Rituals are more or less sorted out in theory, and they helped find a cycle in the GOAP algorithm that I'm detecting/preventing.

goap.cpp

@@ -1,8 +1,10 @@
 #include "dbc.hpp"
 #include "goap.hpp"
 #include "ai_debug.hpp"
+#include "stats.hpp"
 
 namespace ai {
+
   using namespace nlohmann;
   using namespace dbc;
 
@@ -36,7 +38,6 @@ namespace ai {
     $negative_preconds[name] = false;
   }
 
-
   bool Action::can_effect(State& state) {
     return ((state & $positive_preconds) == $positive_preconds) &&
       ((state & $negative_preconds) == ALL_ZERO);
@@ -53,14 +54,24 @@ namespace ai {
 
   Script reconstruct_path(std::unordered_map<Action, Action>& came_from, Action& current) {
     Script total_path{current};
+    bool final_found = false;
 
-    while(came_from.contains(current)) {
+    for(size_t i = 0; i <= came_from.size() && came_from.contains(current); i++) {
       current = came_from.at(current);
       if(current != FINAL_ACTION) {
         total_path.push_front(current);
+      } else {
+        final_found = true;
       }
     }
 
+    // this here temporarily while I figure out cycle detects/prevention
+    if(!final_found && total_path[0] != FINAL_ACTION) {
+      auto error = fmt::format("!!!!! You may have a cycle in your json. No FINAL found. Here's the path: ");
+      for(auto& action : total_path) error += fmt::format("{} ", action.name);
+      dbc::sentinel(error);
+    }
+
     return total_path;
   }
 
@@ -96,7 +107,7 @@ namespace ai {
     ActionState current{FINAL_ACTION, start};
 
     g_score[start] = 0;
-    open_set[current] = g_score[start] + h(start, goal, current.action);
+    open_set.insert_or_assign(current, g_score[start] + h(start, goal, current.action));
 
     while(!open_set.empty()) {
       current = find_lowest(open_set);
@@ -127,7 +138,10 @@ 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, neighbor_as.action);
+
+          int score = tentative_g_score + h(neighbor, goal, neighbor_as.action);
+          // could maintain lowest here and avoid searching all things
+          open_set.insert_or_assign(neighbor_as, score);
         }
       }
     }