ai.cpp now has a nice easy to use API for loading and running the GOAP things.
This commit is contained in:
Zed A. Shaw
parent
a079f882df
commit
b2c1b220ac
4 changed files with 458 additions and 27 deletions
158
ai.cpp
158
ai.cpp
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@ -3,6 +3,7 @@
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namespace ai {
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using namespace nlohmann;
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using namespace dbc;
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bool is_subset(State& source, State& target) {
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State result = source & target;
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@ -29,31 +30,6 @@ namespace ai {
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}
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}
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void Action::load(nlohmann::json& profile, nlohmann::json& config) {
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dbc::check(config.contains("needs"),
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fmt::format("Action.load({}): no 'needs' field", $name));
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dbc::check(config.contains("effects"),
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fmt::format("Action.load({}): no 'effects' field", $name));
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for(auto& [name_key, value] : profile.items()) {
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dbc::check(value < STATE_MAX, fmt::format("Action.load({}): profile field {} has value {} greater than STATE_MAX {}", $name, (std::string)name_key, (int)value, STATE_MAX));
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}
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for(auto& [name_key, value] : config["needs"].items()) {
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dbc::check(profile.contains(name_key), fmt::format("Action.load({}): profile does not have name {}", $name, name_key));
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int name = profile[name_key].template get<int>();
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needs(name, bool(value));
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}
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for(auto& [name_key, value] : config["effects"].items()) {
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dbc::check(profile.contains(name_key), fmt::format("Action.load({}): profile does not have name {}", $name, name_key));
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int name = profile[name_key].template get<int>();
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effect(name, bool(value));
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}
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}
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bool Action::can_effect(State& state) {
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return ((state & $positive_preconds) == $positive_preconds) &&
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@ -92,7 +68,7 @@ namespace ai {
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}
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ActionState find_lowest(std::unordered_map<ActionState, int>& open_set) {
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dbc::check(!open_set.empty(), "open set can't be empty in find_lowest");
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check(!open_set.empty(), "open set can't be empty in find_lowest");
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const ActionState *result = nullptr;
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int lowest_score = SCORE_MAX;
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@ -148,4 +124,134 @@ namespace ai {
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return std::nullopt;
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}
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static AIManager AIMGR;
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static bool initialized = false;
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inline void validate_profile(nlohmann::json& profile) {
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for(auto& [name_key, value] : profile.items()) {
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check(value < STATE_MAX,
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fmt::format("profile field {} has value {} greater than STATE_MAX {}", (std::string)name_key, (int)value, STATE_MAX));
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}
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}
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Action config_action(nlohmann::json& profile, nlohmann::json& config) {
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check(config.contains("name"), "config_action: action config missing name");
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check(config.contains("cost"), "config_action: action config missing cost");
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validate_profile(profile);
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Action result(config["name"], config["cost"]);
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check(config.contains("needs"),
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fmt::format("config_action: no 'needs' field", result.$name));
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check(config.contains("effects"),
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fmt::format("config_action: no 'effects' field", result.$name));
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for(auto& [name_key, value] : config["needs"].items()) {
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check(profile.contains(name_key), fmt::format("config_action: profile does not have name {}", result.$name, name_key));
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int name = profile[name_key].template get<int>();
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result.needs(name, bool(value));
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}
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for(auto& [name_key, value] : config["effects"].items()) {
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check(profile.contains(name_key), fmt::format("config_action: profile does not have name {}", result.$name, name_key));
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int name = profile[name_key].template get<int>();
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result.effect(name, bool(value));
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}
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return result;
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}
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State config_state(nlohmann::json& profile, nlohmann::json& config) {
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State result;
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validate_profile(profile);
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for(auto& [name_key, value] : config.items()) {
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check(profile.contains(name_key), fmt::format("config_state: profile does not have name {}", name_key));
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int name = profile[name_key].template get<int>();
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result[name] = bool(value);
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}
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return result;
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}
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void init() {
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initialized = true;
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Config config("assets/ai.json");
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// profile specifies what keys (bitset indexes) are allowed
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// and how they map to the bitset of State
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AIMGR.profile = config["profile"];
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validate_profile(AIMGR.profile);
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// load all actions
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auto& actions = config["actions"];
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for(auto& action_vars : actions) {
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auto the_action = config_action(AIMGR.profile, action_vars);
