lgbot: review fixes: drift reset after pauses, player-like acceleration, sticky targets with hysteresis, wall backoff; plugin glue tests

Co-Authored-By: Claude Opus 5.5 <[email protected]>

tools/test_lgbot.py

@@ -1,7 +1,7 @@
 import math, os, random, sys, unittest
 
 sys.path.insert(0, os.path.join(os.path.dirname(os.path.abspath(__file__)), "..", "home", "minqlx-plugins"))
-from lgbot import (PRESETS, KEYS, resolve, Strafer, wanted_range, steer, fix_z, pick_target, to_int, is_bot, is_lgbot, StuckGuard)
+from lgbot import (PRESETS, KEYS, resolve, Strafer, wanted_range, steer, fix_z, pick_target, to_int, is_bot, is_lgbot, StuckGuard, approach, ACCEL)
 
 
 def preset(n, **kw):
@@ -83,6 +83,40 @@ class StraferTest(unittest.TestCase):
             d = st.step(now, s)
 
 
+    def test_gap_does_not_count_as_drift(self):
+        # bot dead / out of range for 10 s: afterwards it must still strafe both ways (C1)
+        s = preset(5)
+        st, now = Strafer(random.Random(5)), 0
+        for _ in range(80):
+            now += 25; st.step(now, s)
+        now += 10000
+        dirs = []
+        for _ in range(400):
+            now += 25; dirs.append(st.step(now, s))
+        self.assertLess(max(dirs.count(1), dirs.count(-1)) / 400.0, 0.75)
+
+    def test_reset_clears_drift(self):
+        st = Strafer(random.Random(1))
+        st.drift, st.last = 5000, 123
+        st.reset()
+        self.assertEqual((st.drift, st.last), (0, None))
+
+
+class Accel(unittest.TestCase):
+    def test_limits_change_per_frame(self):
+        v = approach((320, 0), (-320, 0), ACCEL * 0.025)
+        self.assertAlmostEqual(v[0], 320 - ACCEL * 0.025, places=6)
+
+    def test_reaches_target_when_close(self):
+        self.assertEqual(approach((300, 0), (320, 0), 80), (320, 0))
+
+    def test_reversal_takes_human_time(self):
+        v, frames = (320.0, 0.0), 0
+        while v[0] > -319:
+            v = approach(v, (-320, 0), ACCEL * 0.025); frames += 1
+        self.assertTrue(6 <= frames <= 10, frames)   # ~150-250 ms, not one frame
+
+
 class Range(unittest.TestCase):
     def test_plain(self):
         self.assertEqual(wanted_range(preset(1), 100, 100), 450)
@@ -158,7 +192,7 @@ class Misc(unittest.TestCase):
     def test_pick_target(self):
         c = [((300, 0, 0), "near"), ((800, 0, 0), "far")]
         self.assertEqual(pick_target((0, 0, 0), c), "near")
-        self.assertIsNone(pick_target((0, 0, 0), [((1000, 0, 0), "x")]))   # beyond LG reach: AI walks there
+        self.assertIsNone(pick_target((0, 0, 0), [((950, 0, 0), "x")]))   # too far to start steering
         self.assertIsNone(pick_target((0, 0, 0), []))
 
     def test_pick_target_ignores_other_floors(self):
@@ -166,6 +200,17 @@ class Misc(unittest.TestCase):
         self.assertEqual(pick_target((0, 0, 0), c), "same floor")
         self.assertIsNone(pick_target((0, 0, 0), [((200, 0, -300), "below")]))
 
+    def test_keeps_current_target_a_bit_past_the_start_limit(self):
+        self.assertEqual(pick_target((0, 0, 0), [((950, 0, 0), "a")], current="a"), "a")    # hysteresis
+        self.assertIsNone(pick_target((0, 0, 0), [((1050, 0, 0), "a")], current="a"))
+
+    def test_sticky_target(self):
+        c = [((500, 0, 0), "a"), ((420, 0, 0), "b")]
+        self.assertEqual(pick_target((0, 0, 0), c, current="a"), "a")       # b only 80 closer: stay
+        c = [((500, 0, 0), "a"), ((300, 0, 0), "b")]
+        self.assertEqual(pick_target((0, 0, 0), c, current="a"), "b")       # clearly closer: switch
+        self.assertEqual(pick_target((0, 0, 0), [((400, 0, 0), "b")], current="a"), "b")   # a gone
+
 
 class Stuck(unittest.TestCase):
     def test_steers_while_moving(self):
@@ -180,6 +225,29 @@ class Stuck(unittest.TestCase):
         back_on = next(t for t, ok in results if t > first_off and ok)
         self.assertTrue(1900 <= back_on - first_off + 500 <= 2100)   # off for 1.5 s
 
+    def test_backs_off_longer_when_it_keeps_failing(self):
+        g = StuckGuard()
+        offs, prev = [], True
+        for t in range(0, 20000, 25):
+            ok = g.update(t, 320, 50)
+            if prev and not ok:
+                offs.append(t)
+            prev = ok
+        gaps = [b - a for a, b in zip(offs, offs[1:])]
+        self.assertGreater(gaps[1], gaps[0])          # 1.5 s, 3 s, 6 s ... between retries
+        self.assertLessEqual(max(gaps), 6000 + 525)
+
+    def test_backoff_resets_after_clean_steering(self):
+        g = StuckGuard()
+        for t in range(0, 4000, 25):
+            g.update(t, 320, 50)                       # two releases: streak up
+        for t in range(4000, 12000, 25):
+            g.update(t, 320, 300)                      # clean for a while
+        res = [(t, g.update(t, 320, 50)) for t in range(12000, 16000, 25)]
+        off = next(t for t, ok in res if not ok)
+        back = next(t for t, ok in res if t > off and ok)
+        self.assertEqual(back - off, 1500)                     # back to a 1.5 s release
+
     def test_short_bump_is_fine(self):
         g = StuckGuard()
         ok = [g.update(t, 320, 50 if 1000 <= t < 1300 else 300) for t in range(0, 3000, 25)]
@@ -267,6 +335,25 @@ class Parsing(unittest.TestCase):
         self.assertFalse(setup.bot_present("(no output)"))
 
 
+class Main(unittest.TestCase):
+    def test_refused_run_keeps_saved_setup(self):
+        path = os.path.join(tempfile.mkdtemp(), "lgbot.json")
+        impostor_status = STATUS_WITH_BOT.replace("lgbot                 0 bot     ", "lgbot                 0 1.2.3.4:5")
+        sent = []
+        def run(cmd):
+            sent.append(cmd)
+            return impostor_status if cmd == "status" else ""
+        old_state, old_server = setup.STATE, setup.server
+        setup.STATE, setup.server = path, (lambda: run)
+        try:
+            rc = setup.main(["lgbot"], feeder("1", "5", "n"))
+        finally:
+            setup.STATE, setup.server = old_state, old_server
+        self.assertNotEqual(rc, 0)
+        self.assertFalse(os.path.exists(path))
+        self.assertEqual(sent, ["status"])          # no kick, no set
+
+
 class Commands(unittest.TestCase):
     def test_no_details_resets_to_minus_one(self):
         cmds = setup.build_commands({"aim": 2, "move": 4, "details": {}}, readd=False, bot_in=True)