feat(statemachine): 🚧 first draft of new xstate based statemachine implementation
Replaces the old statemachine. Done so far: - Basic command interface - Machine saving and loading - Sample dummy machine
This commit is contained in:
jay
parent
3f3ebbae10
commit
33c4233223
1
.gitignore
vendored
1
.gitignore
vendored
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@ -10,6 +10,7 @@
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# production
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/build
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/data
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# misc
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.DS_Store
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@ -104,7 +104,7 @@ bot.once("spawn", () => {
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mover: require('./plugins/mover'),
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guard: require('./plugins/guard'),
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// miner: require('./plugins/miner.js'),
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// statemachine: require('./plugins/statemachine'),
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statemachine: require('./plugins/statemachine'),
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}
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cfg.plugins = plugins
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@ -404,6 +404,16 @@ function command(username, message) {
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break
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}
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break;
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case "sm":
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case "step":
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cfg.plugins.statemachine?.command?.(
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message_parts[0] == "sm" ? message_parts.slice(1) : message_parts, player
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)
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// TODO refactor into plugin detection and command exec function
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// safecommand(plugin_name, message_parts, player)
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// message_parts includes command?
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|| bot.chat("statemachine plugin not loaded")
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break
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case "location":
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// TODO put in /lib/location
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switch (message_parts[1]) {
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@ -1,115 +1,476 @@
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// Load your dependency plugins.
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const {pathfinder} = require('mineflayer-pathfinder')
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// bot.loadPlugin(require('prismarine-viewer').mineflayer)
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// const mineflayerViewer = require('prismarine-viewer').mineflayer
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// Import required behaviors.
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const {
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StateTransition,
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BotStateMachine,
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EntityFilters,
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BehaviorFollowEntity,
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BehaviorLookAtEntity,
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BehaviorGetClosestEntity,
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NestedStateMachine,
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BehaviorIdle,
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StateMachineWebserver,
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} = require("mineflayer-statemachine");
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// TODO chat
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// wait for our bot to login.
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function statemachineInit() {
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cfg.botAddress = new RegExp(`^${bot.username} (!.+)`)
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// This targets object is used to pass data between different states. It can be left empty.
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const targets = new Object();
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// Create our states
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const getClosestPlayer = new BehaviorGetClosestEntity(
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bot, targets, entity => EntityFilters().PlayersOnly(entity) && bot.entity.position.distanceTo(entity.position) <= 50 ); // && a.username !== bot.username);
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const followPlayer = new BehaviorFollowEntity(bot, targets);
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const lookAtPlayer = new BehaviorLookAtEntity(bot, targets);
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const stay = new BehaviorIdle();
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// Create our transitions
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const transitions = [
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// We want to start following the player immediately after finding them.
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// Since getClosestPlayer finishes instantly, shouldTransition() should always return true.
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new StateTransition({
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parent: getClosestPlayer,
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child: followPlayer,
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onTransition: (quiet) => quiet || bot.chat(`Hi ${targets.entity.username}!`),
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shouldTransition: () => bot.entity.position.distanceTo(targets.entity.position) <= 50,
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// shouldTransition: () => getClosestPlayer.distanceToTarget() < 100 || console.info("player too far!") && false,
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}),
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// If the distance to the player is less than two blocks, switch from the followPlayer
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// state to the lookAtPlayer state.
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new StateTransition({
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parent: followPlayer,
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child: lookAtPlayer,
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// onTransition: () => console.log(targets),
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shouldTransition: () => followPlayer.distanceToTarget() < 2,
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}),
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// If the distance to the player is more than two blocks, switch from the lookAtPlayer
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// state to the followPlayer state.
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new StateTransition({
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parent: lookAtPlayer,
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child: followPlayer,
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shouldTransition: () => lookAtPlayer.distanceToTarget() >= 5,
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}),
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new StateTransition({
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parent: lookAtPlayer,
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child: stay,
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onTransition: () => bot.chat("ok, staying"),
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// shouldTransition: () => true,
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}),
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new StateTransition({
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parent: stay,
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child: getClosestPlayer,
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// shouldTransition: () => Math.random() > 0.01,
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// shouldTransition: () => Math.random() > 0.1 && getClosestPlayer.distanceToTarget() < 2,
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}),
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];
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// Now we just wrap our transition list in a nested state machine layer. We want the bot
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// to start on the getClosestPlayer state, so we'll specify that here.
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const rootLayer = new NestedStateMachine(transitions, getClosestPlayer, stay);
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// We can start our state machine simply by creating a new instance.
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cfg.stateMachines.follow = new BotStateMachine(bot, rootLayer);
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const webserver = new StateMachineWebserver(bot, cfg.stateMachines.follow);
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webserver.startServer();
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// mineflayerViewer(bot, { port: 3000 })
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// const path = [bot.entity.position.clone()]
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// bot.on('move', () => {
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// if (path[path.length - 1].distanceTo(bot.entity.position) > 1) {
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// path.push(bot.entity.position.clone())
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// bot.viewer.drawLine('path', path)
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// }
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// })
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}
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const load = (config) => {
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cfg = config
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bot = cfg.bot
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// cfg.inventory = {
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// auto: true,
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// quiet: false
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// }
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// bot.on('chat', inventory)
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bot.loadPlugin(pathfinder)
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// statemachineInit()
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}
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const unload = () => {
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// bot.off('chat', inventory)
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}
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module.exports = { load, unload }
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// import { createMachine, interpret, InterpreterStatus } from "xstate";
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const { createMachine, interpret, InterpreterStatus } = require('xstate');
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// import { access, mkdir, writeFile, readFile } from "fs";
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const { access, mkdir, writeFile, readFile } = require('fs');
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const v = require('vec3'); // for look dummy action, maybe not needed in future
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// ANGRAM_PREFIX='MINECRAFT'
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const { MINECRAFT_DATA_FOLDER } = process.env || require("dotenv-packed").parseEnv().parsed;
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const storage_dir = MINECRAFT_DATA_FOLDER || './data/' + "/sm/";
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// import { createBot } from "mineflayer"
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// let { pathfinder, Movements, goals } = require('mineflayer-pathfinder')
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// let cfg
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// let bot = createBot({ username: 'statebot' })
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let bot;
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let quiet;
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let updateRate = 20;
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const machines = {
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list: {},
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running: {},
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};
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let webserver;
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let cfg = {
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statemachine: {
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webserver: null,
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// quiet: true,
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quiet: quiet,
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list: {},
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running: {},
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draft: null,
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recent: null,
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// debug: null,
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debug: true,
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updateRate: updateRate
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}
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// FIXME temp variables to satisfy typescript autocomplete
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// , quiet: null
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,
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bot: bot,
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plugins: { statemachine: null }
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};
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// Edit your machine(s) here
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function init(smName = "dummy", webserver) {
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access(storage_dir, err => {
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if (err?.code === 'ENOENT') {
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mkdir(storage_dir, e => e && console.warn("sm init: create dir", e));
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}
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else if (err) {
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console.warn("sm init: create dir", err);
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}
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});
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// const machine = newSM(smName)
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// machine.states.idle.on.TOGGLE = "start"
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// machine.states.start.on.TOGGLE = "idle"
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const machine = createMachine({
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id: smName,
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initial: "idle",
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states: {
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idle: {
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on: { TOGGLE: "start", NEXT: "start", PREV: "look", STOP: "finish" }
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},
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start: {
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on: { TOGGLE: "look", NEXT: "look", PREV: "idle" },
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entry: 'lookAtPlayerOnce',
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},
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look: {
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on: { TOGGLE: "idle", NEXT: "idle", PREV: "start" },
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// entry: ['look', 'blah']
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// entry: 'lookAtPlayerOnce',
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activities: 'lookAtPlayer',
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meta: { debug: true }
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},
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finish: {
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type: 'final'
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},
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},
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on: { START: '.start', STOP: '.idle' },
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meta: { debug: true },
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context: { player: null, rate: updateRate },
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}, {
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actions: {
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// action implementation
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lookAtPlayerOnce: (context, event) => {
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const player = context?.player || bot.nearestEntity(entity => entity.type === 'player');
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if (player.position || player.entity) {
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context.player = player;
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bot.lookAt((new v.Vec3(0, 1, 0)).add((player.entity || player).position));
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}
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}
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},
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activities: {
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lookAtPlayer: (context, event) => {
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const player = context?.player || bot.nearestEntity(entity => entity.type === 'player');
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// TODO check every event?
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if (player.position || player.entity) {
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context.player = player;
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function looks() {
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bot.lookAt((new v.Vec3(0, 1, 0)).add((player.entity || player).position));
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}
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bot.on("time", looks);
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return () => bot.off("time", looks);
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}
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}
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},
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delays: {
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/* ... */
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},
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guards: {
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/* ... */
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},
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services: {
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/* ... */
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}
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});
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console.log("sm init: machine", machine);
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const service = runSM(saveSM(machine));
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if (service?.send) {
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setTimeout(service.send, 200, "TOGGLE");
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// setTimeout(service.send, 400, "TOGGLE")
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}
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else {
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console.warn("sm init: service", service);
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}
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}
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function newSM(smName = "sm_" + Object.keys(cfg.statemachine.list).length) {
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smName = smName.replace(/\s+/, '_');
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if (cfg.statemachine.list[smName]) {
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console.warn("sm exists", smName);
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quiet || bot.chat(`sm ${smName} already exists, edit or use another name instead`);
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return;
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}
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const machine = createMachine({
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id: smName,
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initial: "start",
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// TODO use history states for PAUSE and RESUME
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states: { idle: { on: { START: "start" } }, start: { on: { STOP: "idle" } } }
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});
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cfg.statemachine.draft = machine;
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return machine;
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}
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function saveSM(machine = cfg.statemachine.draft) {
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if (!machine?.id) {
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console.warn("sm save: invalid", machine);
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quiet || bot.chat("sm: couldn't save, invalid");
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return;
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}
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// TODO do tests and validation
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// 1. ensure default states [start, idle]
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// 2. ensure closed cycle from start to idle
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cfg.statemachine.list[machine.id] = machine;
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if (machine.id === cfg.statemachine.draft?.id) {
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cfg.statemachine.draft = null;
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}
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writeFile(
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// TODO
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// `${storage_dir}/${player}/${machine.id}.json`
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`${storage_dir}/${machine.id}.json`,
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// TODO decide which data to store
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// https://xstate.js.org/docs/guides/states.html#persisting-state
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// JSON.stringify(machine.toJSON),
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// JSON.stringify(machine.states.toJSON), // + activities, delays, etc
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JSON.stringify({ config: machine.config, context: machine.context }), e => e && console.log("sm load sm: write file", e));
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// return run ? runSM(machine) : machine
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return machine;
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}
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function loadSM(name, run = true) {
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//: StateMachine<any, any, any> {
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readFile(
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// readFileSync(
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// TODO
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// `${storage_dir}/${player}/${machine.id}.json`
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`${storage_dir}/${name}.json`, afterRead
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// JSON.stringify(machine.toJSON),
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);
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function afterRead(err, jsonString) {
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if (err) {
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console.warn("sm load sm: read file", err);
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return;
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}
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else {
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const machine = createMachine(JSON.parse(jsonString).config);
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// TODO do tests and validation
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// 1. ensure default states [start, idle]
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// 2. ensure closed cycle from start to idle
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cfg.statemachine.list[machine.id] = machine;
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if (machine.id === cfg.statemachine.draft?.id) {
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cfg.statemachine.draft = machine;
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}
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if (run) {
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runSM(machine);
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}
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}
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}
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// return run ? runSM(machine) : machine
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// return machine
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}
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// function isInterpreter(SMorService: StateMachine<any, any, any> | Interpreter<any>): SMorService is Interpreter<any> {
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// return (SMorService as Interpreter<any>).start !== undefined;
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// }
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function getSM(name = cfg.statemachine.draft || cfg.statemachine.recent, asService = false, quiet = false) {
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const machine = typeof name === "string" ? cfg.statemachine.list[name]
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: name;
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if (!machine) {
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console.warn("sm get: doesn't exist", name);
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cfg.statemachine.quiet || bot.chat(`sm ${name} doesn't exist`);
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return;
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}
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if (asService) {
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const service = cfg.statemachine.running[machine?.id];
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if (!service) {
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quiet || console.warn("sm get: already stopped", machine);
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quiet || cfg.statemachine.quiet || bot.chat(`sm ${machine?.id} isn't running`);
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return interpret(machine);
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}
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return service;
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}
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else {
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// return machine.machine ? machine.machine : machine
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return machine;
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}
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}
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function runSM(name = getSM(undefined, undefined, true), player // or supervisor?