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AIMGR.actions.insert_or_assign(the_action.$name, the_action);
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}
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// load all states
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auto& states = config["states"];
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for(auto& [name, state_vars] : states.items()) {
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auto the_state = config_state(AIMGR.profile, state_vars);
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AIMGR.states.insert_or_assign(name, the_state);
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}
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auto& scripts = config["scripts"];
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for(auto& [script_name, action_names] : scripts.items()) {
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std::vector<Action> the_script;
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for(auto name : action_names) {
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check(AIMGR.actions.contains(name),
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fmt::format("ai::init(): script {} uses action {} that doesn't exist",
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(std::string)script_name, (std::string)name));
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the_script.push_back(AIMGR.actions.at(name));
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}
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AIMGR.scripts.insert_or_assign(script_name, the_script);
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}
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}
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State load_state(std::string state_name) {
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check(initialized, "you forgot to initialize the AI first.");
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check(AIMGR.states.contains(state_name), fmt::format(
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"ai::load_state({}): state does not exist in config",
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state_name));
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return AIMGR.states.at(state_name);
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}
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Action load_action(std::string action_name) {
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check(initialized, "you forgot to initialize the AI first.");
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check(AIMGR.states.contains(action_name), fmt::format(
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"ai::load_action({}): action does not exist in config",
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action_name));
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return AIMGR.actions.at(action_name);
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}
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std::vector<Action> load_script(std::string script_name) {
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check(AIMGR.scripts.contains(script_name), fmt::format(
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"ai::load_script(): no script named {} configured", script_name));
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return AIMGR.scripts.at(script_name);
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}
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std::optional<Script> plan(std::string script_name, State start, State goal) {
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check(initialized, "you forgot to initialize the AI first.");
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auto script = load_script(script_name);
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return plan_actions(script, start, goal);
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}
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int state_id(std::string name) {
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check(AIMGR.profile.contains(name), fmt::format(
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"ai::state_id({}): id is not configured in profile",
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name));
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return AIMGR.profile.at(name);
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}
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}
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22
ai.hpp
22
ai.hpp
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@ -5,6 +5,7 @@
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#include <limits>
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#include <optional>
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#include <nlohmann/json.hpp>
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#include "config.hpp"
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namespace ai {
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constexpr const int SCORE_MAX = std::numeric_limits<int>::max();
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@ -30,7 +31,6 @@ namespace ai {
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void needs(int name, bool val);
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void effect(int name, bool val);
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void load(nlohmann::json &profile, nlohmann::json& config);
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bool can_effect(State& state);
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State apply_effect(State& state);
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@ -61,6 +61,26 @@ namespace ai {
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int distance_to_goal(State& from, State& to);
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std::optional<Script> plan_actions(std::vector<Action>& actions, State& start, State& goal);
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struct AIManager {
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nlohmann::json profile;
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std::unordered_map<std::string, Action> actions;
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std::unordered_map<std::string, State> states;
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std::unordered_map<std::string, std::vector<Action>> scripts;
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};
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void init();
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Action config_action(nlohmann::json& profile, nlohmann::json& config);
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State config_state(nlohmann::json& profile, nlohmann::json& config);
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int state_id(std::string name);
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State load_state(std::string state_name);
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Action load_action(std::string action_name);
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std::vector<Action> load_script(std::string script_name);
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std::optional<Script> plan(std::string script_name, State start, State goal);
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}
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template<> struct std::hash<ai::Action> {
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85
assets/ai.json
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85
assets/ai.json
Normal file
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@ -0,0 +1,85 @@
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{
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"profile": {
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"target_acquired": 0,
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"target_lost": 1,
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"target_in_warhead_range": 2,
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"target_dead": 3
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},
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"actions": [
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{
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"name": "searchSpiral",
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"cost": 10,
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"needs": {
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"target_acquired": false,
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"target_lost": true
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},
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"effects": {
