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Bubberstation/code/modules/unit_tests/_unit_tests.dm
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CabinetOnFireThe SharkenningIamgoofballSmArtKarGhomBen10OmintrixSyncIt21
 df7832aa43 Replaced our NPC AI with Behavior Trees. (#96628) 
This PR replaces our current NPC AI with a [behavior tree
system](https://en.wikipedia.org/wiki/Behavior_tree_(artificial_intelligence,_robotics_and_control)).
Behavior trees are a common way of creating AI in which you place nodes
in a tree structure to define what actions an AI should take.

AI controllers defined a list of /datum/ai_planning_subtree types in
behavior_nodes. Each subtree was a self-contained unit that could call
queue_behavior() to fire off /datum/ai_behavior actions. The controller
iterated subtrees in order, each one deciding independently whether to
queue something and deciding whether the next subtree would run.

This has a few issues:
1. There's no real structure; you are just defining a list of things to
try in order.
2. There was a loooot of subtrees that were basically the same as
another but with some slight modification
3. It was hard to understand.

Controllers now define a single json file describing a tree of nodes.
The tree is composed of structural composites:

Sequence - do A, then B, then C (and so on)
Selector - try A, if it fails try B, then C (and so on)
Parallel - run A and B simultaneously, with configurable failure/success
policies and or looping behavior
Subplan - loop a child continiously

Along that we also have "Decorators". These are nodes that basically
check a condition (E.g.; do we have a combat target). These decorators
can be used to gate behavior and are re-useable across behavior trees.
They also have a concept known as "Observers". Which lets them cancel
lower priority behavior in case their condition changes (Which we check
whenever a signal fires that fits that specific decorator). This makes
the AI much more responsive to change in environment.

For behaviors, we still use the ai_behavior datums. These are the actual
behaviors such as "Move to X", "Attack X". The only major change is that
these can no longer sleep() since they now run in the ai_controller.

Lastly, we now also have subtrees, except now they are essentially
pieces of behavior tree that can be re-used, or even overriden at
runtime or as a variable. Allowing for making modular AI made out of
several smaller trees.

You can set variables on these nodes directly via the extension (see
below), which should reduce the need to make subtypes of behaviors by a
lot. All of these vars are saved on the JSON and will be applied at
runtime.

If you are using subtrees, you can also assign "bindings" to these
variables, which will allow instances of the subtree to override those
variables.

Since a tree structure with variables becomes hard to parse in a JSON,
I've made a VSCode extension to edit these JSONs:

https://marketplace.visualstudio.com/items?itemName=BehaviorTreeG.behaviortreeg
https://github.com/CabinetOnFire/BehaviorTreeG

<img width="1795" height="1268" alt="image"
src="https://github.com/user-attachments/assets/56aa2f0b-3cf9-449f-bca4-8281fca82db6"
/>

This extension allows you to edit the behavior tree JSONs, and browse
through all the behaviors/decorators/subtrees we have

If you'd like more info on how to build these AI check out the
learn_ai.md. I will also make a tutorial to go over more depth on what
the system offers because I kind of suck at doing technical write-ups.

Targetting has been changed to. I've made a new acquire_targets behavior
that takes a target_source (what am I targetting) and
targetting_strategy (what does the candidate need to fulfill to be
considered a target). This allows us to make composites targetting
combinations to reduce the amount of specific find_and_set esque
behaviors we had before. Not everything is ported to this system but
that would be a longer term goal.

I've added a new build_bt script that converts all the behavior tree
JSONs into compiled versions. Why is this needed? Because I wanted to
keep using defines in behavior trees, so we need a way to convert this
into literal values before we send it to DM. This script runs on compile
and should also run in CI (If I didn't fuck that up!). This saves to a
new build/ folder.

I've ported every single AI in the game to this system (except raptors,
Kobsa is working on those so should be in soon!), so I do expect some
bugs to come out of this. But I also fixed some issues that have
probably been in the game for a long time such as:
- Fixed penguins being unable to fish
- Fixed bileworms not being able to devour people
- Fixes goldgrubs not grubbing gold (they could not mine!)
- Lizards actually eat food they find

Either way, I'd reccomend a long TM on this.

