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BDSP navigation v4: the walker, with battles passed in - #129

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BDSP navigation v4: the walker, with battles passed in#129
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Depends on #127 (base bdsp/nav-v4); the diff shows only this PR's change.

The BDSP walker on #127's StoryWorld, with battles passed in, its console steps behind a RouteIO so its decisions can be unit tested.

  • Plans on StoryWorld instead of MapSet/TileGrid. Refactored for code health without changing its steps: options structs instead of long parameter lists and bools, walk_route moved unchanged into PokemonBDSP_AutoStory_PlannedRoute and split into a RouteWalker with one function per decision (git diff --color-moved=dimmed-zebra on b678b4a).
  • RouteIO holds every console call the walker makes; ConsoleRouteIO is today's code, and tests use a scripted one.
  • Fixes from console runs: straight walks and turns go on the D-pad (a 40–80 ms tap only turns; stick taps stopped between tiles, r57–r61); a quiet tap followed by a moving one counts as a step (r67); after a trainer on an open or wall leg the walk replans from the taps and the sight line (r54, r55); no banner read is a warning, only a wrong banner fails; a route gives up after the third dialogue the map does not explain (r14).
  • The transition watchers, the overworld detector and the battle dialog watcher are adapted from [WIP] BDSP Autostory PokemonAutomation/Arduino-Source#1717 by Developer-Butters and credited.

Testing

🤖 Generated with Claude Code

https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E

@dayfine @claude
BDSP navigation: the walker, with battles passed in
c3c16c8 
Walks the planned routes on the BDSP story maps: Walk holds a direction
and stops on what the screen shows (a dialogue, a transition, a wall),
RouteWalk walks a plan's legs, tracks the tiles the player may be on and
plans again after a trainer, and leaves buildings by indoors() and the
door's fade. The walker sees wild battles and trainers start but does
not fight them: a WildBattleEscape runs from a wild battle and a
RouteTrainerFight fights a trainer, both passed in by the program.

Adapted from PokemonAutomation#1717 by Developer-Butters,
kept nearly as written: the AutoStory OverworldDetector and
TransitionWatchers, which the walker uses to see the overworld and an
encounter's white flash.

Tests: indoors() on synthetic screens and screenshots, the door's fade,
and the location banner reads.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine dayfine mentioned this pull request Nov 1, 2026
Draft
dayfine added a commit that referenced this pull request Nov 1, 2026
@dayfine @claude
Merge bdsp/walk-v4 (#129: run the BDSP tests) into bdsp/autostory-v4
884b2a9 
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
dayfine and others added 4 commits November 1, 2026 13:38
@dayfine @claude
Merge bdsp/nav-v4 into bdsp/walk-v4: the maps move onto the shared Ma…
bf77fbe 
…pData

Brings in maps-v4 and nav/story-steps under nav-v4. Conflicts were the
test registration and the source list: the walker's entries are kept,
nav-v4's removed Data files and MapGrid tests stay removed. The walker
follows in the next commit.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine @claude
BDSP navigation: the walker plans on the story world
de7c108 
The walker takes a StoryWorld where it took a Pokemon::MapSet or
TileGrid, and the planner's types from PokemonBDSP. