From 33c42332232d09b498b73c48c766ae4358111acf Mon Sep 17 00:00:00 2001 From: jay Date: Mon, 22 Mar 2021 14:32:08 +0500 Subject: [PATCH] feat(statemachine): :construction: 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 --- .gitignore | 1 + lib/index.js | 2 +- lib/plugins/command.js | 10 + lib/plugins/statemachine.js | 591 +++++++++++++++++++++++++++++------- 4 files changed, 488 insertions(+), 116 deletions(-) diff --git a/.gitignore b/.gitignore index 24449b1..69898a4 100644 --- a/.gitignore +++ b/.gitignore @@ -10,6 +10,7 @@ # production /build +/data # misc .DS_Store diff --git a/lib/index.js b/lib/index.js index e056507..06d1411 100644 --- a/lib/index.js +++ b/lib/index.js @@ -104,7 +104,7 @@ bot.once("spawn", () => { mover: require('./plugins/mover'), guard: require('./plugins/guard'), // miner: require('./plugins/miner.js'), - // statemachine: require('./plugins/statemachine'), + statemachine: require('./plugins/statemachine'), } cfg.plugins = plugins diff --git a/lib/plugins/command.js b/lib/plugins/command.js index ab54c5e..b492e5e 100644 --- a/lib/plugins/command.js +++ b/lib/plugins/command.js @@ -404,6 +404,16 @@ function command(username, message) { break } break; + case "sm": + case "step": + cfg.plugins.statemachine?.command?.( + message_parts[0] == "sm" ? message_parts.slice(1) : message_parts, player + ) + // TODO refactor into plugin detection and command exec function + // safecommand(plugin_name, message_parts, player) + // message_parts includes command? + || bot.chat("statemachine plugin not loaded") + break case "location": // TODO put in /lib/location switch (message_parts[1]) { diff --git a/lib/plugins/statemachine.js b/lib/plugins/statemachine.js index 073f98c..d0c4676 100644 --- a/lib/plugins/statemachine.js +++ b/lib/plugins/statemachine.js @@ -1,115 +1,476 @@ -// Load your dependency plugins. - -const {pathfinder} = require('mineflayer-pathfinder') -// bot.loadPlugin(require('prismarine-viewer').mineflayer) -// const mineflayerViewer = require('prismarine-viewer').mineflayer - -// Import required behaviors. -const { - StateTransition, - BotStateMachine, - EntityFilters, - BehaviorFollowEntity, - BehaviorLookAtEntity, - BehaviorGetClosestEntity, - NestedStateMachine, - BehaviorIdle, - StateMachineWebserver, -} = require("mineflayer-statemachine"); - -// TODO chat - - - -// wait for our bot to login. -function statemachineInit() { - cfg.botAddress = new RegExp(`^${bot.username} (!.+)`) - // This targets object is used to pass data between different states. It can be left empty. - const targets = new Object(); - - // Create our states - const getClosestPlayer = new BehaviorGetClosestEntity( - bot, targets, entity => EntityFilters().PlayersOnly(entity) && bot.entity.position.distanceTo(entity.position) <= 50 ); // && a.username !== bot.username); - const followPlayer = new BehaviorFollowEntity(bot, targets); - const lookAtPlayer = new BehaviorLookAtEntity(bot, targets); - const stay = new BehaviorIdle(); - - // Create our transitions - const transitions = [ - - // We want to start following the player immediately after finding them. - // Since getClosestPlayer finishes instantly, shouldTransition() should always return true. - new StateTransition({ - parent: getClosestPlayer, - child: followPlayer, - onTransition: (quiet) => quiet || bot.chat(`Hi ${targets.entity.username}!