorTree.leafNode(
   'move_to_source',
   (creep) => {
     return behaviorMovement.moveToSource(creep, 1, false, 50, 1500);
   },
 );
 
-module.exports.harvest = behaviorTree.leafNode(
+export const harvest = behaviorTree.leafNode(
   'fill_creep',
-  (creep) => {
-    const destination = Game.getObjectById(creep.memory.source);
+  (creep, trace, kingdom) => {
+    const destination = Game.getObjectById<Id<Source>>(creep.memory[MEMORY_SOURCE]);
     if (!destination) {
       return FAILURE;
     }
 
     const result = creep.harvest(destination);
-    if (result === ERR_FULL) {
-      return SUCCESS;
-    }
+    trace.log('harvest', {result});
+
     if (creep.store.getFreeCapacity() === 0) {
       return SUCCESS;
     }
+
+    // NOTICE switched this to FAILURE from RUNNING, this may cause problems
     if (result === ERR_NOT_ENOUGH_RESOURCES) {
-      return RUNNING;
+      return FAILURE;
     }
+
     if (result === OK) {
       return RUNNING;
     }

src/behavior.movement.ts

@@ -3,9 +3,11 @@ import {FAILURE, SUCCESS, RUNNING, NodeTickResult} from "./lib.behaviortree";
 
 import * as MEMORY from "./constants.memory";
 import {MEMORY_ORIGIN, MEMORY_SOURCE} from "./constants.memory";
-import {PathCache, PathCacheItem, PathFinderPolicy} from "./lib.path_cache";
+import {PathCache, PathCacheItem} from "./lib.path_cache";
 import {Tracer} from "./lib.tracing";
 import {Kingdom} from "./org.kingdom";
+import {FindPathPolicy} from "./lib.pathing";
+import {common} from "./lib.pathing_policies";
 
 const MAX_POSITION_TTL = 5;
 const MEMORY_MOVE_POS_TTL = 'move_pos_ttl';
@@ -145,7 +147,7 @@ const getDestinationFromMemory = (creep: Creep, memoryId: string): RoomPosition
 };
 
 const getAndSetCreepPath = (pathCache: PathCache, creep: Creep, destination: RoomPosition,
-  range: number, policy: PathFinderPolicy, trace: Tracer): [PathFinderPath, string, string] => {
+  range: number, policy: FindPathPolicy, trace: Tracer): [PathFinderPath, string, string] => {
   const path = pathCache.getPath(creep.pos, destination, range, policy, trace);
   const originKey = pathCache.getKey(creep.pos, 0);
   const destKey = pathCache.getKey(destination, range);
@@ -160,7 +162,7 @@ const clearMovementCache = (creep) => {
 };
 
 const updateCreepCachedPath = (kingdom: Kingdom, creep: Creep, destination: RoomPosition,
-  range: number, policy: PathFinderPolicy, trace: Tracer): PathFinderPath => {
+  range: number, policy: FindPathPolicy, trace: Tracer): PathFinderPath => {
   const pathCache = kingdom.getPathCache();
 
   let path: PathCacheItem = null;
@@ -170,7 +172,7 @@ const updateCreepCachedPath = (kingdom: Kingdom, creep: Creep, destination: Room
   trace.log('keys', {originKey, destKey});
 
   if (originKey && destKey) {
-    path = pathCache.getCachedPath(originKey, destKey);
+    path = pathCache.getCachedPath(originKey, destKey, trace);
   }
 
   if (path) {
@@ -197,7 +199,7 @@ const updateCreepCachedPath = (kingdom: Kingdom, creep: Creep, destination: Room
   return null;
 }
 
-export const cachedMoveToMemoryPos = (memoryId: string, range: number = 1, policy: PathFinderPolicy) => {
+export const cachedMoveToMemoryPos = (memoryId: string, range: number = 1, policy: FindPathPolicy) => {
   return behaviorTree.leafNode(
     'cached_move_to_position',
     (creep, trace, kingdom) => {
@@ -213,7 +215,7 @@ export const cachedMoveToMemoryPos = (memoryId: string, range: number = 1, polic
   );
 };
 
-export const cachedMoveToMemoryObjectId = (memoryId: string, range: number = 1, policy: PathFinderPolicy) => {
+export const cachedMoveToMemoryObjectId = (memoryId: string, range: number = 1, policy: FindPathPolicy) => {
   return behaviorTree.leafNode(
     'cached_move_to_object_id',
     (creep, trace, kingdom) => {
@@ -230,7 +232,7 @@ export const cachedMoveToMemoryObjectId = (memoryId: string, range: number = 1,
 };
 
 const cachedMoveToPosition = (kingdom: Kingdom, creep: Creep, destination: RoomPosition,
-  range: number = 1, policy: PathFinderPolicy, trace: Tracer) => {
+  range: number = 1, policy: FindPathPolicy, trace: Tracer) => {
 
   // Check if creep has arrived
   if (creep.pos.inRangeTo(destination, range)) {
@@ -245,14 +247,18 @@ const cachedMoveToPosition = (kingdom: Kingdom, creep: Creep, destination: RoomP
 
   if (!stuck) {
     const pathfinderResult = updateCreepCachedPath(kingdom, creep, destination, range, policy, trace)
-    trace.log('pathfinder result', {path: pathfinderResult.path});
+    trace.log('pathfinder result', {result: pathfinderResult, creepName: creep.name, destination, range, policy});
+    if (!pathfinderResult) {
+      trace.log('no path found', {destination, range});
+      return FAILURE;
+    }
 
     result = creep.moveByPath(pathfinderResult.path);
     trace.log('move by path result', {result, path: pathfinderResult.path});
   } else {
-    const moveOpts = getMoveOpts(false, 50, policy.maxOps);
+    const moveOpts = getMoveOpts(false, 50, policy.path.maxOps);
     result = creep.moveTo(destination, moveOpts);
-    trace.log('move result', {result, origin: creep.pos, destination});
+    trace.log('stuck move result', {result, origin: creep.pos, destination});
   }
 
   if (result === ERR_NO_PATH) {
@@ -357,13 +363,6 @@ export const fillCreepFromDestination = (creep, trace) => {
 };
 
 export const moveToShard = (shardMemoryKey) => {
-  const policy: PathFinderPolicy = {
-    avoidHostiles: false,
-    avoidOwnedRooms: true,
-    avoidFriendlyRooms: false,
-    maxOps: 2500,
-  };
-
   return behaviorTree.repeatUntilConditionMet(
     'moveToShard',
     (creep, trace, kingdom) => {
@@ -412,7 +411,7 @@ export const moveToShard = (shardMemoryKey) => {
             return SUCCESS;
           },
         ),
-        cachedMoveToMemoryPos(MEMORY.MEMORY_DESTINATION_POS, 0, policy),
+        cachedMoveToMemoryPos(MEMORY.MEMORY_DESTINATION_POS, 0, common),
       ],
     ),
   );

src/behavior.room.js

@@ -2,6 +2,8 @@ const behaviorTree = require('./lib.behaviortree');
 const {FAILURE, SUCCESS, RUNNING} = require('./lib.behaviortree');
 const behaviorHarvest = require('./behavior.harvest');
 const behaviorMovement = require('./behavior.movement');
+const {MEMORY_SOURCE, MEMORY_DESTINATION} = require('./constants.memory');
+const {common} = require('./lib.pathing_policies');
 
 const pickupDroppedEnergy = behaviorTree.leafNode(
   'janitor',
@@ -100,7 +102,7 @@ const selectStorage = behaviorTree.leafNode(
 
     behaviorMovement.setDestination(creep, null);
 
-    trace.log('did not find reserver with energy');
+    trace.log('did not find reserve with energy', {roomName: creep.room.name});
     return FAILURE;
   },
 );
@@ -126,7 +128,7 @@ const selectContainer = behaviorTree.leafNode(
 
     behaviorMovement.setDestination(creep, null);
 
-    trace.log('did not find an energy source');
+    trace.log('did not find a container with energy');
     return FAILURE;
   },
 );
@@ -136,7 +138,7 @@ const selectMoveFill = (selector) => {
     'fill_from_selector',
     [
       selector,
-      behaviorMovement.moveToDestination(1),
+      behaviorMovement.cachedMoveToMemoryObjectId(MEMORY_DESTINATION, 1, common),
       behaviorTree.leafNode(
         'fill_creep',
         (creep, trace) => {
@@ -152,13 +154,13 @@ const fillCreepFromSource = behaviorTree.sequenceNode(
   'fill_from_source',
   [
     behaviorHarvest.selectHarvestSource,
-    behaviorHarvest.moveToHarvest,
+    behaviorMovement.cachedMoveToMemoryObjectId(MEMORY_SOURCE, 1, common),
     behaviorHarvest.harvest,
   ],
 );
 