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, restart = false) {
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if (!name)
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return;
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const service = getSM(name, true, true);
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if (!service)
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return;
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const machine = service.machine;
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if (!machine)
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return;
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switch (service.status) {
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case InterpreterStatus.Running:
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if (!restart) {
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console.warn("sm run: already running", service.id);
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quiet || bot.chat(`sm ${service.id} already running`);
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return service;
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}
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stopSM(machine);
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case InterpreterStatus.NotStarted:
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case InterpreterStatus.Stopped:
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break;
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default:
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console.warn("sm run: unknown status:", service.status, service);
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return;
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break;
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}
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if (cfg.statemachine.debug || machine.meta?.debug) {
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service.onTransition((state) => {
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quiet || bot.chat(`sm trans: ${machine.id}, ${state.value}`);
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quiet || state.meta?.debug && bot.chat(`sm next events: ${machine.id}, ${state.nextEvents}`);
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console.log("sm debug: trans", state.value, state);
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}).onDone((done) => {
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quiet || bot.chat(`sm done: ${machine.id}, ${done}`);
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console.log("sm debug: done", done.data, done);
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});
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}
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cfg.statemachine.running[machine.id] = service;
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cfg.statemachine.recent = machine;
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service.start();
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// // TODO check if idle state is different (maybe?)
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console.log("sm run", service.state.value === machine.initialState.value, service.state);
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console.log("sm run", service.state !== machine.initialState, machine.initialState);
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// return machine
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return service;
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}
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function stopSM(name = getSM(), quiet = false) {
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let service = getSM(name, true, quiet);
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if (!service)
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return;
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const machine = service.machine;
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switch (service.status) {
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case InterpreterStatus.NotStarted:
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case InterpreterStatus.Stopped:
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console.log("sm stop status", service.status, service.id, cfg.statemachine.running[service.id]);
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// TODO check if any bugs
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case InterpreterStatus.Running:
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break;
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default:
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console.warn("sm stop: unknown status:", service.status);
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break;
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}
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service?.stop?.();
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cfg.statemachine.running[machine.id] = null;
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delete cfg.statemachine.running[machine.id];
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// return machine
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return service;
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}
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function actionSM(action, name = getSM()) {
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if (!action) {
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return console.warn("sm action", action);
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}
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let service = getSM(name, true, true);
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if (service.status !== InterpreterStatus.Running)
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return;
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// const machine = service.machine
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service.send(action.toLowerCase());
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}
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function stepSM(command = "", ...message_parts) {
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let service = getSM(undefined, true);
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if (!service)
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return;