`), - shouldTransition: () => bot.entity.position.distanceTo(targets.entity.position) <= 50, - // shouldTransition: () => getClosestPlayer.distanceToTarget() < 100 || console.info("player too far!") && false, - }), - - // If the distance to the player is less than two blocks, switch from the followPlayer - // state to the lookAtPlayer state. - new StateTransition({ - parent: followPlayer, - child: lookAtPlayer, - // onTransition: () => console.log(targets), - shouldTransition: () => followPlayer.distanceToTarget() < 2, - }), - - // If the distance to the player is more than two blocks, switch from the lookAtPlayer - // state to the followPlayer state. - new StateTransition({ - parent: lookAtPlayer, - child: followPlayer, - shouldTransition: () => lookAtPlayer.distanceToTarget() >= 5, - }), - new StateTransition({ - parent: lookAtPlayer, - child: stay, - onTransition: () => bot.chat("ok, staying"), - // shouldTransition: () => true, - }), - new StateTransition({ - parent: stay, - child: getClosestPlayer, - // shouldTransition: () => Math.random() > 0.01, - // shouldTransition: () => Math.random() > 0.1 && getClosestPlayer.distanceToTarget() < 2, - }), - ]; - - // Now we just wrap our transition list in a nested state machine layer. We want the bot - // to start on the getClosestPlayer state, so we'll specify that here. - const rootLayer = new NestedStateMachine(transitions, getClosestPlayer, stay); - - // We can start our state machine simply by creating a new instance. - cfg.stateMachines.follow = new BotStateMachine(bot, rootLayer); - const webserver = new StateMachineWebserver(bot, cfg.stateMachines.follow); - webserver.startServer(); - - // mineflayerViewer(bot, { port: 3000 }) - // const path = [bot.entity.position.clone()] - // bot.on('move', () => { - // if (path[path.length - 1].distanceTo(bot.entity.position) > 1) { - // path.push(bot.entity.position.clone()) - // bot.viewer.drawLine('path', path) - // } - // }) -} - -const load = (config) => { - cfg = config - bot = cfg.bot - // cfg.inventory = { - // auto: true, - // quiet: false - // } - // bot.on('chat', inventory) - bot.loadPlugin(pathfinder) - // statemachineInit() -} - -const unload = () => { - // bot.off('chat', inventory) -} - -module.exports = { load, unload } \ No newline at end of file +// import { createMachine, interpret, InterpreterStatus } from "xstate"; +const { createMachine, interpret, InterpreterStatus } = require('xstate'); +// import { access, mkdir, writeFile, readFile } from "fs"; +const { access, mkdir, writeFile, readFile } = require('fs'); +const v = require('vec3'); // for look dummy action, maybe not needed in future +// ANGRAM_PREFIX='MINECRAFT' +const { MINECRAFT_DATA_FOLDER } = process.env || require("dotenv-packed").parseEnv().parsed; +const storage_dir = MINECRAFT_DATA_FOLDER || './data/' + "/sm/"; +// import { createBot } from "mineflayer" +// let { pathfinder, Movements, goals } = require('mineflayer-pathfinder') +// let cfg +// let bot = createBot({ username: 'statebot' }) +let bot; +let quiet; +let updateRate = 20; +const machines = { + list: {}, + running: {}, +}; +let webserver; +let cfg = { + statemachine: { + webserver: null, + // quiet: true, + quiet: quiet, + list: {}, + running: {}, + draft: null, + recent: null, + // debug: null, + debug: true, + updateRate: updateRate + } + // FIXME temp variables to satisfy typescript autocomplete + // , quiet: null + , + bot: bot, + plugins: { statemachine: null } +}; +// Edit your machine(s) here +function init(smName = "dummy", webserver) { + access(storage_dir, err => { + if (err?.code === 'ENOENT') { + mkdir(storage_dir, e => e && console.warn("sm init: create dir", e)); + } + else if (err) { + console.warn("sm init: create dir", err); + } + }); + // const machine = newSM(smName) + // machine.states.idle.on.TOGGLE = "start" + // machine.states.start.on.TOGGLE = "idle" + const machine = createMachine({ + id: smName, + initial: "idle", + states: { + idle: { + on: { TOGGLE: "start", NEXT: "start", PREV: "look", STOP: "finish" } + }, + start: { + on: { TOGGLE: "look", NEXT: "look", PREV: "idle" }, + entry: 'lookAtPlayerOnce', + }, + look: { + on: { TOGGLE: "idle", NEXT: "idle", PREV: "start" }, + // entry: ['look', 'blah'] + // entry: 'lookAtPlayerOnce', + activities: 'lookAtPlayer', + meta: { debug: true } + }, + finish: { + type: 'final' + }, + }, + on: { START: '.start', STOP: '.idle' }, + meta: { debug: true }, + context: { player: null, rate: updateRate }, + }, { + actions: { + // action implementation + lookAtPlayerOnce: (context, event) => { + const player = context?.player || bot.nearestEntity(entity => entity.type === 'player'); + if (player.position || player.entity) { + context.player = player; + bot.lookAt((new v.Vec3(0, 1, 0)).add((player.entity || player).position)); + } + } + }, + activities: { + lookAtPlayer: (context, event) => { + const player = context?.player || bot.nearestEntity(entity => entity.type === 'player'); + // TODO check every event? + if (player.position || player.entity) { + context.player = player; + function looks() { + bot.lookAt((new v.Vec3(0, 1, 0)).add((player.entity || player).position)); + } + bot.on("time", looks); + return () => bot.off("time", looks); + } + } + }, + delays: { + /* ... */ + }, + guards: { + /* ... */ + }, + services: { + /* ... */ + } + }); + console.log("sm init: machine", machine); + const service = runSM(saveSM(machine)); + if (service?.send) { + setTimeout(service.send, 200, "TOGGLE"); + // setTimeout(service.send, 400, "TOGGLE") + } + else { + console.warn("sm init: service", service); + } +} +function newSM(smName = "sm_" + Object.keys(cfg.statemachine.list).length) { + smName = smName.replace(/\s+/, '_'); + if (cfg.statemachine.list[smName]) { + console.warn("sm exists", smName); + quiet || bot.chat(`sm ${smName} already exists, edit or use another name instead`); + return; + } + const machine = createMachine({ + id: smName, + initial: "start", + // TODO use history states for PAUSE and RESUME + states: { idle: { on: { START: "start" } }, start: { on: { STOP: "idle" } } } + }); + cfg.statemachine.draft = machine; + return machine; +} +function saveSM(machine = cfg.statemachine.draft) { + if (!machine?.id) { + console.warn("sm save: invalid", machine); + quiet || bot.chat("sm: couldn't save, invalid"); + return; + } + // TODO do tests and validation + // 1. ensure default states [start, idle] + // 2. ensure closed cycle from start to idle + cfg.statemachine.list[machine.id] = machine; + if (machine.id === cfg.statemachine.draft?.id) { + cfg.statemachine.draft = null; + } + writeFile( + // TODO + // `${storage_dir}/${player}/${machine.id}.json` + `${storage_dir}/${machine.id}.json`, + // TODO decide which data to store + // https://xstate.js.org/docs/guides/states.html#persisting-state + // JSON.stringify(machine.toJSON), + // JSON.stringify(machine.states.toJSON), // + activities, delays, etc + JSON.stringify({ config: machine.config, context: machine.context }), e => e && console.log("sm load sm: write file", e)); + // return run ? runSM(machine) : machine + return machine; +} +function loadSM(name, run = true) { + //: StateMachine { + readFile( + // readFileSync( + // TODO + // `${storage_dir}/${player}/${machine.id}.json` + `${storage_dir}/${name}.json`, afterRead + // JSON.stringify(machine.toJSON), + ); + function afterRead(err, jsonString) { + if (err) { + console.warn("sm load sm: read file", err); + return; + } + else { + const machine = createMachine(JSON.parse(jsonString).config); + // TODO do tests and validation + // 1. ensure default states [start, idle] + // 2. ensure closed cycle from start to idle + cfg.statemachine.list[machine.id] = machine; + if (machine.id === cfg.statemachine.draft?.id) { + cfg.statemachine.draft = machine; + } + if (run) { + runSM(machine); + } + } + } + // return run ? runSM(machine) : machine + // return machine +} +// function isInterpreter(SMorService: StateMachine | Interpreter): SMorService is Interpreter { +// return (SMorService as Interpreter).start !== undefined; +// } +function getSM(name = cfg.statemachine.draft || cfg.statemachine.recent, asService = false, quiet = false) { + const machine = typeof name === "string" ? cfg.statemachine.list[name] + : name; + if (!machine) { + console.warn("sm get: doesn't exist", name); + cfg.statemachine.quiet || bot.chat(`sm ${name} doesn't exist`); + return; + } + if (asService) { + const service = cfg.statemachine.running[machine?.id]; + if (!service) { + quiet || console.warn("sm get: already stopped", machine); + quiet || cfg.statemachine.quiet || bot.chat(`sm ${machine?.id} isn't running`); + return interpret(machine); + } + return service; + } + else { + // return machine.machine ? machine.machine : machine + return machine; + } +} +function runSM(name = getSM(undefined, undefined, true), player // or supervisor? + , restart = false) { + if (!name) + return; + const service = getSM(name, true, true); + if (!service) + return; + const machine = service.machine; + if (!machine) + return; + switch (service.status) { + case InterpreterStatus.Running: + if (!restart) { + console.warn("sm run: already running", service.id); + quiet || bot.chat(`sm ${service.id} already running`); + return service; + } + stopSM(machine); + case InterpreterStatus.NotStarted: + case InterpreterStatus.Stopped: + break; + default: + console.warn("sm run: unknown status:", service.status, service); + return; + break; + } + if (cfg.statemachine.debug || machine.meta?.debug) { + service.onTransition((state) => { + quiet || bot.chat(`sm trans: ${machine.id}, ${state.value}`); + quiet || state.meta?.debug && bot.chat(`sm next events: ${machine.id}, ${state.nextEvents}`); + console.log("sm debug: trans", state.value, state); + }).onDone((done) => { + quiet || bot.chat(`sm done: ${machine.id}, ${done}`); + console.log("sm debug: done", done.data, done); + }); + } + cfg.statemachine.running[machine.id] = service; + cfg.statemachine.recent = machine; + service.start(); + // // TODO check if idle state is different (maybe?) + console.log("sm run", service.state.value === machine.initialState.value, service.state); + console.log("sm run", service.state !== machine.initialState, machine.initialState); + // return machine + return service; +} +function stopSM(name = getSM(), quiet = false) { + let service = getSM(name, true, quiet); + if (!service) + return; + const machine = service.machine; + switch (service.status) { + case InterpreterStatus.NotStarted: + case InterpreterStatus.Stopped: + console.log("sm stop status", service.status, service.id, cfg.statemachine.running[service.id]); + // TODO check if any bugs + case InterpreterStatus.Running: + break; + default: + console.warn("sm stop: unknown status:", service.status); + break; + } + service?.stop?.(); + cfg.statemachine.running[machine.id] = null; + delete cfg.statemachine.running[machine.id]; + // return machine + return service; +} +function actionSM(action, name = getSM()) { + if (!action) { + return console.warn("sm action", action); + } + let service = getSM(name, true, true); + if (service.status !== InterpreterStatus.Running) + return; + // const machine = service.machine + service.send(action.toLowerCase()); +} +function stepSM(command = "", ...message_parts) { + let service = getSM(undefined, true); + if (!service) + return; + if (!service.send) { + console.warn("sm step: can't send", service.machine); + // TODO start a temporary service to interpret + quiet || bot.chat("sm: step doesn't support machines that aren't running yet"); + return; + } + if (service?.status !== InterpreterStatus.Running) { + console.warn("sm step: machine not running, attempting start", service); + runSM; + } + // const machine = service.machine + switch (command) { + case "edit": + // maybe `edit `, like `add`? + // where type: + // context + // action + // timeout | all timeout + break; + case "undo": + break; + case "del": + break; + case "p": + case "prev": + service?.send("PREV"); + break; + case "add": + // maybe `add `? + // 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 +}; \ No newline at end of file