The autowalker now uses the GOAP AI system to walk the map and do its thing. The code needs a big cleanup, so I might just do a full rewrite based on what I know now.

autowalker.cpp

@@ -1,20 +1,33 @@
 #include "autowalker.hpp"
 #include "inventory.hpp"
+#include "ai.hpp"
 
 template<typename Comp>
-Pathing compute_paths(gui::FSM& fsm, int& count_out) {
+int number_left(gui::FSM& fsm) {
+  int count = 0;
+
+  fsm.$level.world->query<components::Position, Comp>(
+    [&](const auto ent, auto&, auto&) {
+        if(ent != fsm.$level.player) {
+          count++;
+        }
+    });
+
+  return count;
+}
+
+template<typename Comp>
+Pathing compute_paths(gui::FSM& fsm) {
   auto& walls_original = fsm.$level.map->$walls;
   auto walls_copy = walls_original;
 
   Pathing paths{matrix::width(walls_copy), matrix::height(walls_copy)};
-  count_out = 0;
 
   fsm.$level.world->query<components::Position>(
   [&](const auto ent, auto& position) {
       if(ent != fsm.$level.player) {
         if(fsm.$level.world->has<Comp>(ent)) {
           paths.set_target(position.location);
-          count_out = count_out + 1;
         } else {
           // this will mark that spot as a wall so we don't path there temporarily
           walls_copy[position.location.y][position.location.x] = WALL_PATH_LIMIT;
@@ -28,17 +41,18 @@ Pathing compute_paths(gui::FSM& fsm, int& count_out) {
 }
 
 Pathing Autowalker::path_to_enemies() {
-  return compute_paths<components::Combat>(fsm, enemy_count);
+  return compute_paths<components::Combat>(fsm);
 }
 
 Pathing Autowalker::path_to_items() {
-  return compute_paths<components::InventoryItem>(fsm, item_count);
+  return compute_paths<components::InventoryItem>(fsm);
 }
 
 Pathing Autowalker::path_to_devices() {
-  return compute_paths<components::Device>(fsm, device_count);
+  return compute_paths<components::Device>(fsm);
 }
 
+
 void Autowalker::window_events() {
   fsm.$window.handleEvents(
       [&](const sf::Event::KeyPressed &) {
@@ -57,9 +71,11 @@ void Autowalker::process_combat() {
       || fsm.in_state(gui::State::ATTACKING))
   {
     if(fsm.in_state(gui::State::ATTACKING)) {
+      fmt::println("In attacking state, sending a TICK");
       send_event(gui::Event::TICK);
     } else {
-      send_event(gui::Event::ATTACK);
+      fmt::println("Not in ATTACK, sending an ATTACK to continue combat.");
+      send_event(gui::Event::ATTACK);;
     }
   }
 }
@@ -73,12 +89,15 @@ bool Autowalker::path_player(Pathing& paths, Point& target_out) {
   bool found = paths.random_walk(target_out, false, PATHING_TOWARD);
 
   if(!found) {
-    dbc::log("no neighbor found, aborting autowalk");
+    dbc::log("no neighbor found in any direction, aborting autowalk");
+    matrix::dump("NO TOWARD", paths.$paths, target_out.x, target_out.y);
     return false;
   }
 
   if(!fsm.$level.map->can_move(target_out)) {
     dbc::log("neighbors is telling me to go to a bad spot.");
+    matrix::dump("BAD TARGET PATHS", paths.$paths, target_out.x, target_out.y);
+    matrix::dump("BAD TARGET MAP", fsm.$level.map->walls(), target_out.x, target_out.y);
     return false;
   }
 
@@ -156,34 +175,64 @@ void Autowalker::autowalk() {
   window_events();
   if(!fsm.autowalking) return;
 
-  process_combat();
+  int move_attempts = 0;
+
+  auto start = ai::load_state("Walker::initial_state");
+  auto goal = ai::load_state("Walker::final_state");
+
+  do {
+    int enemy_count = number_left<components::Combat>(fsm);
+    int item_count = number_left<components::InventoryItem>(fsm);
+
+    fmt::println("ENEMY COUNT: {}, ITEM COUNT: {}", enemy_count, item_count);
+
+    window_events();
+    ai::set(start, "no_more_enemies", enemy_count == 0);
+    ai::set(start, "no_more_items", item_count == 0);
+    ai::set(start, "enemy_found",
+        fsm.in_state(gui::State::IN_COMBAT) ||
+        fsm.in_state(gui::State::ATTACKING));
+
+    auto a_plan = ai::plan("Walker::actions", start, goal);
+
+    // need a test for plan complete and only action is END
+    for(auto action : a_plan.script) {
+      if(action.$name == "find_enemy") {
+        // this is where to test if enemy found and update state
+        fmt::println("FINDING AN ENEMY");
         auto paths = path_to_enemies();
-
+        auto pos = get_current_position();
-  if(enemy_count == 0) {
+        matrix::dump("FINDING", paths.$paths, pos.x, pos.y);
-    dbc::log("Killed everything, now finding items.");
+        process_move(paths);
-    paths = path_to_items();
+      } else if(action.$name == "kill_enemy") {
-  }
+        fmt::println("KILLING ENEMY");
-
+        process_combat();
-  if(enemy_count == 0 && item_count == 0) {
+      } else if(action.$name == "find_healing") {
-    dbc::log("No more items, find the exit.");
+        fmt::println("FINDING HEALING");
-    paths = path_to_devices();
+        auto paths = path_to_items();
-  }
+        process_move(paths);
-
+        // do the path to healing thing
-  if(enemy_count == 0 &&
+      } else if(action.$name == "collect_items") {
-      item_count == 0 &&
+        fmt::println("COLLECTING ITEMS");
-      device_count == 0)
+        auto paths = path_to_items();
-  {
+        process_move(paths);
+        // path to the items and get them all
+      } else if(action.$name == "END") {
+        fmt::println("END STATE, complete? {}", a_plan.complete);
         fsm.autowalking = false;
-    dbc::log("no more enemies, items, or devices.");
+      } else {
-    return;
+        fmt::println("Unknown action: {}", action.$name);
       }
 
+      move_attempts++;
+    }
+  } while(move_attempts < 100 && fsm.autowalking);
+}
+
+void Autowalker::process_move(Pathing& paths) {
   Point current = get_current_position();
   Point target = current;
 
-  show_map_overlay(paths.$paths, current);
-
-
   if(!path_player(paths, target)) {
     dbc::log("no paths found, aborting autowalk");
     fsm.autowalking = false;
@@ -191,28 +240,12 @@ void Autowalker::autowalk() {
   }
 
   rotate_player(current, target);
+  while(fsm.in_state(gui::State::ROTATING)) send_event(gui::Event::TICK);
 
-  int move_attempts = 0;
-  do {
-    process_combat();
-    process_move();
-    // BUG: sometimes in idle but there's an enemy near but combat hasn't started
-    // for now just toss out an ATTACK and it'll be ignored or cause combat
-    send_event(gui::Event::ATTACK);
-    move_attempts++;
-  } while(move_attempts < 100 && !player_has_moved(target));
-}
-
-void Autowalker::process_move() {
   send_event(gui::Event::MOVE_FORWARD);
   while(fsm.in_state(gui::State::MOVING)) send_event(gui::Event::TICK);
 }
 
-bool Autowalker::player_has_moved(Point target) {
-  Point current = get_current_position();
-  return current.x == target.x && current.y == target.y;
-}
-
 void Autowalker::send_event(gui::Event ev) {
   fsm.event(ev);
   fsm.render();

autowalker.hpp

@@ -19,8 +19,7 @@ struct Autowalker {
   bool path_player(Pathing& paths, Point &target_out);
   Point get_current_position();
   void rotate_player(Point current, Point target);
-  bool player_has_moved(Point target);
+  void process_move(Pathing& paths);
-  void process_move();
   Pathing path_to_enemies();
   Pathing path_to_items();
   Pathing path_to_devices();

scratchpad/a_star.cpp

@@ -0,0 +1,82 @@
+
+constexpr const float SCORE_MAX = std::numeric_limits<float>::max()
+
+using AStarPath = std::deque<Point>;
+
+void update_map(Matrix& map, std::deque<Point>& total_path) {
+  for(auto &point : total_path) {
+    map[point.y][point.x] = 10;
+  }
+}
+
+AStarPath reconstruct_path(std::unordered_map<Point, Point>& came_from, Point current) {
+  std::deque<Point> total_path{current};
+
+  while(came_from.contains(current)) {
+    current = came_from[current];
+    total_path.push_front(current);
+  }
+
+  return total_path;
+}
+
+inline float h(Point from, Point to) {
+  return std::hypot(float(from.x) - float(to.x),
+      float(from.y) - float(to.y));
+}
+
+inline float d(Point current, Point neighbor) {
+  return std::hypot(float(current.x) - float(neighbor.x),
+      float(current.y) - float(neighbor.y));
+}
+
+inline Point find_lowest(std::unordered_map<Point, float>& open_set) {
+  dbc::check(!open_set.empty(), "open set can't be empty in find_lowest");
+  Point result;
+  float lowest_score = SCORE_MAX;
+
+  for(auto [point, score] : open_set) {
+    if(score < lowest_score) {
+      lowest_score = score;
+      result = point;
+    }
+  }
+
+  return result;
+}
+
+
+std::optional<AStarPath> path_to_player(Matrix& map, Point start, Point goal) {
+  std::unordered_map<Point, float> open_set;
+  std::unordered_map<Point, Point> came_from;
+  std::unordered_map<Point, float> g_score;
+  g_score[start] = 0;
+
+  open_set[start] = g_score[start] + h(start, goal);
+
+  while(!open_set.empty()) {
+    auto current = find_lowest(open_set);
+
+    if(current == goal) {
+      return std::make_optional<AStarPath>(reconstruct_path(came_from, current));
+    }
+
+    open_set.erase(current);
+
+    for(matrix::compass it{map, current.x, current.y}; it.next();) {
+      Point neighbor{it.x, it.y};
+
+      float d_score = d(current, neighbor) + map[it.y][it.x] * SCORE_MAX;
+      float tentative_g_score = g_score[current] + d_score;
+      float neighbor_g_score = g_score.contains(neighbor) ? g_score[neighbor] : SCORE_MAX;
+      if(tentative_g_score < neighbor_g_score) {
+        came_from[neighbor] = current;
+        g_score[neighbor] = tentative_g_score;
+        // open_set gets the fScore
+        open_set[neighbor] = tentative_g_score + h(neighbor, goal);
+      }
+    }
+  }
+
+  return std::nullopt;
+}