bot: implemented asynchronous pathfinding
nav: floyd-warshall matrices and practice updates are done asynchronously by now add: yb_threadpool_workers cvar, that controls number of worker threads bot will use add: cv_autovacate_keep_slots, the amount of slots to keep by auto vacate aim: enemy prediction is now done asynchronously by now bot: minor fixes and refactoring, including analyze suspend mistake (ref #441) note: the master builds are now NOT production ready, please test before installing on real servers!
This commit is contained in:
jeefo
parent
e7712a551a
commit
a616f25b1a
30 changed files with 743 additions and 421 deletions
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@ -146,6 +146,9 @@ public:
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// initialize levels
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void levelInitialize (edict_t *entities, int max);
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// shutdown levels
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void levelShutdown ();
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// display world line
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void drawLine (edict_t *ent, const Vector &start, const Vector &end, int width, int noise, const Color &color, int brightness, int speed, int life, DrawLine type = DrawLine::Simple);
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@ -688,8 +691,7 @@ public:
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int close (DLSYM_HANDLE module) {
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if (m_self.handle () == module) {
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disable ();
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return m_dlclose (module);
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return m_dlclose (module);
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}
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return m_dlclose (module);
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}
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@ -153,7 +153,6 @@ private:
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int m_lastJumpNode {};
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int m_findWPIndex {};
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int m_facingAtIndex {};
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int m_highestDamage[kGameTeamNum] {};
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int m_autoSaveCount {};
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float m_timeJumpStarted {};
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@ -265,14 +264,6 @@ public:
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return m_paths.length () / 2;
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}
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int getHighestDamageForTeam (int team) const {
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return cr::max (1, m_highestDamage[team]);
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}
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void setHighestDamageForTeam (int team, int value) {
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m_highestDamage[team] = value;
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}
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StringRef getAuthor () const {
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return m_graphAuthor;
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}
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@ -63,7 +63,7 @@ private:
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float m_maintainTime {}; // time to maintain bot creation
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float m_quotaMaintainTime {}; // time to maintain bot quota
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float m_grenadeUpdateTime {}; // time to update active grenades
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float m_entityUpdateTime {}; // time to update intresting entities
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float m_entityUpdateTime {}; // time to update interesting entities
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float m_plantSearchUpdateTime {}; // time to update for searching planted bomb
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float m_lastChatTime {}; // global chat time timestamp
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float m_timeBombPlanted {}; // time the bomb were planted
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@ -81,7 +81,7 @@ private:
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bool m_roundOver {};
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Array <edict_t *> m_activeGrenades {}; // holds currently active grenades on the map
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Array <edict_t *> m_intrestingEntities {}; // holds currently intresting entities on the map
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Array <edict_t *> m_interestingEntities {}; // holds currently interesting entities on the map
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Deque <String> m_saveBotNames {}; // bots names that persist upon changelevel
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Deque <BotRequest> m_addRequests {}; // bot creation tab
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@ -143,7 +143,7 @@ public:
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void initFilters ();
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void resetFilters ();
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void updateActiveGrenade ();
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void updateIntrestingEntities ();
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void updateInterestingEntities ();
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void captureChatRadio (const char *cmd, const char *arg, edict_t *ent);
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void notifyBombDefuse ();
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void execGameEntity (edict_t *ent);
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@ -160,16 +160,16 @@ public:
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return m_activeGrenades;
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}
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const Array <edict_t *> &getIntrestingEntities () {
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return m_intrestingEntities;
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const Array <edict_t *> &getInterestingEntities () {
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return m_interestingEntities;
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}
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bool hasActiveGrenades () const {
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return !m_activeGrenades.empty ();
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}
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bool hasIntrestingEntities () const {
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return !m_intrestingEntities.empty ();
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bool hasInterestingEntities () const {
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return !m_interestingEntities.empty ();
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}
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bool checkTeamEco (int team) const {
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@ -302,5 +302,31 @@ public:
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}
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};
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// bot async worker wrapper
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class BotThreadWorker final : public Singleton <BotThreadWorker> {
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private:
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ThreadPool m_botWorker;
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public:
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BotThreadWorker () = default;
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~BotThreadWorker () = default;
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public:
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void shutdown ();
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void startup (int workers);
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public:
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template <typename F> void enqueue (F &&fn) {
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if (m_botWorker.threadCount () == 0) {
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fn (); // no threads, no fun, just run task in current thread
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return;
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}
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m_botWorker.enqueue (cr::forward <F> (fn));
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}
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};
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// explose global
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CR_EXPOSE_GLOBAL_SINGLETON (BotManager, bots);
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// expose async worker
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CR_EXPOSE_GLOBAL_SINGLETON (BotThreadWorker, worker);
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@ -84,7 +84,7 @@ public:
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};
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// A* algorithm for bots
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class AStarAlgo final {
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class AStarAlgo final : public DenyCopying {
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public:
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using HeuristicFn = Heuristic::Func;
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@ -108,7 +108,7 @@ private:
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Array <int> m_smoothedPath;
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private:
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// cleares the currently built route
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// clears the currently built route
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void clearRoute ();
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// can the node can be skipped?
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@ -118,6 +118,10 @@ private:
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void postSmooth (NodeAdderFn onAddedNode);
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public:
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explicit AStarAlgo (const int length) {
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init (length);
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}
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AStarAlgo () = default;
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~AStarAlgo () = default;
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@ -180,6 +184,9 @@ public:
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private:
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// create floyd matrics
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void syncRebuild ();
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// async rebuild
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void rebuild ();
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public:
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@ -201,6 +208,9 @@ public:
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// dijkstra shortest path algorithm
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class DijkstraAlgo final {
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private:
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mutable Mutex m_cs {};
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private:
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using Route = Twin <int, int>;
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@ -215,11 +225,6 @@ public:
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DijkstraAlgo () = default;
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~DijkstraAlgo () = default;
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private:
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// reset pathfinder state to defaults
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void resetState ();
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public:
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// initialize dijkstra with valid path length
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void init (const int length);
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@ -236,7 +241,6 @@ class PathPlanner : public Singleton <PathPlanner> {
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private:
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UniquePtr <DijkstraAlgo> m_dijkstra;
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UniquePtr <FloydWarshallAlgo> m_floyd;
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UniquePtr <AStarAlgo > m_astar;
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bool m_memoryLimitHit {};
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public:
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@ -261,17 +265,15 @@ public:
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return m_floyd.get ();
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}
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// get the floyd algo
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decltype (auto) getAStar () {
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return m_astar.get ();
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}
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public:
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// do the pathfinding
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bool find (int srcIndex, int destIndex, NodeAdderFn onAddedNode, int *pathDistance = nullptr);
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// distance between two nodes with pathfinder
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int dist (int srcIndex, int destIndex);
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float dist (int srcIndex, int destIndex);
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// get the precise distanace regardless of cvar
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float preciseDistance (int srcIndex, int destIndex);
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};
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CR_EXPOSE_GLOBAL_SINGLETON (PathPlanner, planner);
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DangerSaveRestore (const DangerStorage &ds, const PracticeData &pd) : danger (ds), data (pd) {}
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};
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private:
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HashMap <DangerStorage, PracticeData> m_data {};
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int32_t m_teamHighestDamage[kGameTeamNum] {};
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// avoid concurrent access to practice
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mutable Mutex m_damageUpdateLock {};
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public:
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BotPractice () = default;
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~BotPractice () = default;
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private:
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inline bool exists (int32_t team, int32_t start, int32_t goal) const {
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bool exists (int32_t team, int32_t start, int32_t goal) const {
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return m_data.exists ({ start, goal, team });
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}
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void syncUpdate ();
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public:
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int32_t getIndex (int32_t team, int32_t start, int32_t goal);
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@ -102,17 +107,21 @@ public:
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int32_t getDamage (int32_t team, int32_t start, int32_t goal);
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void setDamage (int32_t team, int32_t start, int32_t goal, int32_t value);
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// interlocked get damage
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float plannerGetDamage (int32_t team, int32_t start, int32_t goal, bool addTeamHighestDamage);
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public:
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void update ();
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void load ();
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void save ();
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public:
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int32_t getHighestDamageForTeam (int32_t team) const {
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return cr::max (1, m_teamHighestDamage[team]);
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template <typename U = int32_t> U getHighestDamageForTeam (int32_t team) const {
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return static_cast <U> (cr::max (1, m_teamHighestDamage[team]));
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}
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void setHighestDamageForTeam (int32_t team, int32_t value) {
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MutexScopedLock lock (m_damageUpdateLock);
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m_teamHighestDamage[team] = value;
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}
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};
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@ -8,6 +8,9 @@
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#pragma once
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class BotSupport final : public Singleton <BotSupport> {
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private:
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mutable Mutex m_cs {};
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private:
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bool m_needToSendWelcome {};
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float m_welcomeReceiveTime {};
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// generates ping bitmask for SVC_PINGS message
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int getPingBitmask (edict_t *ent, int loss, int ping);
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// calculate our own pings for all the players
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void syncCalculatePings ();
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// calculate our own pings for all the players
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void calculatePings ();
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28
inc/yapb.h
28
inc/yapb.h
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@ -663,6 +663,10 @@ class Bot final {
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public:
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friend class BotManager;
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private:
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mutable Mutex m_pathFindLock {};
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mutable Mutex m_predictLock {};
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private:
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uint32_t m_states {}; // sensing bitstates
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uint32_t m_collideMoves[kMaxCollideMoves] {}; // sorted array of movements
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@ -689,8 +693,10 @@ private:
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int m_tryOpenDoor {}; // attempt's to open the door
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int m_liftState {}; // state of lift handling
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int m_radioSelect {}; // radio entry
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int m_lastPredictIndex {}; // last predicted index
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int m_lastPredictIndex { kInvalidNodeIndex }; // last predicted path index
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int m_lastPredictLength {}; // last predicted path length
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float m_headedTime {};
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float m_prevTime {}; // time previously checked movement speed
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float m_heavyTimestamp {}; // is it time to execute heavy-weight functions
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@ -747,6 +753,7 @@ private:
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bool m_moveToGoal {}; // bot currently moving to goal??
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bool m_isStuck {}; // bot is stuck
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bool m_isStale {}; // bot is leaving server
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bool m_isReloading {}; // bot is reloading a gun
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bool m_forceRadio {}; // should bot use radio anyway?
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bool m_defendedBomb {}; // defend action issued
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@ -773,6 +780,7 @@ private:
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FindPath m_pathType {}; // which pathfinder to use
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uint8_t m_enemyParts {}; // visibility flags
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TraceResult m_lastTrace[TraceChannel::Num] {}; // last trace result
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UniquePtr <class AStarAlgo> m_planner;
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edict_t *m_pickupItem {}; // pointer to entity of item to use/pickup
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edict_t *m_itemIgnore {}; // pointer to entity to ignore for pickup
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@ -888,7 +896,6 @@ private:
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void doPlayerAvoidance (const Vector &normal);
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void selectCampButtons (int index);
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void markStale ();
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void instantChatter (int type);
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void update ();
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void runMovement ();
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@ -920,6 +927,7 @@ private:
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void findShortestPath (int srcIndex, int destIndex);
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void calculateFrustum ();
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void findPath (int srcIndex, int destIndex, FindPath pathType = FindPath::Fast);
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void syncFindPath (int srcIndex, int destIndex, FindPath pathType);
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void debugMsgInternal (const char *str);
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void frame ();
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void resetCollision ();
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@ -933,6 +941,7 @@ private:
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void decideFollowUser ();
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void attackMovement ();
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void findValidNode ();
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void setPathOrigin ();
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void fireWeapons ();
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void selectWeapons (float distance, int index, int id, int choosen);
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void focusEnemy ();
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@ -940,6 +949,9 @@ private:
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void selectSecondary ();
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void selectWeaponById (int id);
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void selectWeaponByIndex (int index);
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void refreshEnemyPredict ();
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void syncUpdatePredictedIndex ();
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void updatePredictedIndex ();
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void completeTask ();
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void executeTasks ();
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@ -1094,11 +1106,13 @@ public:
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bool m_hasNVG {}; // does bot has nightvision goggles
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bool m_usesNVG {}; // does nightvision goggles turned on
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bool m_hasC4 {}; // does bot has c4 bomb
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bool m_hasHostage {}; // does bot owns some hostages
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bool m_hasProgressBar {}; // has progress bar on a HUD
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bool m_jumpReady {}; // is double jump ready
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bool m_canChooseAimDirection {}; // can choose aiming direction
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bool m_isEnemyReachable {}; // direct line to enemy
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bool m_kickedByRotation {}; // is bot kicked due to rotation ?
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bool m_kickMeFromServer {}; // kick the bot off the server?
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edict_t *m_doubleJumpEntity {}; // pointer to entity that request double jump
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edict_t *m_radioEntity {}; // pointer to entity issuing a radio command
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@ -1121,7 +1135,11 @@ public:
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public:
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Bot (edict_t *bot, int difficulty, int personality, int team, int skin);
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~Bot () = default;
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// need to wait until all threads will finish it's work before terminating bot object
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~Bot () {
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MutexScopedLock lock (m_pathFindLock);
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}
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public:
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void logic (); /// the things that can be executed while skipping frames
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@ -1154,7 +1172,7 @@ public:
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void resetDoubleJump ();
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void startDoubleJump (edict_t *ent);
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void sendBotToOrigin (const Vector &origin);
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void markStale ();
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bool hasHostage ();
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bool usesRifle ();
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bool usesPistol ();
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Reference in a new issue