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if (!service.send) {
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console.warn("sm step: can't send", service.machine);
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// TODO start a temporary service to interpret
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quiet || bot.chat("sm: step doesn't support machines that aren't running yet");
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return;
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}
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if (service?.status !== InterpreterStatus.Running) {
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console.warn("sm step: machine not running, attempting start", service);
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runSM;
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}
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// const machine = service.machine
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switch (command) {
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case "edit":
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// maybe `edit <type>`, like `add`?
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// where type:
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// context
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// action
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// timeout | all timeout
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break;
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case "undo":
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break;
|
||||
case "del":
|
||||
break;
|
||||
case "p":
|
||||
case "prev":
|
||||
service?.send("PREV");
|
||||
break;
|
||||
case "add":
|
||||
// maybe `add <type>`?
|
||||
// where type:
|
||||
// context
|
||||
// action
|
||||
// timeout
|
||||
case "new":
|
||||
break;
|
||||
// case "with":
|
||||
// console.log(this)
|
||||
// stepSM(getSM(message_parts[0], true, true), ...message_parts.slice(1))
|
||||
// break;
|
||||
case "help":
|
||||
quiet || bot.chat("![sm ]step [ p(rev) | n(ext) ]");
|
||||
break;
|
||||
case "n":
|
||||
case "next":
|
||||
default:
|
||||
service?.send("NEXT");
|
||||
quiet || bot.chat("stepped");
|
||||
break;
|
||||
}
|
||||
}
|
||||
function tickSM(time = bot.time.timeOfDay, rate = 20) {
|
||||
if (time % rate !== 0) {
|
||||
return;
|
||||
}
|
||||
console.log("sm tick", rate, time);
|
||||
}
|
||||
function debugSM(name = getSM()) {
|
||||
if (!name)
|
||||
return;
|
||||
let service = getSM(name, true);
|
||||
if (!service)
|
||||
return;
|
||||
const machine = service.machine;
|
||||
machine.meta.debug = !!!machine.meta.debug;
|
||||
console.info("sm debug", machine.meta, service, machine);
|
||||
cfg.statemachine.quiet || machine.meta.debug && bot.chat("sm debug: " + machine.id);
|
||||
}
|
||||
function command(message_parts) {
|
||||
const message_parts2 = message_parts.slice(1);
|
||||
switch (message_parts[0]) {
|
||||
case "add":
|
||||
command(["new"].concat(message_parts2));
|
||||
break;
|
||||
case "finish":
|
||||
case "done":
|
||||
case "end":
|
||||
command(["save"].concat(message_parts2));
|
||||
break;
|
||||
case "do":
|
||||
case "load":
|
||||
case "start":
|
||||
command(["run"].concat(message_parts2));
|
||||
break;
|
||||
case "debug":
|
||||
switch (message_parts[1]) {
|
||||
case "sm":
|
||||
case "global":
|
||||
case "meta":
|
||||
cfg.statemachine.debug = !!!cfg.statemachine.debug;
|
||||
quiet || bot.chat(`sm debug: ${cfg.statemachine.debug}`);
|
||||
break;
|
||||
}
|
||||
case "new":
|
||||
case "save":
|
||||
case "run":
|
||||
case "step":
|
||||
case "stop":
|
||||
// temp
|
||||
case "action":
|
||||
switch (message_parts2.length) {
|
||||
case 0:
|
||||
console.warn(`sm ${message_parts[0]}: no name, using defaults`);
|
||||
case 1:
|
||||
// FIXME `this` doesn't work always
|
||||
(this.runSM && this || cfg.plugins.statemachine)[message_parts[0] + "SM"](...message_parts2);
|
||||
break;
|
||||
default:
|
||||
if (["action"].includes(message_parts[0])) {
|
||||
(this.runSM && this || cfg.plugins.statemachine)[message_parts[0] + "SM"](...message_parts2);
|
||||
}
|
||||
else {
|
||||
console.warn(`sm ${message_parts[0]}: more than 1 arg passed`, message_parts2);
|
||||
}
|
||||
break;
|
||||
}
|
||||
break;
|
||||
case "undo":
|
||||
break;
|
||||
case "list":
|
||||
case "status":
|
||||
// TODO current/recent, updateRate
|
||||
const { list, running } = cfg.statemachine;
|
||||
console.log("sm list", running, list);
|
||||
quiet || bot.chat(`${Object.keys(running).length} of ${Object.keys(list).length} active: ${Object.keys(running)}`
|
||||
+ (message_parts[1] === "all" ? `${Object.keys(list)}` : ''));
|
||||
break;
|
||||
case "quiet":
|
||||
quiet = cfg.statemachine.quiet = !!!cfg.statemachine.quiet;
|
||||
quiet || bot.chat(`sm: ${cfg.statemachine.quiet ? "" : "not "}being quiet`);
|
||||
break;
|
||||
default:
|
||||
// TODO general helper from declarative commands object
|
||||
quiet || bot.chat(`sm help: !sm [new | step| save | run | list | quiet | debug]`);
|
||||
console.warn("sm unknown command", message_parts);
|
||||
break;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
function load(config) {
|
||||
webserver = cfg.statemachine.webserver = config.statemachine?.webserver || webserver;
|
||||
config.statemachine = cfg.statemachine || {
|
||||
webserver: null,
|
||||
// quiet: true,
|
||||
quiet: false,
|
||||
list: {},
|
||||
running: {},
|
||||
draft: null,
|
||||
recent: null,
|
||||
// debug: null,
|
||||
debug: true,
|
||||
updateRate: updateRate
|
||||
};
|
||||
cfg = config;
|
||||
bot = cfg.bot;
|
||||
// pathfinder = bot.pathfinder || bot.loadPlugin(require('mineflayer-pathfinder').pathfinder)
|
||||
// mcData = bot.mcData || (bot.mcData = require('minecraft-data')(bot.version))
|
||||
init(undefined, webserver);
|
||||
updateRate = cfg.statemachine.updateRate || updateRate;
|
||||
bot.on('time', tickSM);
|
||||
// bot.once('time', tickSM, 5)
|
||||
console.log("sm load", cfg.statemachine);
|
||||
}
|
||||
function unload() {
|
||||
const { list, running } = cfg.statemachine;
|
||||
bot.off('time', tickSM);
|
||||
Object.keys(running).forEach(sm => {
|
||||
stopSM(sm);
|
||||
});
|
||||
// delete cfg.statemachine;
|
||||
cfg.statemachine = null;
|
||||
console.log("sm unload: deleted", cfg.statemachine);
|
||||
}
|
||||
module.exports = {
|
||||
load, unload, command, init,
|
||||
newSM, saveSM, loadSM, runSM, stopSM, actionSM, stepSM, debugSM
|
||||
};
|
||||
Loading…
Reference in New Issue
Block a user