From 164030424db48b3da8932201166167ade9b03d8d Mon Sep 17 00:00:00 2001
From: Rostyslav Hnatyshyn <rostyslav.hnatyshyn@gmail.com>
Date: Wed, 3 Jan 2024 13:59:59 -0700
Subject: [PATCH] multiple goal ai

---
 src/lib/ai.rs     | 41 ++++++++++++++++++++---------------------
 src/lib/entity.rs |  4 +---
 src/lib/point.rs  |  4 +++-
 tests/ai_test.rs  | 42 +++++++++++++++++++++++++++++++++++++-----
 4 files changed, 61 insertions(+), 30 deletions(-)

diff --git a/src/lib/ai.rs b/src/lib/ai.rs
index d47bffa..0aebb09 100644
--- a/src/lib/ai.rs
+++ b/src/lib/ai.rs
@@ -10,40 +10,46 @@ pub trait AI {
     fn plan(&mut self, w: &World) {}
 }
 
-#[derive(Clone)]
+#[derive(Clone, Debug)]
 pub enum AIGoal {
     Reach(Point),
+    //Pickup(Point),
+    //Drop(),
     Idle,
 }
 
 impl AI for Ant {
     fn plan(&mut self, w: &World) {
-        if self.plan.len() == 0 {
-            self.plan = match self.goal {
+        // check last part of plan
+        if let Some(goal) = self.plan.last() {
+            match goal {
                 AIGoal::Reach(target) => {
-                    if &self.pos == &target {
-                        self.goal = AIGoal::Idle;
-                        vec![]
-                    } else {
-                        astar(&self.pos, &target)
+                    if self.pos == *target {
+                        self.plan.pop();
                     }
                 }
-                AIGoal::Idle => vec![],
+                AIGoal::Idle => {}
             }
-        }
+        } 
     }
 
     // return the next move for this ant
     fn step(&mut self, b: &Screen, w: &mut World) -> BoardCommand {
-        let choice = match self.goal {
+        
+        let goal = match self.plan.last() {
+            Some(g) => g,
+            None => &AIGoal::Idle,
+        };
+
+        let choice = match goal {
             AIGoal::Idle => {
                 let valid = w.get_valid_movements(&self.pos, b);
                 let mut rng = thread_rng();
                 valid.choose(&mut rng).cloned()
             }
-            AIGoal::Reach(_) => {
-                let movement = self.plan.pop();
-                movement
+            AIGoal::Reach(target) => {
+                let mut movements = astar(&self.pos, &target);
+                movements.pop()
             }
         };
 
@@ -55,13 +61,6 @@ impl AI for Ant {
                 w.update_occupied(&old_pos, &pos);
             } else {
                 w.clear(pos);
-                match self.goal {
-                    // push plan back because we haven't actually moved towards it
-                    AIGoal::Reach(_) => {
-                        self.plan.push(pos);
-                    }
-                    AIGoal::Idle => {}
-                }
             }
         }
 
diff --git a/src/lib/entity.rs b/src/lib/entity.rs
index 5ae270f..e768176 100644
--- a/src/lib/entity.rs
+++ b/src/lib/entity.rs
@@ -40,8 +40,7 @@ impl_downcast!(Renderable);
 pub struct Ant {
     pub pos: Point,
     pub id: u32,
-    pub goal: AIGoal,
-    pub plan: Vec<Point>,
+    pub plan: Vec<AIGoal>,
 }
 
 impl Ant {
@@ -50,7 +49,6 @@ impl Ant {
             pos: Point(x, y),
             id: 0,
             plan: vec![],
-            goal: AIGoal::Idle,
         }
     }
 }
diff --git a/src/lib/point.rs b/src/lib/point.rs
index c112343..084e3c7 100644
--- a/src/lib/point.rs
+++ b/src/lib/point.rs
@@ -45,7 +45,9 @@ pub fn astar(start: &Point, goal: &Point) -> Vec<Point> {
             answer.push(current.clone());
             while came_from.contains_key(&current) {
                 current = came_from[&current].clone();
-                answer.push(current.clone());
+                if current != *start {
+                    answer.push(current.clone());
+                }
             }
             break;
         }
diff --git a/tests/ai_test.rs b/tests/ai_test.rs
index 87bffcf..5a97d06 100644
--- a/tests/ai_test.rs
+++ b/tests/ai_test.rs
@@ -1,8 +1,8 @@
-use antf::lib::screen::init_screen;
+use antf::lib::screen::{Screen, init_screen};
 use antf::lib::point::Point;
 use antf::lib::ai::AIGoal;
 use antf::lib::world::{World, simulate, render};
-use antf::lib::entity::{Entities, Ant};
+use antf::lib::entity::{Entities, Ant, Food, FoodGenerator};
 
 use ncurses::*;
 use std::thread::sleep;
@@ -12,7 +12,7 @@ use std::time;
 
 #[test]
 fn test_reach_astar() {
-    let mut board = init_screen(); 
+    let mut board = init_screen();//Screen::new(40,40); 
     let mut world = World::new();
 
     let mut entities = Entities::new();
@@ -22,9 +22,13 @@ fn test_reach_astar() {
 
     let a = entities.data.get_mut(&id).unwrap();
     let ant: &mut Ant = a.downcast_mut::<Ant>().unwrap(); 
-    ant.goal = AIGoal::Reach(Point(10,10));
+    ant.plan.push(AIGoal::Reach(Point(10,10)));
+    ant.plan.push(AIGoal::Reach(Point(-10,-10)));
+    ant.plan.push(AIGoal::Reach(Point(10,-10)));
+    ant.plan.push(AIGoal::Reach(Point(-10,10)));
 
-    for _ in 0..60 {
+    // craps out... need to make sure unwrap() is safe
+    for _ in 0..420 {
         // TODO: add way to break out of the loop by hitting a random key
         simulate(&mut entities, &mut world, &mut board);
         render(&entities, &world, &board);
@@ -34,3 +38,31 @@ fn test_reach_astar() {
     clear();
     endwin();
 }
+
+/*#[test]
+fn test_drag() {
+    let mut board = init_screen(); 
+    let mut world = World::new();
+
+    let mut entities = Entities::new();
+    
+    let f = Food::new(10,10);
+    let a = Ant::new(0,0);
+    let fid = entities.add_entity(&f);
+    let id = entities.add_entity(&a);
+    
+    let a = entities.data.get_mut(&id).unwrap();
+    let ant: &mut Ant = a.downcast_mut::<Ant>().unwrap();
+
+    //ant.goal = 
+    
+    for _ in 0..60 {
+        // TODO: add way to break out of the loop by hitting a random key
+        simulate(&mut entities, &mut world, &mut board);
+        render(&entities, &world, &board);
+        sleep(time::Duration::from_millis(100));
+        refresh();
+    }
+    clear();
+    endwin(); 
+}*/