1. (Hopefully) a better development experience for making AI
2. Less copy-paste for behaviors, we should be able to re-use more
pieces to make behavior
3. Behavior trees is a more common pattern in making AI, so it should be
easier to find resources to find out how to do things.

🆑 CabinetOnFire, Iamgoofball, SmartKar, Ben10omintrix
refactor: Replaces our AI system with behavior trees, porting all
datum/ai to it
/🆑

I will add this PR with more details down the line. I think I got the
big picture but its a big PR, so sorry if I missed something important.

---------

Co-authored-by: Iamgoofball <iamgoofball@gmail.com>
Co-authored-by: SmArtKar <44720187+SmArtKar@users.noreply.github.com>
Co-authored-by: Ghom <42542238+Ghommie@users.noreply.github.com>
Co-authored-by: Ben10Omintrix <138636438+Ben10Omintrix@users.noreply.github.com>
Co-authored-by: SyncIt21 <110812394+SyncIt21@users.noreply.github.com>
2026-08-15 10:33:57 -06:00

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//include unit test files in this module in this ifdef
//Keep this sorted alphabetically
#if defined(UNIT_TESTS) || defined(SPACEMAN_DMM)
/// For advanced cases, fail unconditionally but don't return (so a test can return multiple results)
#define TEST_FAIL(reason) (Fail(reason || "No reason", __FILE__, __LINE__))
/// Asserts that a condition is true
/// If the condition is not true, fails the test
#define TEST_ASSERT(assertion, reason) if (!(assertion)) { return Fail("Assertion failed: [reason || "No reason"]", __FILE__, __LINE__) }
/// Asserts that a parameter is not null
#define TEST_ASSERT_NOTNULL(a, reason) if (isnull(a)) { return Fail("Expected non-null value: [reason || "No reason"]", __FILE__, __LINE__) }
/// Asserts that a parameter is null
#define TEST_ASSERT_NULL(a, reason) if (!isnull(a)) { return Fail("Expected null value but received [a]: [reason || "No reason"]", __FILE__, __LINE__) }
/// Asserts that the two parameters passed are equal, fails otherwise
/// Optionally allows an additional message in the case of a failure
#define TEST_ASSERT_EQUAL(a, b, message) do { \
var/lhs = ##a; \
var/rhs = ##b; \
if (lhs != rhs) { \
return Fail("Expected [isnull(lhs) ? "null" : lhs] to be equal to [isnull(rhs) ? "null" : rhs].[message ? " [message]" : ""]", __FILE__, __LINE__); \
} \
} while (FALSE)
/// Asserts that the two parameters passed are not equal, fails otherwise
/// Optionally allows an additional message in the case of a failure
#define TEST_ASSERT_NOTEQUAL(a, b, message) do { \
var/lhs = ##a; \
var/rhs = ##b; \
if (lhs == rhs) { \
return Fail("Expected [isnull(lhs) ? "null" : lhs] to not be equal to [isnull(rhs) ? "null" : rhs].[message ? " [message]" : ""]", __FILE__, __LINE__); \
} \
} while (FALSE)
/// *Only* run the test provided within the parentheses
/// This is useful for debugging when you want to reduce noise, but should never be pushed
/// Intended to be used in the manner of `TEST_FOCUS(/datum/unit_test/math)`
#define TEST_FOCUS(test_path) ##test_path { test_flags = UNIT_TEST_FOCUS; }
/// Run the test provided within the parentheses run_count times
/// Useful for debugging flaky tests that only fail sometimes
#define TEST_REPEAT(test_path, run_count) ##test_path { times_to_run = ##run_count; }
/// Logs a noticable message on GitHub, but will not mark as an error.
/// Use this when something shouldn't happen and is of note, but shouldn't block CI.
/// Does not mark the test as failed.
#define TEST_NOTICE(source, message) source.log_for_test((##message), "notice", __FILE__, __LINE__)