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"target_acquired": true
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}
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},
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{
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"name": "searchSerpentine",
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"cost": 5,
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"needs": {
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"target_acquired": false,
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"target_lost": false
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},
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"effects": {
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"target_acquired": true
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}
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},
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{
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"name": "searchSpiral",
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"cost": 5,
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"needs": {
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"target_acquired": false,
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"target_lost": true
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},
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"effects": {
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"target_acquired": true
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}
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},
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{
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"name": "interceptTarget",
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"cost": 5,
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"needs": {
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"target_acquired": true,
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"target_dead": false
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},
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"effects": {
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"target_in_warhead_range": true
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}
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},
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{
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"name": "detonateNearTarget",
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"cost": 5,
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"needs": {
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"target_in_warhead_range": true,
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"target_acquired": true,
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"target_dead": false
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},
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"effects": {
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"target_dead": true
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}
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}
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],
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"states": {
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"test_start": {
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"target_acquired": false,
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"target_lost": true,
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"target_in_warhead_range": false,
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"target_dead": false
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},
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"test_goal": {
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"target_dead": true
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}
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},
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"scripts": {
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"test1": [
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"searchSpiral",
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"searchSerpentine",
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"searchSpiral",
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"interceptTarget",
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"detonateNearTarget"]
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}
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}
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220
tests/ai.cpp
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220
tests/ai.cpp
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@ -0,0 +1,220 @@
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#include <catch2/catch_test_macros.hpp>
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#include "dbc.hpp"
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#include "ai.hpp"
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#include <iostream>
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using namespace dbc;
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using namespace nlohmann;
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TEST_CASE("worldstate works", "[ai]") {
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enum StateNames {
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ENEMY_IN_RANGE,
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ENEMY_DEAD
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};
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ai::State goal;
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ai::State start;
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std::vector<ai::Action> actions;
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// start off enemy not dead and not in range
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start[ENEMY_DEAD] = false;
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start[ENEMY_IN_RANGE] = false;
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// end goal is enemy is dead
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goal[ENEMY_DEAD] = true;
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ai::Action move_closer("move_closer", 10);
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move_closer.needs(ENEMY_IN_RANGE, false);
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move_closer.effect(ENEMY_IN_RANGE, true);
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REQUIRE(move_closer.can_effect(start));
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auto after_move_state = move_closer.apply_effect(start);
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REQUIRE(start[ENEMY_IN_RANGE] == false);
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REQUIRE(after_move_state[ENEMY_IN_RANGE] == true);
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REQUIRE(after_move_state[ENEMY_DEAD] == false);
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// start is clean but after move is dirty
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REQUIRE(move_closer.can_effect(start));
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REQUIRE(!move_closer.can_effect(after_move_state));
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REQUIRE(ai::distance_to_goal(start, after_move_state) == 1);
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ai::Action kill_it("kill_it", 10);
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kill_it.needs(ENEMY_IN_RANGE, true);
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kill_it.needs(ENEMY_DEAD, false);
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kill_it.effect(ENEMY_DEAD, true);
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REQUIRE(!kill_it.can_effect(start));
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REQUIRE(kill_it.can_effect(after_move_state));
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auto after_kill_state = kill_it.apply_effect(after_move_state);
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REQUIRE(!kill_it.can_effect(after_kill_state));
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REQUIRE(ai::distance_to_goal(after_move_state, after_kill_state) == 1);
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actions.push_back(kill_it);
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actions.push_back(move_closer);
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REQUIRE(start != goal);
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}
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TEST_CASE("basic feature tests", "[ai]") {
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enum StateNames {