-module.exports.getSomeEnergy = behaviorTree.repeatUntilConditionMet(
-  'get_energy_until_success',
+module.exports.getSomeEnergy = behaviorTree.runUntilConditionMet(
+  'get_some_energy_until_success',
   (creep, trace, kingdom) => {
     const freeCapacity = creep.store.getFreeCapacity(RESOURCE_ENERGY);
     trace.log('creep free capacity', {freeCapacity});
@@ -186,8 +188,8 @@ module.exports.getEnergy = behaviorTree.repeatUntilConditionMet(
   behaviorTree.selectorNode(
     'select_and_fill_with_energy',
     [
-      selectMoveFill(selectNearbyLink),
       selectMoveFill(selectStorage),
+      selectMoveFill(selectNearbyLink),
       selectMoveFill(selectContainer),
       pickupDroppedEnergy,
       fillCreepFromSource,
@@ -256,7 +258,7 @@ module.exports.recycleCreep = behaviorTree.leafNode(
     const spawn = spawns[0];
     if (creep.pos.inRangeTo(spawn, 1)) {
       const result = spawn.recycleCreep(creep);
-      trace.log('recycled creep', {result});
+      trace.notice('recycled creep', {result});
       return RUNNING;
     }
 

src/behavior.storage.js

@@ -57,7 +57,6 @@ const selectRoomDropoff = module.exports.selectRoomDropoff = behaviorTree.select
           return SUCCESS;
         }
 
-
         return FAILURE;
       },
     ),
@@ -74,7 +73,8 @@ const selectRoomDropoff = module.exports.selectRoomDropoff = behaviorTree.select
         const targets = creep.pos.findInRange(FIND_STRUCTURES, 2, {
           filter: (structure) => {
             return structure.structureType == STRUCTURE_CONTAINER &&
-              structure.store.getFreeCapacity(RESOURCE_ENERGY) > 0;
+              structure.store.getFreeCapacity(RESOURCE_ENERGY) > 0 &&
+              structure.isActive();
           },
         });
 
@@ -98,7 +98,8 @@ const selectRoomDropoff = module.exports.selectRoomDropoff = behaviorTree.select
           filter: (structure) => {
             // TODO things seeking to gain energy should use another function
             return structure.structureType == STRUCTURE_LINK &&
-              structure.store.getFreeCapacity(RESOURCE_ENERGY) > 0;
+              structure.store.getFreeCapacity(RESOURCE_ENERGY) > 0 &&
+              structure.isActive();
           },
         });
 
@@ -132,7 +133,7 @@ const selectRoomDropoff = module.exports.selectRoomDropoff = behaviorTree.select
           return FAILURE;
         }
 
-        if (!room.room.storage) {
+        if (!room.room.storage?.isActive()) {
           return FAILURE;
         }
 

src/config.ts

@@ -8,6 +8,8 @@ export interface ColonyConfig {
   isPublic: boolean;
   primary: string;
   rooms: string[];
+  automated: boolean;
+  origin: RoomPosition;
 }
 
 export interface KingdomConfig {

src/constants.creeps.ts

@@ -38,7 +38,7 @@ export const DEFINITIONS = {
   },
   [WORKER_DEFENDER]: {
     energyLimit: null,
-    energyMinimum: 2000,
+    energyMinimum: 1000,
     parts: [MOVE, HEAL, MOVE, RANGED_ATTACK, MOVE, RANGED_ATTACK, MOVE, TOUGH, MOVE, RANGED_ATTACK],
     base: [MOVE, RANGED_ATTACK],
     boosts: ['rangedAttack'],
@@ -88,7 +88,7 @@ export const DEFINITIONS = {
   },
   [WORKER_ATTACKER]: {
     energyLimit: null,
-    energyMinimum: 6000,
+    energyMinimum: 3000,
     parts: [WORK, TOUGH, MOVE, HEAL, MOVE, HEAL, MOVE, RANGED_ATTACK, WORK],
     base: [TOUGH, MOVE, MOVE, MOVE, MOVE, MOVE, HEAL, HEAL, HEAL, HEAL, HEAL, RANGED_ATTACK, WORK, WORK],
     //boosts: ['dismantle', 'heal', 'damage'],

src/constants.memory.ts

@@ -16,7 +16,6 @@ export const PATH_CACHE = 'path_cache';
 export const MEMORY_DESTINATION_POS = 'destination_pos';
 
 // Long term memory IDs
-export const MEMORY_HARVEST_CONTAINER = 'harvest_container';
 export const MEMORY_WITHDRAW = 'withdraw';
 export const MEMORY_WITHDRAW_ROOM = 'withdraw_room';
 export const MEMORY_DROPOFF = 'transfer';