/// Constants indicating unit test completion status
#define UNIT_TEST_PASSED 0
#define UNIT_TEST_FAILED 1
#define UNIT_TEST_SKIPPED 2
#define TEST_PRE 0
#define TEST_DEFAULT 1
/// After most test steps, used for tests that run long so shorter issues can be noticed faster
#define TEST_LONGER 10
/// This must be the one of last tests to run due to the inherent nature of the test iterating every single tangible atom in the game and qdeleting all of them (while taking long sleeps to make sure the garbage collector fires properly) taking a large amount of time.
#define TEST_CREATE_AND_DESTROY 9001
/**
* For tests that rely on create and destroy having iterated through every (tangible) atom so they don't have to do something similar.
* Keep in mind tho that create and destroy will absolutely break the test platform, anything that relies on its shape cannot come after it.
*/
#define TEST_AFTER_CREATE_AND_DESTROY INFINITY
// Unit test bitflags
/// If any unit test has this bitflag, only unit tests with UNIT_TEST_FOCUS will run.
#define UNIT_TEST_FOCUS (1<<0)
/// This unit test only runs on specially designated unit test maps (Should only ever be one).
#define UNIT_TEST_DEBUG_MAP_ONLY (1<<1)
#define UNIT_TEST_BASIC (UNIT_TEST_DEBUG_MAP_ONLY)
#define UNIT_TEST_MAP_TEST (NONE)
/// Change color to red on ANSI terminal output, if enabled with -DANSICOLORS.
#ifdef ANSICOLORS
#define TEST_OUTPUT_RED(text) "\x1B\x5B1;31m[text]\x1B\x5B0m"
#else
#define TEST_OUTPUT_RED(text) (text)
#endif
/// Change color to green on ANSI terminal output, if enabled with -DANSICOLORS.
#ifdef ANSICOLORS
#define TEST_OUTPUT_GREEN(text) "\x1B\x5B1;32m[text]\x1B\x5B0m"
#else
#define TEST_OUTPUT_GREEN(text) (text)
#endif
/// Change color to yellow on ANSI terminal output, if enabled with -DANSICOLORS.
#ifdef ANSICOLORS
#define TEST_OUTPUT_YELLOW(text) "\x1B\x5B1;33m[text]\x1B\x5B0m"
#else
#define TEST_OUTPUT_YELLOW(text) (text)
#endif
/// A trait source when adding traits through unit tests
#define TRAIT_SOURCE_UNIT_TESTS "unit_tests"
/// Helper to allocate a new object with the implied type (the type of the variable it's assigned to) in the corner of the test room
#define EASY_ALLOCATE(arguments...) allocate(__IMPLIED_TYPE__, run_loc_floor_bottom_left, ##arguments)
// BEGIN_INCLUDE
#include "aas_configs.dm"
#include "abductor_baton_spell.dm"
#include "ablative_hud.dm"
#include "achievements.dm"
#include "alerts.dm"
#include "anchored_mobs.dm"
#include "anonymous_themes.dm"
#include "antag_conversion.dm"
#include "antag_moodlets.dm"
#include "area_contents.dm"
#include "armor_verification.dm"
#include "asset_smart_cache.dm"
#include "atmospherics_sanity.dm"
#include "autowiki.dm"
#include "bake_a_cake.dm"
#include "barsigns.dm"
#include "baseturfs.dm"
#include "baton.dm"
#include "bee.dm"
#include "bespoke_id.dm"
#include "binary_insert.dm"
#include "bitrunning.dm"
#include "blindness.dm"
#include "blood_volume_procs.dm"
#include "bloody_footprints.dm"
#include "borg_tools.dm"
#include "boulder_processing.dm"
#include "breath.dm"
#include "buckle.dm"
#include "burning.dm"
#include "cable_powernets.dm"
#include "can_see.dm"
#include "card_mismatch.dm"
#include "cardboard_cutouts.dm"
#include "cargo_crate_sanity.dm"
#include "cargo_dep_order_locations.dm"
#include "cargo_selling.dm"
#include "chain_pull_through_space.dm"
#include "changeling.dm"
#include "chat_filter.dm"
#include "circuit_component_category.dm"
#include "client_colours.dm"
#include "closets.dm"
#include "clothing_drops_items.dm"
#include "clothing_under_armor_subtype_check.dm"
#include "combat.dm"
#include "combat_blocking.dm"
#include "combat_cuffs.dm"
#include "combat_eyestab.dm"
#include "combat_flash.dm"
#include "combat_help.dm"
#include "combat_pistol_whip.dm"
#include "combat_stamina.dm"
#include "combat_welder.dm"
#include "component_tests.dm"
#include "confusion.dm"
#include "connect_loc.dm"
#include "container_sanity.dm"
#include "crafting.dm"
#include "crayons.dm"
#include "create_and_destroy.dm"
#include "damp_rag.dm"
#include "dcs_check_list_arguments.dm"
#include "dcs_get_id_from_elements.dm"
#include "death_moodlets.dm"
#include "designs.dm"
#include "dismemberment.dm"
#include "dna_infusion.dm"
#include "door_access.dm"
#include "dragon_expiration.dm"
#include "drink_icons.dm"
#include "dropper.dm"
#include "dummy_spawn.dm"
#include "dynamic_ruleset_sanity.dm"
#include "egg_glands.dm"
#include "embedding.dm"
#include "emoting.dm"
#include "emp_flashlight.dm"
#include "ethereal_revival.dm"
#include "explosion_action.dm"
#include "firedoor_regions.dm"
#include "fish_unit_tests.dm"
#include "flyperson.dm"
#include "focus_only_tests.dm"
#include "font_awesome_icons.dm"
#include "food_edibility_check.dm"
#include "food_processor.dm"
#include "full_heal.dm"
#include "gas_transfer.dm"
#include "get_turf_pixel.dm"
#include "geyser.dm"
#include "gloves_and_shoes_armor.dm"
#include "greyscale_config.dm"
#include "hallucination_icons.dm"
#include "held_slowdown.dm"
#include "heretic_knowledge.dm"
#include "heretic_rituals.dm"
#include "high_five.dm"
#include "holder_loving.dm"
#include "holidays.dm"
#include "holofan_placement.dm"
#include "huds.dm"
#include "hulk.dm"
#include "human_through_recycler.dm"
#include "hunger_curse.dm"
#include "hydroponics_extractor_storage.dm"
#include "hydroponics_harvest.dm"
#include "hydroponics_self_mutations.dm"
#include "hydroponics_validate_genes.dm"
#include "icon_state.dm"
#include "icon_state_inhand.dm"
#include "icon_state_worn.dm"
#include "icons_missing.dm"
#include "id_access.dm"
#include "id_card.dm"
#include "interaction_door.dm"
#include "interaction_silicon.dm"
#include "interaction_structures.dm"
#include "job_display_order.dm"
#include "json_savefile_importing.dm"
#include "keybinding_init.dm"
#include "kinetic_crusher.dm"
#include "knockoff_component.dm"
#include "language_key_conflicts.dm"
#include "language_transfer.dm"
#include "leash.dm"
#include "lesserform.dm"
#include "limbsanity.dm"
#include "ling_decap.dm"
#include "liver.dm"
#include "load_map_security.dm"
#include "lootpanel.dm"
#include "lungs.dm"
#include "machine_disassembly.dm"
#include "mafia.dm"
#include "make_vegan_wellington.dm"
#include "map_landmarks.dm"
#include "mapload_space_verification.dm"
#include "mapping.dm"
#include "mapping_nearstation_test.dm"
#include "market.dm"
#include "mecha_build.dm"
#include "mecha_damage.dm"
#include "medical_wounds.dm"
#include "merge_type.dm"
#include "metabolizing.dm"
#include "mindbound_actions.dm"
#include "mob_chains.dm"
#include "mob_damage.dm"
#include "mob_faction.dm"
#include "mob_spawn.dm"
#include "modify_fantasy_variable.dm"
#include "modsuit.dm"
#include "modular_map_loader.dm"
#include "monkey_business.dm"
#include "mouse_bite_cable.dm"
#include "move_pulled.dm"
#include "movement_order_sanity.dm"
#include "mutant_hands_consistency.dm"
#include "mutant_organs.dm"
#include "neurine_trauma_cleanup.dm"
#include "novaflower_burn.dm"
#include "nuke_cinematic.dm"
#include "omnitools.dm"
#include "operating_table.dm"
#include "orderable_items.dm"
#include "organ_bodypart_shuffle.dm"
#include "organs.dm"
#include "orphaned_genturf.dm"
#include "outfit_sanity.dm"
#include "oxyloss_suffocation.dm"
#include "paintings.dm"
#include "pills.dm"
#include "plane_double_transform.dm"
#include "plane_dupe_detector.dm"
#include "plane_sanity.dm"
#include "plantgrowth_tests.dm"
#include "preference_species.dm"
#include "preferences.dm"
#include "projectiles.dm"
#include "punpun.dm"
#include "quirks.dm"
#include "range_return.dm"
#include "rcd.dm"
#include "reachable_soup.dm"
#include "reagent_container_defaults.dm"
#include "reagent_mob_expose.dm"
#include "reagent_mod_procs.dm"
#include "reagent_names.dm"
#include "reagent_recipe_collisions.dm"
#include "reagent_transfer.dm"
#include "recycle_recycling.dm"
#include "required_map_items.dm"
#include "resist.dm"
#include "reskin_validation.dm"
#include "reta_system.dm"
#include "say.dm"
#include "screenshot_airlocks.dm"
#include "screenshot_antag_icons.dm"
#include "screenshot_basic.dm"
#include "screenshot_debrain.dm"
#include "screenshot_digi.dm"
#include "screenshot_dynamic_human_icons.dm"
#include "screenshot_high_luminosity_eyes.dm"
#include "screenshot_humanoids.dm"
#include "screenshot_husk.dm"
#include "screenshot_saturnx.dm"
#include "security_levels.dm"
#include "security_officer_distribution.dm"
#include "serving_tray.dm"
#include "simple_animal_freeze.dm"
#include "siunit.dm"
#include "slime_mood.dm"
#include "slips.dm"
#include "spawn_humans.dm"
#include "spawn_mobs.dm"
#include "species_change_clothing.dm"
#include "species_change_organs.dm"
#include "species_config_sanity.dm"
#include "species_unique_id.dm"
#include "species_whitelists.dm"
#include "spell_invocations.dm"
#include "spell_jaunt.dm"
#include "spell_mindswap.dm"
#include "spell_names.dm"
#include "spell_shapeshift.dm"
#include "spell_timestop.dm"
#include "spies.dm"
#include "spraycan.dm"
#include "spritesheets.dm"
#include "stack_singular_name.dm"
#include "stacked_metab.dm"
#include "station_trait_tests.dm"
#include "status_effect_validity.dm"
#include "stomach.dm"
#include "storage.dm"
#include "strange_reagent.dm"
#include "strippable.dm"
#include "stuns.dm"
#include "style_hotswapping.dm"
#include "subsystem_flags.dm"
#include "subsystem_init.dm"
#include "suit_sensor.dm"
#include "suit_storage_icons.dm"
#include "surgeries.dm"
#include "syringe_gun.dm"
#include "tail_wag.dm"
#include "teleporters.dm"
#include "text.dm"
#include "tgui_create_message.dm"
#include "timer_sanity.dm"
#include "trait_addition_and_removal.dm"
#include "traitor.dm"
#include "traitor_mail_content_check.dm"
#include "trash_food.dm"
#include "trauma_granting.dm"
#include "turf_icons.dm"
#include "tutorial_sanity.dm"
#include "unequip_defib.dm"
#include "unit_test.dm"
#include "verify_config_tags.dm"
#include "verify_emoji_names.dm"
#include "wallmount.dm"
#include "washing.dm"
#include "weird_food.dm"
#include "wizard_loadout.dm"
// SKYRAT EDIT START
#include "~skyrat\automapper.dm"
#include "~skyrat\digitigrade_sprites.dm"
#include "~skyrat\nanite_designs.dm"
#include "~skyrat\opposing_force.dm"
#include "~skyrat\proteans.dm"
// SKYRAT EDIT END
// END_INCLUDE
#ifdef REFERENCE_TRACKING_DEBUG //Don't try and parse this file if ref tracking isn't turned on. IE: don't parse ref tracking please mr linter
#include "find_reference_sanity.dm"
#endif
#undef TEST_ASSERT
#undef TEST_ASSERT_EQUAL
#undef TEST_ASSERT_NOTEQUAL
//#undef TEST_FOCUS - This define is used by vscode unit test extension to pick specific unit tests to run and appended later so needs to be used out of scope here
#endif
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