lgbot: steer only within LG reach on the same floor; let the AI walk around walls

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)
+from lgbot import (PRESETS, KEYS, resolve, Strafer, wanted_range, steer, fix_z, pick_target, to_int, is_bot, is_lgbot, StuckGuard)
 
 
 def preset(n, **kw):
@@ -156,10 +156,34 @@ class Misc(unittest.TestCase):
         self.assertIsNone(to_int(None))
 
     def test_pick_target(self):
-        c = [((300, 0), "near"), ((900, 0), "far")]
-        self.assertEqual(pick_target((0, 0), c), "near")
-        self.assertIsNone(pick_target((0, 0), [((2000, 0), "x")]))
-        self.assertIsNone(pick_target((0, 0), []))
+        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), []))
+
+    def test_pick_target_ignores_other_floors(self):
+        c = [((200, 0, 300), "above"), ((600, 0, 40), "same floor")]
+        self.assertEqual(pick_target((0, 0, 0), c), "same floor")
+        self.assertIsNone(pick_target((0, 0, 0), [((200, 0, -300), "below")]))
+
+
+class Stuck(unittest.TestCase):
+    def test_steers_while_moving(self):
+        g = StuckGuard()
+        self.assertTrue(all(g.update(t, 320, 300) for t in range(0, 3000, 25)))
+
+    def test_lets_go_when_blocked_then_retries(self):
+        g = StuckGuard()
+        results = [(t, g.update(t, 320, 50)) for t in range(0, 4000, 25)]
+        first_off = next(t for t, ok in results if not ok)
+        self.assertTrue(450 <= first_off <= 550)
+        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_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)]
+        self.assertTrue(all(ok))
 
 
 import json, tempfile