#!/usr/bin/env python3 """A pilot that tries to stay alive, not just to shoot. Every earlier loop flew a straight pursuit and was shot down; the trace from ctrl_probe.py shows why — 1500 hull points gone in twelve seconds while sitting in a turret's line of fire, with no reaction of any kind. Three measured facts make a reaction possible: * **Hull is `position + 0x154`** — at spawn it equals the unit definition's own `HP` (1500 for the Delta Saber), it steps down 30/60/90 per hit, and it goes negative at death. So damage is observable *as it happens*, not inferred. * **`RT` accelerates and `LT` brakes**, and the setting persists: measured ground speed went 488 → 1510 under RT, 488 → 174 under LT and then *stayed* near 130 with the sticks neutral. (The older note "RT is not the throttle" was drawn from a value-scan for a speed field, not from measuring the speed.) * **`RB` fires** (autopilot-memory-driven.md). So the loop is a state machine on damage rather than a pure pursuit: ENGAGE chase and shoot the nearest hostile fighter DEFEND the escorted asset is being attacked — go kill what is attacking IT EVADE entered the moment the hull drops — turn away from the threats, full throttle, jink; leave only after several quiet seconds RETIRE hull below a floor: break for the friendly capital ship, which the mission's own hint says is where you resupply Turrets are treated as threats to be *kept at a distance*, not as targets: the objective is the invading fighters, and the turret is what killed every previous run. **Why DEFEND exists, and why it is not simply "always guard the asset".** Stage 02 is an escort: a 240 s run ended in GAME OVER with our own hull at 1500/1500 because the ACROPOLIS sank while the pilot chased the nearest fighter 2 km away. But the measurement in docs/re/mission-escort-state.md says the loss is *slow* — a few hundred to ~1400 HP/min against 25000, i.e. tens of minutes to sink. (When it starts varies: t≈170 s in one run, t≈70 s in another, so do not schedule on it — react to the hull.) So permanently orbiting it would throw away most of the mission for nothing. The policy that fits the measurement is: **fight freely until the asset is actually being hurt, then switch to killing its attackers specifically.** Both the trigger and the target choice are read live — every entity's hull is `position + 0x154`, confirmed for seven classes, so "is the asset losing hull" and "which hostiles are closing on it" are both observable rather than inferred. Usage: pilot.py [seconds] [--dry] """ import json import math import os import struct import sys import time from collections import deque import numpy as np sys.path.insert(0, os.path.dirname(os.path.abspath(__file__))) import gmem # noqa: E402 import navigator # noqa: E402 from navigator import ang, norm # noqa: E402 from flight_probe import Pad # noqa: E402 HULL_OFF = 0x154 # confirmed: == definition HP at spawn, falls when hit SHIELD_OFF = 0x430 # candidate: == definition Shield MaxValue at spawn DEF_HP = 0x054 # unit-struct-runtime.md # The player Delta Saber's guns, from the solved Shell records # (docs/re/captures/weapon-runtime-fields.csv, all ✅ CONFIRMED): # Shell_TCAF_DeltaSaber_{NoseGun,Gun,Beam}_P Velocity 8000, LifeTime 0.5 s, # MaximumRange 4000 (= 8000 × 0.5, self-consistent), shell Radius 20–30. # Both numbers were previously wrong in this loop, and both mattered: # * flight time was computed as d / OUR speed (400–2000 u/s), so every shot # was led 4–16× too far ahead of the target; # * FIRE_RANGE was 5000, i.e. a quarter of the shots were fired at targets # the shells expire before reaching. SHELL_VELOCITY = 8000.0 SHELL_MAX_RANGE = 4000.0 SHELL_RADIUS = 20.0 # The MAIN weapon, fired with Y — measured, not assumed: a hold-each-input probe # (fire_probe.sh) moved NOSE BM 06000 -> 05956 under RB and MAIN MPM 00300 -> # 00299 under Y, so RB is the nose gun (~11 rounds/s) and Y is the main mount. # That probe also settled the lethality question the other way round: we DO # shoot, so the kill counters reading 0000 mean we shoot and MISS. # # Which is exactly what the disc data says to stop doing. Shell_TCAF_DeltaSaber_ # Missile_P is Power 200 with GuidanceType 5 (guided) and MaximumRange 5000, # against the nose gun's Power 15 unguided — one missile is worth ~14 gun hits # on a 500 HP fighter, and it steers itself, which is the accuracy problem # solved rather than tuned. Range is held under the confirmed 5000 because which # main weapon is actually loaded is not read from RAM yet. MISSILE_RANGE = 4000.0 MISSILE_CONE = math.radians(20.0) MISSILE_PERIOD = 2.0 # s between launches; 300 rounds is not unlimited # Stage 02's protected asset. Named rather than derived: "the biggest friendly" # picks the f105 cruiser (30000 HP > the Acropolis's 25000), and "the friendly # with the most HP" picks it too, so neither rule finds the right ship. The # per-stage asset is mission script, not a property of the entity, so it is # configuration here — override with $SYLPH_ASSET for another stage. ASSET_NAME = os.environ.get("SYLPH_ASSET", "Acropolis") class Pilot: KP, KD = 2.2, 0.45 FIRE_CONE = math.radians(9) # fallback only; the real gate is angular size FIRE_RANGE = SHELL_MAX_RANGE # the shells simply do not arrive past this CONE_MIN = math.radians(2.0) CONE_MAX = math.radians(25.0) # close-in the target subtends a lot; let it TURRET_KEEPOUT = 2500.0 # ...and stay this far from things that shoot back EVADE_QUIET = 5.0 # seconds without damage before re-engaging RETIRE_FRAC = 0.30 # hull fraction that sends us home HZ = 8.0 # --- escort --- ASSET_GUARD = 9000.0 # hostiles this close to the asset count as its attackers ASSET_QUIET = 20.0 # s of no asset damage before dropping out of DEFEND ASSET_ALERT = 0.5 # HP of asset damage that counts as "under attack" ASSET_STANDOFF = 3500.0 # loiter this far out when guarding with no target HULL_CLEARANCE = 800.0 # clearance ON TOP of a capital ship's own radius CLOSING_WEIGHT = 4.0 # s of closing-rate credit when ranking attackers MY_RANGE_WEIGHT = 0.35 # how much our own distance discounts a target # --- target commitment --- # The loop re-scored every contact every tick, so the nose chased whichever # fighter was momentarily best and the aim error wandered 10-40 deg through # a pass. A missile lock is time-on-target (the OPTIONS screen calls it # Padlock), so switching targets constantly is the one thing guaranteed to # prevent a kill. Stay on the chosen contact until it dies, leaves range, or # sits behind us long enough that chasing it is pointless. COMMIT_MAX = 14.0 # s before we are allowed to reconsider anyway COMMIT_DROP = 6000.0 # ...or it gets this far away COMMIT_BEHIND = 2.5 # ...or stays >90 deg off the nose this long # --- moves the ADVANCED CONTROLS tutorial teaches (tutorial_capture.sh) --- # "Target an enemy and pull LT and RT [together]. This sets your fighter's # speed to that of the target. This works well when you are trying to get # behind an enemy. Once behind an enemy, this also helps you attack them." # That is the overshoot problem solved by the game itself: matching speed # holds us in the target's rear hemisphere instead of flying through it, # which is the only way a time-on-target lock ever completes. # Scope matters, and a measured regression proved it: applying the match at # 4500 with a 70 deg cone dropped kills 9 -> 0. Matching a target's speed # while still 5 km behind it means never closing — the pilot sat at 272 u/s # and fired 28 frames all run. The tutorial's own wording scopes it: "when # you are trying to get BEHIND an enemy... ONCE BEHIND an enemy, this also # helps you attack them". So it is station-keeping in the saddle, not an # approach throttle. Only match when we are already there. # MEASURED: both tutorial moves are a NET REGRESSION as applied here, so # both ship DISABLED. One run each, same everything else: # commitment only ............ 101 missiles, 364 fire frames, 9 kills # + match(4500) + snap-face .... 9 missiles, 28 fire frames, 0 kills # + match(1200) + snap-face ... 57 missiles, 225 fire frames, 2 kills # The moves are real and the tutorial is right about them; the loop just # cannot use them yet. Snap-face (B+A) reorients the craft mid-pursuit and # destroys the very dwell that commitment buys, and speed-match needs to be # entered from the saddle rather than commanded at range. Set MATCH_RANGE # and lower FACE_MIN to re-enable, and A/B them over SEVERAL runs — one run # per config is inside this stage's spawn variance. MATCH_RANGE = 0.0 # 1200.0 to re-enable MATCH_CONE = math.radians(25) # "Press B and A together to face [the target]" — a snap turn, far quicker # than winding the PD controller around for a contact behind us. FACE_MIN = math.radians(999) # 50 deg to re-enable the B+A snap turn # HEADS-UP DISPLAY tutorial, verbatim: "Press A twice to target the enemy # closest to the center of the screen." A DOUBLE tap — which is why every # single-tap button sweep found nothing and concluded targeting was # automatic. It also explains the missiles: GuidanceType 5 needs the GAME's # selection, and we had never made one, so 98 launches guided to nothing. # Select only when our committed contact is already near screen centre, so # the game's choice and ours are the same object. SELECT_CONE = math.radians(14) SELECT_PERIOD = 3.0 FACE_PERIOD = 4.0 def __init__(self, W, pad, dry=False, log=sys.stdout): self.W = W self.pad = pad self.dry = dry self.log = log # closest-point-of-approach avoidance is navigator.py's, reused as-is self.av = navigator.Navigator(W, pad, dry=True, log=log) self.prevM = None self.firing = False self.throttle = 0 # -1 brake, 0 coast, +1 accelerate self.mode = "ENGAGE" self.hp_hist = deque(maxlen=64) self.hp0 = None self.last_hit = -1e9 self.threat_dir = None # escort bookkeeping self.def_hp = {} # def_va -> definition HP for va in W.defs: self.def_hp[va] = self.f32(gmem.va_to_off(va) + DEF_HP) self.asset_hist = deque(maxlen=64) self.asset_hp0 = None self.asset_last_hit = -1e9 self.missile_down = False self.missile_t = -1e9 self.missiles = 0 self.commit_off = None # entity we are committed to self.commit_t = -1e9 self.behind_since = None self.matching = False self.face_t = -1e9 self.face_down = None self.faces = 0 self.select_t = -1e9 self.selects = 0 def f32(self, off): b = os.pread(self.W.fd, 4, off) if len(b) < 4: return float("nan") return struct.unpack(">f", b)[0] # ---------------------------------------------------------------- escort def asset(self, ents): """The protected ship, and its live hull — same anchor as everyone's.""" for off, nm, p, v, r in ents: if ASSET_NAME in nm: hull = self.f32(off + HULL_OFF) return off, nm, p, v, r, hull return None def asset_attackers(self, hos, a_p): """Hostile fighters near the asset, ranked by how hard they press it. Ranking is distance to the asset *minus* credit for closing on it, so a fighter 4 km out and running in outranks one sitting at 2 km drifting away. Turrets and hulls are excluded for the same reason as everywhere else: they are not killable objectives, they are keep-out zones. """ out = [] for off, nm, p, v, r, hard in hos: if hard: continue rel = a_p - p d = float(np.linalg.norm(rel)) if d > self.ASSET_GUARD: continue closing = float(np.dot(norm(rel), v)) # +ve = moving at the asset out.append((d - self.CLOSING_WEIGHT * max(closing, 0.0), off, nm, p, v, d, r)) out.sort(key=lambda e: e[0]) return out # ------------------------------------------------------------ own state def own(self, off): b = os.pread(self.W.fd, 8, off + HULL_OFF) hull = struct.unpack_from(">f", b, 0)[0] if len(b) >= 4 else float("nan") b2 = os.pread(self.W.fd, 4, off + SHIELD_OFF) shield = struct.unpack(">f", b2)[0] if len(b2) == 4 else float("nan") return hull, shield def set_throttle(self, want): """RT / LT are a persistent setting, so only send the change. `want` is +1 accelerate, -1 brake, 0 coast, or the string "match" for the tutorial's both-triggers speed-match onto the current target. """ if want == self.throttle or self.dry: return if want == "match": self.pad.trig("RT", 1.0) self.pad.trig("LT", 1.0) else: self.pad.trig("RT", 1.0 if want > 0 else 0.0) self.pad.trig("LT", 1.0 if want < 0 else 0.0) self.throttle = want def select_target(self, t): """A, twice: make the GAME target what we are already pointing at.""" if self.dry or t - self.select_t < self.SELECT_PERIOD: return self.pad.f.write("tap A 90\n") self.pad.f.write("tap A 90\n") self.select_t = t self.selects += 1 def face_target(self, t): """B + A: snap the nose onto the selected target.""" if self.dry or t - self.face_t < self.FACE_PERIOD: return self.pad.press("B") self.pad.press("A") self.face_down = t self.face_t = t self.faces += 1 # -------------------------------------------------------------- targets def hostiles(self, ents, me_off): out = [] for off, nm, p, v, r in ents: if off == me_off or navigator.faction(nm) != "ADAN": continue out.append((off, nm, p, v, r, "Turret" in nm or r >= navigator.Navigator.BIG_RADIUS)) return out def lead_point(self, p, v, d): """Where to aim: the target moved on by the shell's real flight time.""" return p + v * (d / SHELL_VELOCITY) def fire_cone(self, d, r): """How far off the nose we will still pull the trigger. The target's angular half-size, atan((r_target + r_shell) / range), is the angle that can actually *hit* — but gating on it alone was measured to be much worse than the old fixed 9°: at 2584 units a fighter subtends 2.7°, the steering loop holds the nose to ~10–30°, and firing collapsed to 1 frame in 2639. Ammunition is free and the guns are continuous, so the angular size belongs here as a **floor** that opens the gate wider up close, never as a cap that closes it far out. """ if d < 1.0: return self.CONE_MAX return min(self.CONE_MAX, max(self.FIRE_CONE, math.atan2(r + SHELL_RADIUS, d))) def pick_committed(self, t, me_p, me_v, fwd, hos): """pick(), but stay on the same contact long enough to actually kill it.""" cur = None for off, nm, p, v, r, hard in hos: if off == self.commit_off and not hard: cur = (off, nm, p, v, r) break if cur is not None: off, nm, p, v, r = cur rel = p - me_p d = float(np.linalg.norm(rel)) behind = ang(rel, fwd) > math.pi / 2 self.behind_since = (self.behind_since if behind else None) or (t if behind else None) stale = (t - self.commit_t > self.COMMIT_MAX or d > self.COMMIT_DROP or (self.behind_since is not None and t - self.behind_since > self.COMMIT_BEHIND)) if not stale: lead = self.lead_point(p, v, d) return (off, nm, lead, lead - me_p, d, r) # commit to a fresh one tgt = self.pick(me_p, me_v, fwd, hos) self.commit_off = tgt[0] if tgt else None self.commit_t = t self.behind_since = None return tgt def pick(self, me_p, me_v, fwd, hos): """Nearest *fighter*, weighted by how far off the nose it is.""" best, bestscore = None, 1e18 for off, nm, p, v, r, hard in hos: if hard: continue # turrets and hulls are not the objective rel = p - me_p d = float(np.linalg.norm(rel)) if d < 1e-3: continue lead = self.lead_point(p, v, d) theta = ang(lead - me_p, fwd) score = d * (1.0 + 3.0 * (theta / math.pi) ** 2) if score < bestscore: best, bestscore = (off, nm, lead, lead - me_p, d, r), score return best def threat_vector(self, me_p, hos): """Where the danger is: inverse-square weighted direction to shooters.""" acc = np.zeros(3) for off, nm, p, v, r, hard in hos: rel = p - me_p d = float(np.linalg.norm(rel)) if d < 1.0 or d > 8000.0: continue w = (1500.0 / d) ** 2 * (3.0 if hard else 1.0) acc += norm(rel) * w return norm(acc) if np.linalg.norm(acc) > 1e-6 else None def friendly_base(self, ents, me_off): """The biggest friendly — the carrier the briefing says to resupply at.""" best = None for off, nm, p, v, r in ents: if off == me_off or navigator.faction(nm) != "TCAF": continue if best is None or r > best[4]: best = (off, nm, p, v, r) return best # ------------------------------------------------------------ steering def sticks(self, want, M, w): fwd = M[self.W.fwd_row] * self.W.fwd_sign right = M[(self.W.fwd_row + 1) % 3] up = np.cross(fwd, right) ex, ey, ez = (float(np.dot(want, right)), float(np.dot(want, up)), float(np.dot(want, fwd))) yaw = math.atan2(ex, ez if abs(ez) > 1e-3 else 1e-3) pitch = math.atan2(ey, ez if abs(ez) > 1e-3 else 1e-3) if ez < 0: # target behind: commit to a full turn yaw = math.copysign(math.pi / 2, ex if ex else 1.0) sx = max(-1.0, min(1.0, self.KP * yaw - self.KD * float(np.dot(w, up)))) sy = max(-1.0, min(1.0, -(self.KP * pitch - self.KD * float(np.dot(w, right))))) return sx, sy, yaw, pitch # ---------------------------------------------------------------- step def step(self, t, dt): ents = self.W.sample(t) me = next((e for e in ents if "Player" in e[1]), None) if me is None: return None me_off, me_nm, me_p, me_v, me_r = me M = self.W.rot(me_off) if M is None: return "no-orientation" fwd = M[self.W.fwd_row] * self.W.fwd_sign right = M[(self.W.fwd_row + 1) % 3] up = np.cross(fwd, right) speed = float(np.linalg.norm(me_v)) hull, shield = self.own(me_off) if self.hp0 is None and math.isfinite(hull) and hull > 0: self.hp0 = hull self.hp_hist.append((t, hull)) # damage over the last ~2 s; the hull only ever falls, so any drop is a hit recent = [h for (ts, h) in self.hp_hist if t - ts <= 2.0] dmg = (max(recent) - hull) if recent else 0.0 if dmg > 0.5: self.last_hit = t if hull <= 0: return "DEAD" # body angular velocity, for the damping term w = np.zeros(3) if self.prevM is not None and dt > 1e-3: D = self.prevM @ M.T w = np.array([D[2, 1] - D[1, 2], D[0, 2] - D[2, 0], D[1, 0] - D[0, 1]]) / (2 * dt) self.prevM = M hos = self.hostiles(ents, me_off) self.threat_dir = self.threat_vector(me_p, hos) frac = hull / self.hp0 if self.hp0 else 1.0 # ---- the escorted asset, read exactly like our own hull ast = self.asset(ents) a_frac, a_dmg = 1.0, 0.0 if ast is not None: a_hull = ast[5] if self.asset_hp0 is None and math.isfinite(a_hull) and a_hull > 0: self.asset_hp0 = a_hull self.asset_hist.append((t, a_hull)) recent = [h for (ts, h) in self.asset_hist if t - ts <= 4.0] a_dmg = (max(recent) - a_hull) if recent else 0.0 if a_dmg > self.ASSET_ALERT: self.asset_last_hit = t a_frac = a_hull / self.asset_hp0 if self.asset_hp0 else 1.0 # ---- mode. Our own survival still outranks the escort: a dead pilot # defends nothing, and RETIRE/EVADE are what stopped us being shot down. if frac <= self.RETIRE_FRAC: self.mode = "RETIRE" elif t - self.last_hit < self.EVADE_QUIET: self.mode = "EVADE" elif ast is not None and t - self.asset_last_hit < self.ASSET_QUIET: self.mode = "DEFEND" else: self.mode = "ENGAGE" tgt = self.pick_committed(t, me_p, me_v, fwd, hos) push, worst = self.av.avoidance(me_p, me_v, me_r, ents, me_off) if self.mode == "EVADE": # Away from the guns, plus a jink so a straight escape line is not # itself an easy solution for whatever is shooting. away = -self.threat_dir if self.threat_dir is not None else fwd jink = right * math.sin(t * 1.7) * 0.5 + up * math.cos(t * 2.3) * 0.35 want = norm(away + jink) self.set_throttle(+1) fire = False elif self.mode == "DEFEND": # Kill what is hitting the ship, not what is nearest to us. Among # the asset's attackers prefer the one pressing it hardest, with a # modest discount for being closer to us so the loop does not fly # past three targets to reach a marginally worse fourth. atk = self.asset_attackers(hos, ast[2]) best = None for score, off, nm, p, v, d_a, r in atk: d_me = float(np.linalg.norm(p - me_p)) total = score + self.MY_RANGE_WEIGHT * d_me if best is None or total < best[0]: best = (total, off, nm, p, v, d_me, r) if best is not None: _, off, nm, p, v, d_me, r = best lead = self.lead_point(p, v, d_me) tgt = (off, nm, lead, lead - me_p, d_me, r) want = norm(tgt[3]) self.set_throttle(+1 if d_me > 2500.0 else 0) else: # Nothing on it right now: hold station near the ship instead of # wandering off, so the next wave is met at the asset. rel = ast[2] - me_p d = float(np.linalg.norm(rel)) want = (norm(rel) if d > ast[4] + self.ASSET_STANDOFF else norm(np.cross(rel, up))) self.set_throttle(+1 if d > ast[4] + self.ASSET_STANDOFF else 0) fire = True elif self.mode == "RETIRE": base = self.friendly_base(ents, me_off) if base is not None: rel = base[2] - me_p d = float(np.linalg.norm(rel)) want = norm(rel) if d > base[4] + 400.0 else norm(np.cross(rel, up)) else: want = -self.threat_dir if self.threat_dir is not None else fwd self.set_throttle(+1) fire = False else: # Straight lead pursuit and fly *through*. An earlier version orbited # once inside a standoff radius and braked while doing it: it then # circled one attacker for 40 s at ~700 m, at 60-100 units/s, never # inside the firing cone. Overshooting and re-acquiring is better # than a stall in the middle of a battle; collision avoidance already # keeps a fighter-sized margin. want = norm(tgt[3]) if tgt else fwd if tgt and tgt[4] < self.MATCH_RANGE and ang(tgt[3], fwd) < self.MATCH_CONE: self.set_throttle("match") # sit in its rear hemisphere elif tgt and tgt[4] > 2500.0: self.set_throttle(+1) else: self.set_throttle(0) fire = True # a turret inside its keep-out radius outranks the target for off, nm, p, v, r, hard in hos: if not hard: continue d = float(np.linalg.norm(p - me_p)) if d < self.TURRET_KEEPOUT: want = norm(want + norm(me_p - p) * (2.0 * (1.0 - d / self.TURRET_KEEPOUT))) break # A capital ship is a wall, whatever its faction. DEFEND flies at the # asset — which sits in the middle of the friendly formation — and the # first escort run ended with hull 1500 -> DEAD in a single tick at # 2026 units/s, 0.6 s from a friendly destroyer that the avoidance # thought it would clear by 365 units. A destroyer's own radius is # 2000. Closest-point-of-approach with a fighter-sized margin cannot # keep us out of something that big, so give every large entity a hard # physical keep-out scaled by ITS radius and brake inside it. for off, nm, p, v, r in ents: if off == me_off or r < navigator.Navigator.BIG_RADIUS: continue rel = me_p - p d = float(np.linalg.norm(rel)) keep = r + self.HULL_CLEARANCE if d < keep: want = norm(want + norm(rel) * (2.5 * (1.0 - d / keep))) if speed > 900.0: self.set_throttle(-1) break pn = float(np.linalg.norm(push)) if pn > 1e-6: want = norm(want + push * (3.0 if pn > 0.6 else 1.5)) sx, sy, yaw, pitch = self.sticks(want, M, w) # The firing gate has to be measured against the TARGET, not against the # commanded direction: `want` carries the avoidance and keep-out terms, # so gating on it means the guns stay cold exactly when the loop is # manoeuvring — which is most of a dogfight. aim = self.sticks(norm(tgt[3]), M, w)[2:] if tgt else (math.pi, math.pi) cone = self.fire_cone(tgt[4], tgt[5]) if tgt else self.FIRE_CONE aim_ok = abs(aim[0]) < cone and abs(aim[1]) < cone fire = bool(fire and tgt and aim_ok and tgt[4] < self.FIRE_RANGE and pn < 1.2) # The main mount is a discrete launch, not a continuous stream: press Y # and let go a tick later, then wait out MISSILE_PERIOD. Holding it # would empty 300 rounds in half a minute. msl = bool(tgt and self.mode in ("ENGAGE", "DEFEND") and tgt[4] < MISSILE_RANGE and abs(aim[0]) < MISSILE_CONE and abs(aim[1]) < MISSILE_CONE and pn < 1.2) if not self.dry: self.pad.axis("LX", sx) self.pad.axis("LY", sy) if fire != self.firing: (self.pad.press if fire else self.pad.release)("RB") self.firing = fire if (tgt and self.mode in ("ENGAGE", "DEFEND") and abs(aim[0]) < self.SELECT_CONE and abs(aim[1]) < self.SELECT_CONE and tgt[4] < MISSILE_RANGE and pn < 1.2): self.select_target(t) if self.face_down is not None and t - self.face_down > 0.2: self.pad.release("B") self.pad.release("A") self.face_down = None elif (tgt and self.mode in ("ENGAGE", "DEFEND") and abs(aim[0]) > self.FACE_MIN and pn < 1.2): self.face_target(t) if self.missile_down and t - self.missile_t > 0.15: self.pad.release("Y") self.missile_down = False elif (not self.missile_down and msl and t - self.missile_t > MISSILE_PERIOD): self.pad.press("Y") self.missile_down = True self.missile_t = t self.missiles += 1 msg = (f"{self.mode:<7} hull={hull:6.0f} shd={shield:6.0f} spd={speed:6.0f} " f"thr={str(self.throttle):>5} yaw={math.degrees(yaw):+6.1f} " f"pit={math.degrees(pitch):+6.1f} aim={math.degrees(aim[0]):+6.1f}" f"/{math.degrees(aim[1]):+6.1f} fire={int(fire)} msl={self.missiles}" f" fc={self.faces} sel={self.selects}") if ast is not None: msg += f" ast={a_frac*100:5.1f}%" if a_dmg > self.ASSET_ALERT: msg += f" ASSET-HIT -{a_dmg:.0f}" if dmg > 0.5: msg += f" HIT -{dmg:.0f}" if tgt: msg += f" tgt={tgt[1][3:24]:<21} d={tgt[4]:6.0f}" if worst: msg += f" | AVOID {worst[1][3:18]} miss={worst[3]:5.0f} t={worst[4]:4.1f}" return msg def run(self, secs): self.W.scan() t0 = time.time() last, last_scan = t0, 0.0 hostiles0 = None while time.time() - t0 < secs: t = time.time() if t - last_scan > 5.0: ents = self.W.scan() last_scan = t n_ad = sum(1 for _, va in ents if navigator.faction(self.W.defs[va]) == "ADAN") if hostiles0 is None: hostiles0 = n_ad print(f"[{t-t0:6.1f}] scan: {len(ents)} entities, {n_ad} ADAN " f"(start {hostiles0})", file=self.log, flush=True) msg = self.step(t, t - last) last = t if msg is None: print(f"[{t-t0:6.1f}] player object gone — stopping", file=self.log, flush=True) break print(f"[{t-t0:6.1f}] {msg}", file=self.log, flush=True) if msg == "DEAD": break time.sleep(max(0.0, 1.0 / self.HZ - (time.time() - t))) if not self.dry: self.pad.reset() print(f"# flew {time.time()-t0:.0f}s", file=self.log, flush=True) def main(): cfg = json.load(open(sys.argv[1])) secs = float(sys.argv[2]) if len(sys.argv) > 2 else 180.0 W = navigator.World(cfg) Pilot(W, Pad(), dry="--dry" in sys.argv).run(secs) if __name__ == "__main__": main()