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ENEMY_IN_RANGE,
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ENEMY_DEAD
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};
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ai::State goal;
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ai::State start;
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std::vector<ai::Action> actions;
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// start off enemy not dead and not in range
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start[ENEMY_DEAD] = false;
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start[ENEMY_IN_RANGE] = false;
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// end goal is enemy is dead
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goal[ENEMY_DEAD] = true;
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ai::Action move_closer("move_closer", 10);
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move_closer.needs(ENEMY_IN_RANGE, false);
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move_closer.effect(ENEMY_IN_RANGE, true);
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ai::Action kill_it("kill_it", 10);
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kill_it.needs(ENEMY_IN_RANGE, true);
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// this is duplicated on purpose to confirm that setting
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// a positive then a negative properly cancels out
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kill_it.needs(ENEMY_DEAD, true);
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kill_it.needs(ENEMY_DEAD, false);
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// same thing with effects
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kill_it.effect(ENEMY_DEAD, false);
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kill_it.effect(ENEMY_DEAD, true);
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// order seems to matter which is wrong
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actions.push_back(kill_it);
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actions.push_back(move_closer);
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auto result = ai::plan_actions(actions, start, goal);
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REQUIRE(result != std::nullopt);
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auto state = start;
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for(auto& action : *result) {
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state = action.apply_effect(state);
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}
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REQUIRE(state[ENEMY_DEAD]);
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}
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TEST_CASE("wargame test from cppAI", "[ai]") {
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std::vector<ai::Action> actions;
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auto profile = R"({
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"target_acquired": 0,
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"target_lost": 1,
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"target_in_warhead_range": 2,
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"target_dead": 3
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})"_json;
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// Now establish all the possible actions for the action pool
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// In this example we're providing the AI some different FPS actions
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auto config = R"({
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"name": "searchSpiral",
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"cost": 5,
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"needs": {
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"target_acquired": false,
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"target_lost": true
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},
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"effects": {
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"target_acquired": true
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}
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})"_json;
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auto spiral = ai::config_action(profile, config);
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actions.push_back(spiral);
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config = R"({
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"name": "searchSerpentine",
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"cost": 5,
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"needs": {
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"target_acquired": false,
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"target_lost": false
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},
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"effects": {
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"target_acquired": true
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}
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})"_json;
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auto serpentine = ai::config_action(profile, config);
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actions.push_back(serpentine);
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config = R"({
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"name": "interceptTarget",
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"cost": 5,
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"needs": {
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"target_acquired": true,
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"target_dead": false
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},
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"effects": {
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"target_in_warhead_range": true
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}
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})"_json;
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auto intercept = ai::config_action(profile, config);
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actions.push_back(intercept);
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config = R"({
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"name": "detonateNearTarget",
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"cost": 5,
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"needs": {
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"target_in_warhead_range": true,
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"target_acquired": true,
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"target_dead": false
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},
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"effects": {
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"target_dead": true
|
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}
|
||||
})"_json;
|
||||
|
||||
auto detonateNearTarget = ai::config_action(profile, config);
|
||||
actions.push_back(detonateNearTarget);
|
||||
|
||||
// Here's the initial state...
|
||||
config = R"({
|
||||
"target_acquired": false,
|
||||
"target_lost": true,
|
||||
"target_in_warhead_range": false,
|
||||
"target_dead": false
|
||||
})"_json;
|
||||
auto initial_state = ai::config_state(profile, config);
|
||||
|
||||
// ...and the goal state
|
||||
config = R"({
|
||||
"target_dead": true
|
||||
})"_json;
|
||||
auto goal_target_dead = ai::config_state(profile, config);
|
||||
|
||||
auto result = ai::plan_actions(actions, initial_state, goal_target_dead);
|
||||
REQUIRE(result != std::nullopt);
|
||||
|
||||
auto state = initial_state;
|
||||
|
||||
for(auto& action : *result) {
|
||||
fmt::println("ACTION: {}", action.$name);
|
||||
state = action.apply_effect(state);
|
||||
}
|
||||
|
||||
REQUIRE(state[profile["target_dead"]]);
|
||||
}
|
||||
|
||||
TEST_CASE("ai as a module like sound/sprites", "[ai]") {
|
||||
ai::init();
|
||||
|
||||
auto start = ai::load_state("test_start");
|
||||
auto goal = ai::load_state("test_goal");
|
||||
|
||||
auto script = ai::plan("test1", start, goal);
|
||||
REQUIRE(script != std::nullopt);
|
||||
|
||||
auto state = start;
|
||||
for(auto& action : *script) {
|
||||
fmt::println("ACTION: {}", action.$name);
|
||||
state = action.apply_effect(state);
|
||||
}
|
||||
|
||||
REQUIRE(state[ai::state_id("target_dead")]);
|
||||
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue