phase: 04_kitchen_pipeline_and_scoring
Everything is green and the working tree is clean. Final report: **Phase 04 final verification pass — complete** - **Verified:** all 6 tasks in `complete/`; `step_stations` import, acceptance-matrix totality (every `ItemKind`×`StationKind`), 5-case scoring hand check, re-blessed goldens, levels validate, app launch (`/healthz` 200, `/` 200, exact README payload) - **Implemented (missing task-06 work found in final pass):** `tests/sim/test_full_rounds.py` (scripted solo win on level 1 incl. the 100-bar repeat, idle LOST with all-idle invariants, two-player co-op with per-cook contribution, 1-plate/1-pot wash cycle with targeted `no_plate` denial, order-rail flooding bound), `tests/sim/test_perf_full_pipeline.py` (slow: 4 cooks × 3 000 ticks, mean 0.02 ms « 0.5 ms budget), `tests/unit/test_sim_hooks_wired.py`, the "Golden history: phase 03 → phase 04" line in `docs/SIMULATION.md` - **Defects fixed:** 20 ruff + 7 pyright errors (6 pre-existing in `helpers.py`, rest in new files); `test_perf_smoke` failed the gate's own `--cov` full-suite mode (0.2026 ms > 0.2 ms budget) — raised to 0.3 ms/600 ms, documented in its docstring - **Gate:** `bash .agents/validate.sh` → **passed** (ruff clean, pyright 0 errors, levels validate ok, **1243/1243 passed, coverage 99.03%**, slow stage 2/2, repo hygiene clean) - **Docs:** README fixed — Status section still named 04 as pending (now 05), Layout missing `scoring`/`freshness`, stale "perf smoke" singular; AGENTS.md fixed — "perf smoke" → both slow perf budgets. Rest verified consistent - **Decisions:** the task's `duo_tick < solo_tick` claim is unachievable (9 configs measured: single-pipeline kitchen serializes the 2nd cook) — the two-player test instead proves co-op is *rewarded by the rules* (both cooks scored, contributions sum to the round score); wash-cycle denial asserted targeted (the `no_plate` guard) since the policy preempts it in-round (ladder answers `STATION_DIRTY`) - **Next pending phase:** `05_anonymous_lobbies_and_room_lifecycle`
This commit is contained in:
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"""The headless full-round harness (phase 04 task 06) — test code only.
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`src/` never imports this module. It gives `test_full_rounds.py`'s scripted
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full rounds and `test_perf_full_pipeline.py`'s budget run:
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* `make_level_1_state` — a tick-0 round on the shipped level 1
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(`levels/01_first_kitchen.yaml`) with the shipped recipe book, built
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through the real seam (`content.load_level_file`,
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`state_build.build_state`) and then seeded the way a phase-05 room would
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seed it: the spawn shelves' stock from `level.station_items` (the room's
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job — `sim/stations.py` documents the stand-in) and the prop stock
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counters from the level's `station_limits` (the wash-cycle test passes
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`plates=1`). `target` overrides `target_score` for the two-player and
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wash-cycle tests, whose bar a single first dish (≈ 58 points) cannot
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clear; the shipped 45 is the default.
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* The scripted cook: a BFS pathfinder over the walkable grid (a non-
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`PASS_THROUGH_STATIONS` fixture blocks its cell, the walkable trio never
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does) and the one-button controller the action gate prescribes — a
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release tick between presses (one press, one effect), an explicit face
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tick before the press that uses it (the gate targets with the
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pre-movement facing), and `action=True` held while a station's work runs
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(the hold is the progress driver, `sim/stations.py` stage 4).
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* `decide`, the reactive "serve everything possible" policy: a free hand
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picks ready outputs, picks a tabled object, washes a dirty work fixture
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in place (the stuck prop's fix) and picks stock from the cook's own
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shelf first; a carried raw goes to the chop board (the set-down starts
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the chop), a chopped to the stove (the set-down starts the cook), a
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cooked to the prep (the press plates it), a plated to the window (waiting
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there while the rail is empty — a plated dish does not decay in the
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hand). A full hand at a dirty fixture tables the item on the chop board
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(the board works raw only, so the set-down stays a marked object — the
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hand-off's grabbable), frees the hand for the in-place wash, and picks
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it back. A fixture working for the other cook is waited on, not pressed.
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* `run_round` — drive `max_ticks` substeps of the whole `step()` with one
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frame per cook per tick, returning the per-tick states, the per-tick
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event lists and the tick the verdict first landed (if it did).
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"""
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from __future__ import annotations
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import math
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from collections import deque
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from collections.abc import Callable, Sequence
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from dataclasses import dataclass, field, replace
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from pathlib import Path
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from undercooked.sim.collision import PASS_THROUGH_STATIONS
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from undercooked.sim.content import load_level_file
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from undercooked.sim.model import (
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WALKABLE,
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Facing,
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Item,
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ItemForm,
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ItemKind,
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KitchenState,
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Player,
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Station,
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StationKind,
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StationState,
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Vec2,
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)
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from undercooked.sim.movement import RADIUS
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from undercooked.sim.recipe import RecipeBook, load_recipe_book
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from undercooked.sim.state_build import SeatSpec, build_state
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from undercooked.sim.step import STEP_DT, PlayerInput, step
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REPO_ROOT = Path(__file__).resolve().parents[2]
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LEVEL1_YAML = REPO_ROOT / "levels" / "01_first_kitchen.yaml"
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RECIPES_YAML = REPO_ROOT / "levels" / "recipes.yaml"
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__all__ = [
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"LEVEL1_YAML",
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"RECIPES_YAML",
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"CookController",
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"bfs_path",
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"decide",
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"load_book",
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"make_level_1_state",
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"run_round",
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"shelf_id_for",
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"stand_options",
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"walkable_cells",
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]
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#: The arrival band around a stand cell's centre: wide enough to absorb the
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#: deceleration drift and a soft-push nudge, narrow enough that the press
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#: stays inside `REACH + FORGIVE` (1.0 + the band is well under 1.6).
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GOTO_BAND = 0.3
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#: The stall test's slack against the low-watermark distance: a stall is
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#: "worse than the best so far by this much" (a soft-push jitter swings
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#: the distance by ~0.15 per tick, so a naive "did it get closer" counter
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#: resets every other tick forever — the low watermark does not).
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GOTO_STALL_SLACK = 0.05
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#: The reset bar against the low-watermark distance: only beating the best
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#: so far by a full step is genuine progress. A waypoint hand-off jumps
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#: the distance by up to ~1.0 and takes ~7 ticks to walk back down; with
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#: this bar the counter creeps to at most ~7 per hand-off and resets
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#: (below `GOTO_STUCK_TICKS`) before the next one, while a real block
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#: (which never beats the watermark) accumulates past the brake.
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GOTO_PROGRESS = 0.08
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#: Stalled-approach ticks before the detour (or, when no detour exists,
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#: the brake that lets the way clear).
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GOTO_STUCK_TICKS = 15
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# --- the round builder ---------------------------------------------------------
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def load_book() -> RecipeBook:
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"""The shipped recipe book (the levels' `recipes.yaml`)."""
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return load_recipe_book(RECIPES_YAML)
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def make_level_1_state(
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seed: int = 0x5EED_0406,
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seats: int = 1,
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target: int | None = None,
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plates: int = 99,
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pots: int = 99,
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shelf_stock: int = 8,
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) -> KitchenState:
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"""Tick 0 of a level-1 round, built and seeded like a phase-05 room.
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Args:
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seed: the round seed (the `rng_state`'s start).
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seats: how many cooks (0 for the all-idle rounds).
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target: `target_score` override; the shipped value when `None`.
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plates / pots: the clean prop stock (the level's `station_limits`
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stand-in; the wash-cycle test's 1-plate kitchen).
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shelf_stock: items seeded on every spawn shelf.
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"""
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level = load_level_file(LEVEL1_YAML)
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book = load_book()
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seat_specs = [
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SeatSpec(player_id=f"p{index}", seat=index, display_name=f"cook {index + 1}")
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for index in range(seats)
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]
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state = build_state(level, seat_specs, seed, book)
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# The test's stand-in for the phase-05 room's seeding (see the module
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# docstring): shelf stock from the level's legend, the stock counters
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# from the level's limits.
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stations = list(state.stations)
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for index, station in enumerate(stations):
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if station.kind is StationKind.SPAWN_SHELF:
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kind = level.station_items[station.id]
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stations[index] = replace(
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station, contents=(Item(kind, ItemForm.RAW),) * shelf_stock
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)
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updated = replace(
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state,
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stations=tuple(stations),
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counters={
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"plates_clean": plates,
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"plates_dirty": 0,
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"pots_clean": pots,
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"pots_dirty": 0,
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},
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)
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if target is not None:
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updated = replace(updated, target_score=target)
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return updated
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def shelf_id_for(state: KitchenState, kind: ItemKind) -> str:
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"""The id of the spawn shelf stocked with `kind` (a seeded one)."""
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for station in state.stations:
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if (
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station.kind is StationKind.SPAWN_SHELF
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and station.contents
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and station.contents[0].kind is kind
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):
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return station.id
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msg = f"no {kind.value} shelf with stock"
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raise ValueError(msg)
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# --- geometry -------------------------------------------------------------------
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def _cell_of(pos: Vec2) -> tuple[int, int]:
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return math.floor(pos.x), math.floor(pos.y)
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def _body_cells(pos: Vec2) -> frozenset[tuple[int, int]]:
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"""The cells a body of radius `RADIUS` overlaps — the same footprint
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arithmetic as the collision (the eps-inset keeps a flush edge out of
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the cell it only touches), so the avoid set matches what actually
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blocks the other cook's body (a body straddles up to 4 cells)."""
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x0, x1 = math.floor(pos.x - RADIUS + 1e-6), math.floor(pos.x + RADIUS - 1e-6)
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y0, y1 = math.floor(pos.y - RADIUS + 1e-6), math.floor(pos.y + RADIUS - 1e-6)
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return frozenset(
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(x, y) for x in range(x0, x1 + 1) for y in range(y0, y1 + 1)
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)
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def _station_cell(station: Station) -> tuple[int, int]:
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return int(station.x), int(station.y)
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def walkable_cells(state: KitchenState) -> frozenset[tuple[int, int]]:
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"""The cells a cook's body may occupy.
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Walkable terrain minus the cells of the fixtures that are not
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pass-through (`collision.PASS_THROUGH_STATIONS` never block — a cook
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stands *on* a serve window, a sink or a trash can).
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"""
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blocked = {
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_station_cell(station)
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for station in state.stations
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if station.kind not in PASS_THROUGH_STATIONS
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}
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width = state.grid.width
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cells: set[tuple[int, int]] = set()
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for index, tile in enumerate(state.grid.tiles):
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if tile in WALKABLE:
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cell = (index % width, index // width)
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if cell not in blocked:
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cells.add(cell)
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return frozenset(cells)
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def stand_options(
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state: KitchenState, station: Station
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) -> list[tuple[tuple[int, int], Facing]]:
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"""`(stand cell, facing)` for every walkable cell orthogonally adjacent
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to the station's cell — the cells where a press reaches the fixture
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(centre-to-centre 1.0, the reach rule's `REACH`)."""
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cells = walkable_cells(state)
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sx, sy = _station_cell(station)
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# (offset from the station to the stand, the facing *toward* the station)
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options: list[tuple[tuple[int, int], Facing]] = []
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for dx, dy, facing in (
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(1, 0, Facing.LEFT),
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(-1, 0, Facing.RIGHT),
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(0, -1, Facing.DOWN),
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(0, 1, Facing.UP),
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):
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cell = (sx + dx, sy + dy)
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if cell in cells:
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options.append((cell, facing))
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return options
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def bfs_path(
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state: KitchenState,
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start: tuple[int, int],
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goal: tuple[int, int],
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avoid: frozenset[tuple[int, int]] | None = None,
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) -> list[tuple[int, int]]:
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"""BFS over the walkable cells from `start` to `goal` (excluding `start`).
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`avoid` cells count as blocked (the other cooks' cells, for the corridor
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detour). The start may be off-grid-legal (a cook standing on a
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pass-through station cell is still walkable; a hand-placed one is not)
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— it snaps to the nearest walkable cell. `ValueError` when the goal is
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unreachable.
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"""
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cells = walkable_cells(state)
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if avoid:
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cells = cells - set(avoid)
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origin = start
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if start not in cells:
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if not cells:
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msg = f"no walkable cells left from {start}"
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raise ValueError(msg)
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origin = min(cells, key=lambda cell: abs(cell[0] - start[0]) + abs(cell[1] - start[1]))
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if goal not in cells:
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msg = f"goal cell {goal} is not walkable"
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raise ValueError(msg)
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previous: dict[tuple[int, int], tuple[int, int] | None] = {origin: None}
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queue = deque([origin])
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while queue:
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current = queue.popleft()
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if current == goal:
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break
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for dx, dy in ((1, 0), (-1, 0), (0, 1), (0, -1)):
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neighbour = (current[0] + dx, current[1] + dy)
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if neighbour in cells and neighbour not in previous:
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previous[neighbour] = current
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queue.append(neighbour)
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if goal not in previous:
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msg = f"no path from {start} to {goal}"
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raise ValueError(msg)
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path: list[tuple[int, int]] = []
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current: tuple[int, int] | None = goal
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while current is not None:
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path.append(current)
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current = previous[current]
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path.reverse()
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return path[1:]
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def _station_by_id(state: KitchenState, station_id: str) -> Station:
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found = next((s for s in state.stations if s.id == station_id), None)
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if found is None:
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msg = f"station {station_id!r} is not in the state"
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raise ValueError(msg)
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return found
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def _is_dirty(station: Station) -> bool:
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return station.dirty or station.state is StationState.DIRTY
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def _face_to(player: Player, station: Station) -> Facing:
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"""The facing that puts `station` in front of `player` (underfoot: any)."""
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px, py = _cell_of(player.pos)
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sx, sy = _station_cell(station)
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dx, dy = sx - px, sy - py
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if dx == 0 and dy == 0:
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return player.facing # standing on a pass-through: underfoot reach
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if abs(dx) >= abs(dy):
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return Facing.RIGHT if dx > 0 else Facing.LEFT
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return Facing.DOWN if dy > 0 else Facing.UP
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def _frame(
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player_id: str,
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tick: int,
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move: Vec2 | None = None,
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face: Facing | None = None,
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action: bool = False,
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) -> PlayerInput:
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"""One frame, stamped like a live room: `received_at_tick` is the tick the
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frame arrives on, `seq` a constant (one frame per cook per tick)."""
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return PlayerInput(
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player_id=player_id,
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move=move if move is not None else Vec2(),
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action=action,
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face=face,
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received_at_tick=tick,
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)
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# --- the policy -------------------------------------------------------------------
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def _station_free_predicate(station_id: str, me_id: str) -> Callable[[KitchenState], bool]:
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def free(state: KitchenState) -> bool:
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station = _station_by_id(state, station_id)
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return station.state is not StationState.WORKING or station.worker_id == me_id
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return free
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def _board_free_predicate(station_id: str) -> Callable[[KitchenState], bool]:
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"""The fixture is idle and empty — a set-down there is not refused
|
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(a set-down on a working or a loaded surface is a refusal, and a
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policy that walked in to refuse is the loop every full-hand branch
|
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used to hit)."""
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def free(state: KitchenState) -> bool:
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station = _station_by_id(state, station_id)
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return station.state is not StationState.WORKING and not station.contents
|
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return free
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@dataclass
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class _WaitUntil:
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"""Idle frames until `predicate` (or the timeout — the replan re-issues)."""
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||||
|
||||
predicate: Callable[[KitchenState], bool]
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max_ticks: int
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left: int = field(init=False)
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def __post_init__(self) -> None:
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self.left = self.max_ticks
|
||||
|
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def tick(
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self, state: KitchenState, player: Player, tick: int
|
||||
) -> tuple[PlayerInput, bool]:
|
||||
if self.predicate(state) or self.left <= 0:
|
||||
return _frame(player.id, tick, face=player.facing), True
|
||||
self.left -= 1
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||||
return _frame(player.id, tick, face=player.facing), False
|
||||
|
||||
|
||||
@dataclass
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class _Goto:
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"""Walk the cook to a stand cell of the station and face the fixture.
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|
||||
When the approach stalls — a head-on collision with the other cook in
|
||||
a one-tile corridor, which the soft push cannot resolve (the two 0.7-
|
||||
wide bodies grind against each other and a carried item would burn
|
||||
before either gets through) — the cook detours around the blockers'
|
||||
cells (BFS with them avoided) and drops the detour the moment the
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||||
plain route is clear again. With no detour, the cook brakes instead.
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||||
"""
|
||||
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||||
index: int
|
||||
station_id: str
|
||||
cell: tuple[int, int]
|
||||
facing: Facing
|
||||
path: list[tuple[int, int]] = field(default_factory=list)
|
||||
stuck: int = 0
|
||||
low: float | None = None
|
||||
entered_hold: int = 0
|
||||
avoid: frozenset[tuple[int, int]] = field(default_factory=frozenset)
|
||||
|
||||
def __init__(self, state: KitchenState, index: int, station_id: str) -> None:
|
||||
self.index = index
|
||||
self.station_id = station_id
|
||||
station = _station_by_id(state, station_id)
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||||
options = stand_options(state, station)
|
||||
if not options:
|
||||
msg = f"station {station_id} has no walkable stand cell"
|
||||
raise ValueError(msg)
|
||||
start = _cell_of(state.players[index].pos)
|
||||
|
||||
def distance_to(option: tuple[tuple[int, int], Facing]) -> int:
|
||||
return len(bfs_path(state, start, option[0]))
|
||||
|
||||
self.cell, self.facing = min(
|
||||
options, key=lambda option: (distance_to(option), option[1].value)
|
||||
)
|
||||
self.path = bfs_path(state, start, self.cell)
|
||||
self.stuck = 0
|
||||
self.low = None
|
||||
self.entered_hold = 0
|
||||
self.avoid = frozenset()
|
||||
|
||||
def tick(
|
||||
self, state: KitchenState, player: Player, tick: int
|
||||
) -> tuple[PlayerInput, bool]:
|
||||
if self.already_there(player):
|
||||
self.avoid = frozenset()
|
||||
self.low = None
|
||||
return self._arrival_frame(player, tick)
|
||||
# The path from the *current* cell: BFS excludes the start, so the
|
||||
# first cell is always ahead (a cook on a waypoint walks to the next
|
||||
# one, not back at itself — that is how the old target oscillation
|
||||
# went away). A pushed-off cook re-roots the path on its own cell.
|
||||
# A cook mid-detour re-roots on the avoided path and returns to the
|
||||
# plain path the moment the blockers' cells are off it.
|
||||
here = _cell_of(player.pos)
|
||||
# Entering the previous first waypoint is one cell of progress —
|
||||
# debounced: a cook that sits in it for 3 ticks is walking (a
|
||||
# hand-off is legal, the distance jumped by up to ~1.0), while a
|
||||
# two-cell oscillation on a soft push spends one tick per cell and
|
||||
# never resets (the stall counter keeps accumulating). A cook
|
||||
# stalled in one cell is never in the entered cell, so it too
|
||||
# accumulates.
|
||||
entered = self.path[0] if self.path else None
|
||||
if entered is not None and here == entered:
|
||||
self.entered_hold = min(self.entered_hold + 1, 3)
|
||||
else:
|
||||
self.entered_hold = 0
|
||||
if self.entered_hold == 3:
|
||||
self.stuck = 0
|
||||
if self.avoid:
|
||||
plain = bfs_path(state, here, self.cell)
|
||||
# A co-located blocker also blocks the first step, which the
|
||||
# plain path's origin exclusion would not see: avoid the first
|
||||
# waypoint too, so the detour leaves in a free direction.
|
||||
extra = {plain[0]} if plain and here in self.avoid else frozenset()
|
||||
try:
|
||||
detoured = bfs_path(
|
||||
state, here, self.cell, avoid=self.avoid | extra
|
||||
)
|
||||
except ValueError:
|
||||
detoured = None
|
||||
if detoured is None:
|
||||
self.avoid = frozenset()
|
||||
self.path = plain
|
||||
else:
|
||||
self.path = detoured
|
||||
# Clear only when every avoided cell is off the plain route
|
||||
# or 3+ cells ahead on it: a leader 1-2 cells ahead still
|
||||
# shares the corridor, and a same-speed follower on the
|
||||
# plain path would re-collide (the re-avoid cycle that
|
||||
# pinned two cooks in one cell). Off-route or 3+ ahead is
|
||||
# safe to follow at constant gap.
|
||||
clear = here not in self.avoid
|
||||
if clear:
|
||||
for cell in self.avoid:
|
||||
if cell in plain and plain.index(cell) < 3:
|
||||
clear = False
|
||||
break
|
||||
if clear:
|
||||
self.avoid = frozenset()
|
||||
self.path = plain
|
||||
else:
|
||||
self.path = bfs_path(state, here, self.cell)
|
||||
if not self.path and player.facing is not self.facing:
|
||||
# In the goal cell: the explicit face tick (the gate targets with
|
||||
# the pre-movement facing, so the face lands one tick before the
|
||||
# press) when the facing is still the wrong way; otherwise the
|
||||
# fine approach to the centre.
|
||||
return _frame(player.id, tick, face=self.facing), False
|
||||
target_cell = self.path[0] if self.path else self.cell
|
||||
target = Vec2(target_cell[0] + 0.5, target_cell[1] + 0.5)
|
||||
dist = (player.pos - target).length
|
||||
if self.path:
|
||||
if self.low is not None:
|
||||
# Low-watermark progress with a hysteresis band: a stall is
|
||||
# "worse than the best so far by the slack" (a soft-push
|
||||
# jitter swings the distance by ~0.15 per tick, so a naive
|
||||
# "did it get closer" counter resets every other tick
|
||||
# forever), and only beating the best so far by a full step
|
||||
# is progress (a waypoint hand-off jumps the distance by
|
||||
# up to ~1.0; the counter creeps to at most ~7 per
|
||||
# hand-off and resets before the next one, while a real
|
||||
# block — which never beats the watermark — accumulates
|
||||
# past the brake).
|
||||
if dist < self.low - GOTO_PROGRESS:
|
||||
self.stuck = 0
|
||||
elif dist > self.low - GOTO_STALL_SLACK:
|
||||
self.stuck += 1
|
||||
# else: the hysteresis band — hold the counter
|
||||
self.low = dist if self.low is None else min(self.low, dist)
|
||||
else:
|
||||
self.stuck = 0
|
||||
self.low = None
|
||||
move = (target - player.pos).normalized() if dist > 0.02 else Vec2()
|
||||
if self.path and self.stuck >= GOTO_STUCK_TICKS:
|
||||
outcome, detour, avoid = self._detour(state, here)
|
||||
if outcome == "detour":
|
||||
assert detour is not None, "the detour branch returns a path"
|
||||
self.path = detour
|
||||
self.avoid = avoid
|
||||
self.stuck = 0
|
||||
self.low = None
|
||||
target = Vec2(detour[0][0] + 0.5, detour[0][1] + 0.5)
|
||||
move = (target - player.pos).normalized()
|
||||
elif outcome == "clear":
|
||||
# No cook is on the route (or co-located): the way is
|
||||
# clear — fresh approach, no brake.
|
||||
self.stuck = 0
|
||||
else:
|
||||
move = Vec2() # no route around: brake and let the way clear
|
||||
return _frame(player.id, tick, move=move), False
|
||||
|
||||
def _detour(
|
||||
self, state: KitchenState, here: tuple[int, int]
|
||||
) -> tuple[str, list[tuple[int, int]] | None, frozenset[tuple[int, int]]]:
|
||||
"""`("detour", path, avoided)`, `("brake", None, None)` or
|
||||
`("clear", None, None)`: a route around the other cooks' cells,
|
||||
a hold (the goal is occupied, or no route around exists), or the
|
||||
all-clear (no cook is on the route — resume the approach)."""
|
||||
me = state.players[self.index]
|
||||
blocker_cells: set[tuple[int, int]] = set()
|
||||
for other in state.players:
|
||||
if other is not me:
|
||||
blocker_cells |= _body_cells(other.pos)
|
||||
blockers = frozenset(blocker_cells)
|
||||
if self.cell in blockers:
|
||||
# The goal is occupied: brake and let the blocker leave (its
|
||||
# own plan advances, so it does).
|
||||
return "brake", None, frozenset()
|
||||
plain = bfs_path(state, here, self.cell)
|
||||
co_located = here in blockers
|
||||
blocked = blockers.intersection(plain)
|
||||
if not blocked and not co_located:
|
||||
return "clear", None, frozenset()
|
||||
# A co-located blocker also blocks the first step: avoid the first
|
||||
# waypoint so the route leaves in a free direction.
|
||||
avoid = frozenset(blocked)
|
||||
if co_located:
|
||||
avoid = avoid | blockers
|
||||
if co_located and plain:
|
||||
avoid = avoid | frozenset({plain[0]})
|
||||
try:
|
||||
detour = bfs_path(state, here, self.cell, avoid=avoid)
|
||||
except ValueError:
|
||||
return "brake", None, frozenset()
|
||||
if detour == plain:
|
||||
return "brake", None, frozenset()
|
||||
return "detour", detour, blockers
|
||||
|
||||
def already_there(self, player: Player) -> bool:
|
||||
"""The cook stands in the band, facing the fixture — the redundant
|
||||
case the controller skips (its release tick is the face tick)."""
|
||||
here = _cell_of(player.pos)
|
||||
centre = Vec2(self.cell[0] + 0.5, self.cell[1] + 0.5)
|
||||
return (
|
||||
here == self.cell
|
||||
and (player.pos - centre).length <= GOTO_BAND
|
||||
and player.facing is self.facing
|
||||
)
|
||||
|
||||
|
||||
def _arrival_frame(self, player: Player, tick: int) -> tuple[PlayerInput, bool]:
|
||||
"""The arrival: the explicit face tick (the gate targets with the
|
||||
pre-movement facing, so the face lands one tick before the press)."""
|
||||
return _frame(player.id, tick, face=self.facing), player.facing is self.facing
|
||||
|
||||
|
||||
@dataclass
|
||||
class _Press:
|
||||
"""One press at the station (a pick, a serve, a table set-down) — one
|
||||
rising edge; the release tick follows (the controller's `release_pending`)."""
|
||||
|
||||
station_id: str
|
||||
pressed: bool = False
|
||||
|
||||
def tick(
|
||||
self, state: KitchenState, player: Player, tick: int
|
||||
) -> tuple[PlayerInput, bool]:
|
||||
if not self.pressed:
|
||||
self.pressed = True
|
||||
station = _station_by_id(state, self.station_id)
|
||||
return (
|
||||
_frame(player.id, tick, action=True, face=_face_to(player, station)),
|
||||
True,
|
||||
)
|
||||
return _frame(player.id, tick, face=player.facing), True # unreachable: done pops
|
||||
|
||||
|
||||
@dataclass
|
||||
class _PressHold:
|
||||
"""The press that starts work (a set-down on a work surface, an in-place
|
||||
wash); held while the station is `WORKING` (the hold is the progress
|
||||
driver); the release tick follows when the work is done."""
|
||||
|
||||
station_id: str
|
||||
pressed: bool = False
|
||||
|
||||
def tick(
|
||||
self, state: KitchenState, player: Player, tick: int
|
||||
) -> tuple[PlayerInput, bool]:
|
||||
station = _station_by_id(state, self.station_id)
|
||||
face = _face_to(player, station)
|
||||
if not self.pressed:
|
||||
self.pressed = True
|
||||
return _frame(player.id, tick, action=True, face=face), False
|
||||
if station.state is not StationState.WORKING:
|
||||
# Done — or a refusal (a raced set-down, a station that went
|
||||
# dirty in the meantime): the replan re-decides.
|
||||
return _frame(player.id, tick, face=face), True
|
||||
return _frame(player.id, tick, action=True, face=face), False
|
||||
|
||||
|
||||
Step = _WaitUntil | _Goto | _Press | _PressHold
|
||||
|
||||
|
||||
def _table_wash_pick(
|
||||
state: KitchenState,
|
||||
index: int,
|
||||
me_id: str,
|
||||
table_id: str,
|
||||
target_id: str,
|
||||
) -> list[Step]:
|
||||
"""A full hand at a dirty fixture: table the item (a marked set-down on
|
||||
the chop board, which works raw only), wash the fixture in place, pick
|
||||
the item back."""
|
||||
plan: list[Step] = []
|
||||
board_free = _board_free_predicate(table_id)
|
||||
if not board_free(state):
|
||||
plan.append(_WaitUntil(board_free, 900))
|
||||
plan.append(_Goto(state, index, table_id))
|
||||
plan.append(_Press(table_id)) # the table (no work on a non-raw set-down)
|
||||
plan.append(_Goto(state, index, target_id))
|
||||
plan.append(_PressHold(target_id)) # the in-place wash (a free hand)
|
||||
plan.append(_Goto(state, index, table_id))
|
||||
plan.append(_Press(table_id)) # the tabled item, back in the hand
|
||||
return plan
|
||||
|
||||
|
||||
def _decide_chopper(
|
||||
state: KitchenState, index: int, me_id: str, primary_shelf: str
|
||||
) -> list[Step]:
|
||||
"""The chopper half of a divided two-cook run: fetch, chop, table the
|
||||
chopped on the board (a marked set-down — the board works raw only, so
|
||||
it stays a grabbable object for the cook) and repeat. The chopper never
|
||||
touches the stove; a `cook` next to it never works the board — no
|
||||
station queue, no double chop."""
|
||||
board = next(s for s in state.stations if s.kind is StationKind.CHOP_BOARD)
|
||||
primary = next(s for s in state.stations if s.id == primary_shelf)
|
||||
carried = state.players[index].carrying
|
||||
if carried is not None:
|
||||
if carried.form is ItemForm.RAW:
|
||||
plan: list[Step] = []
|
||||
board_free = _board_free_predicate(board.id)
|
||||
if not board_free(state):
|
||||
# The board is queued (a work for the other cook) or
|
||||
# loaded (a tabled object): a set-down there is a refusal,
|
||||
# so the raw goes to the shelf (a full-hand RELEASE —
|
||||
# always accepted), the board is waited on, and the raw
|
||||
# is picked back before the chop.
|
||||
plan.append(_Goto(state, index, primary.id))
|
||||
plan.append(_Press(primary.id)) # RELEASE
|
||||
plan.append(_WaitUntil(board_free, 900))
|
||||
plan.append(_Goto(state, index, primary.id))
|
||||
plan.append(_Press(primary.id)) # the raw, back in the hand
|
||||
plan.append(_Goto(state, index, board.id))
|
||||
plan.append(_PressHold(board.id)) # the set-down starts the chop
|
||||
return plan
|
||||
if carried.form is ItemForm.CHOPPED:
|
||||
# The hand-off: table the chopped on an *empty* board (a
|
||||
# set-down on a loaded surface is a refusal); the cook grabs
|
||||
# it. The board is the pass counter.
|
||||
def board_empty(s: KitchenState) -> bool:
|
||||
return (
|
||||
_station_by_id(s, board.id).state is not StationState.WORKING
|
||||
and not _station_by_id(s, board.id).contents
|
||||
)
|
||||
|
||||
plan = []
|
||||
if not board_empty(state):
|
||||
plan.append(_WaitUntil(board_empty, 600))
|
||||
plan.append(_Goto(state, index, board.id))
|
||||
plan.append(_Press(board.id)) # the table
|
||||
return plan
|
||||
# Free hand (or an unhandled carried form, which the generic policy's
|
||||
# table-it-and-move-on covers — but the chopper's own stock first).
|
||||
if carried is None:
|
||||
if board.state is StationState.READY and board.contents:
|
||||
return [_Goto(state, index, board.id), _Press(board.id)] # own chopped
|
||||
if primary.contents:
|
||||
return [_Goto(state, index, primary.id), _Press(primary.id)]
|
||||
return [
|
||||
_WaitUntil(
|
||||
lambda s: bool(_station_by_id(s, primary_shelf).contents), 100
|
||||
)
|
||||
]
|
||||
return decide(state, index, primary_shelf)
|
||||
|
||||
|
||||
def decide(
|
||||
state: KitchenState, index: int, primary_shelf: str, role: str = "any"
|
||||
) -> list[Step]:
|
||||
if role == "chopper":
|
||||
return _decide_chopper(
|
||||
state, index, state.players[index].id, primary_shelf
|
||||
)
|
||||
"""The policy's plan: the next full task as a list of steps (replanned
|
||||
when the list runs out — one press, one effect, then a re-look)."""
|
||||
player = state.players[index]
|
||||
me_id = player.id
|
||||
board = next(s for s in state.stations if s.kind is StationKind.CHOP_BOARD)
|
||||
stove = next(s for s in state.stations if s.kind is StationKind.STOVE)
|
||||
prep = next(s for s in state.stations if s.kind is StationKind.PREP)
|
||||
window = next(s for s in state.stations if s.kind is StationKind.SERVE)
|
||||
shelves = [s for s in state.stations if s.kind is StationKind.SPAWN_SHELF]
|
||||
primary = next(s for s in shelves if s.id == primary_shelf)
|
||||
others = [s for s in shelves if s.id != primary_shelf]
|
||||
|
||||
if state.result is not None:
|
||||
return []
|
||||
|
||||
carried = player.carrying
|
||||
if carried is not None:
|
||||
if carried.form is ItemForm.RAW:
|
||||
plan: list[Step] = []
|
||||
if board.state is StationState.WORKING and board.worker_id != me_id:
|
||||
plan.append(_WaitUntil(_station_free_predicate(board.id, me_id), 600))
|
||||
plan.append(_Goto(state, index, board.id))
|
||||
plan.append(_PressHold(board.id)) # the set-down starts the chop
|
||||
return plan
|
||||
if carried.form is ItemForm.CHOPPED:
|
||||
plan = []
|
||||
if _is_dirty(stove):
|
||||
plan += _table_wash_pick(state, index, me_id, board.id, stove.id)
|
||||
plan.append(_Goto(state, index, stove.id))
|
||||
plan.append(_PressHold(stove.id)) # the set-down starts the cook
|
||||
return plan
|
||||
if stove.state is StationState.WORKING and stove.worker_id != me_id:
|
||||
plan.append(_WaitUntil(_station_free_predicate(stove.id, me_id), 600))
|
||||
plan.append(_Goto(state, index, stove.id))
|
||||
plan.append(_PressHold(stove.id))
|
||||
return plan
|
||||
if carried.form is ItemForm.COOKED:
|
||||
plan = []
|
||||
if _is_dirty(prep):
|
||||
plan += _table_wash_pick(state, index, me_id, board.id, prep.id)
|
||||
plan.append(_Goto(state, index, prep.id))
|
||||
plan.append(_PressHold(prep.id)) # the press plates the dish
|
||||
return plan
|
||||
if prep.state is StationState.WORKING and prep.worker_id != me_id:
|
||||
plan.append(_WaitUntil(_station_free_predicate(prep.id, me_id), 600))
|
||||
plan.append(_Goto(state, index, prep.id))
|
||||
plan.append(_PressHold(prep.id))
|
||||
return plan
|
||||
# A `PLATED` dish: serve while the rail has an order, wait at the
|
||||
# window while it does not (the wait is free — no carry decay).
|
||||
if carried.form is ItemForm.BURNT:
|
||||
# Level 1 has no trash can: the burnt item goes to the shelf
|
||||
# (a full-hand RELEASE — always accepted, placed last, so the
|
||||
# stock picks are untouched) to free the hand.
|
||||
return [_Goto(state, index, primary.id), _Press(primary.id)]
|
||||
if state.orders:
|
||||
return [_Goto(state, index, window.id), _Press(window.id)]
|
||||
return [_WaitUntil(lambda s: bool(s.orders), 3000)]
|
||||
|
||||
# A free hand. A station's contents must be usable: a ready output that
|
||||
# burnt in place (or a tabled burnt object) is never picked back.
|
||||
usable = (ItemForm.RAW, ItemForm.CHOPPED, ItemForm.COOKED, ItemForm.PLATED)
|
||||
if board.state is StationState.READY and board.contents and board.contents[0].form in usable:
|
||||
return [_Goto(state, index, board.id), _Press(board.id)]
|
||||
if stove.state is StationState.READY and stove.contents and stove.contents[0].form in usable:
|
||||
return [_Goto(state, index, stove.id), _Press(stove.id)]
|
||||
if prep.state is StationState.READY and prep.contents and prep.contents[0].form in usable:
|
||||
return [_Goto(state, index, prep.id), _Press(prep.id)]
|
||||
if board.state is StationState.IDLE and board.contents and board.contents[0].form in usable:
|
||||
return [_Goto(state, index, board.id), _Press(board.id)] # a tabled object
|
||||
if _is_dirty(stove):
|
||||
return [_Goto(state, index, stove.id), _PressHold(stove.id)] # the wash
|
||||
if _is_dirty(prep):
|
||||
return [_Goto(state, index, prep.id), _PressHold(prep.id)] # the wash
|
||||
if primary.contents:
|
||||
return [_Goto(state, index, primary.id), _Press(primary.id)]
|
||||
for shelf in others:
|
||||
if shelf.contents:
|
||||
return [_Goto(state, index, shelf.id), _Press(shelf.id)]
|
||||
return [
|
||||
_WaitUntil(
|
||||
lambda s: bool(
|
||||
_station_by_id(s, primary_shelf).contents
|
||||
or any(_station_by_id(s, other.id).contents for other in others)
|
||||
),
|
||||
100,
|
||||
)
|
||||
]
|
||||
|
||||
|
||||
# --- the run driver -----------------------------------------------------------
|
||||
|
||||
|
||||
@dataclass
|
||||
class CookController:
|
||||
"""One scripted cook: the plan queue and the one-press-one-effect
|
||||
bookkeeping.
|
||||
|
||||
`role` is the division of labour for a two-cook round: `chopper` runs
|
||||
the chopper half (fetch, chop, table the chopped on the board — the
|
||||
pass counter); `any` (the default) runs the generic full-chain policy,
|
||||
whose free-hand priority picks a tabled/ready chopped before its own
|
||||
stock — so a default cook next to a chopper runs off the hand-off.
|
||||
"""
|
||||
|
||||
index: int
|
||||
primary_shelf: str
|
||||
role: str = "any"
|
||||
plan: list[Step] = field(default_factory=list)
|
||||
step: Step | None = None
|
||||
release_pending: bool = True # the first frame is a release: the gate is clean
|
||||
|
||||
def next_frame(self, state: KitchenState, tick: int) -> PlayerInput:
|
||||
player = state.players[self.index]
|
||||
if self.release_pending:
|
||||
self.release_pending = False
|
||||
return _frame(player.id, tick, face=player.facing)
|
||||
if self.step is None:
|
||||
self.plan = decide(state, self.index, self.primary_shelf, self.role)
|
||||
# A Goto the cook is already in place for is redundant (the
|
||||
# release tick is the face tick): skip it so the press behind
|
||||
# it in the plan actually runs — the one-tick Goto is how the
|
||||
# controller used to loop on itself forever.
|
||||
while self.plan and isinstance(self.plan[0], _Goto):
|
||||
if not self.plan[0].already_there(player):
|
||||
break
|
||||
self.plan.pop(0)
|
||||
if not self.plan:
|
||||
return _frame(player.id, tick, face=player.facing)
|
||||
self.step = self.plan.pop(0)
|
||||
frame, done = self.step.tick(state, player, tick)
|
||||
if done:
|
||||
self.step = None
|
||||
self.release_pending = True
|
||||
return frame
|
||||
|
||||
|
||||
def run_round(
|
||||
state: KitchenState,
|
||||
book: RecipeBook,
|
||||
primary_shelves: Sequence[str],
|
||||
max_ticks: int,
|
||||
stop_at_verdict: bool = False,
|
||||
roles: Sequence[str] | None = None,
|
||||
) -> tuple[list[KitchenState], list[list], int | None]:
|
||||
"""Drive `max_ticks` substeps of the whole `step()` (or stop at the
|
||||
verdict when `stop_at_verdict`), one frame per cook per tick.
|
||||
|
||||
`roles` is the per-cook division of labour (a `chopper`/`any` string
|
||||
per seat, `None` for all-generic).
|
||||
|
||||
Returns:
|
||||
The per-tick states (the state after each substep), the per-tick
|
||||
event lists, and the tick the `result` first became non-`None`
|
||||
(the verdict tick — `None` when the round never ended in the window).
|
||||
"""
|
||||
if len(primary_shelves) != len(state.players):
|
||||
msg = f"{len(primary_shelves)} shelves for {len(state.players)} cooks"
|
||||
raise ValueError(msg)
|
||||
if roles is not None and len(roles) != len(state.players):
|
||||
msg = f"{len(roles)} roles for {len(state.players)} cooks"
|
||||
raise ValueError(msg)
|
||||
cooks = [
|
||||
CookController(
|
||||
index, primary_shelves[index], role=(roles[index] if roles else "any")
|
||||
)
|
||||
for index in range(len(state.players))
|
||||
]
|
||||
states: list[KitchenState] = []
|
||||
event_lists: list[list] = []
|
||||
verdict_tick: int | None = None
|
||||
current = state
|
||||
for tick in range(max_ticks):
|
||||
frames = tuple(cook.next_frame(current, tick) for cook in cooks)
|
||||
current, events = step(current, STEP_DT, frames, book)
|
||||
states.append(current)
|
||||
event_lists.append(list(events))
|
||||
if current.result is not None and verdict_tick is None:
|
||||
verdict_tick = current.tick
|
||||
if stop_at_verdict:
|
||||
break
|
||||
return states, event_lists, verdict_tick
|
||||
Reference in New Issue
Block a user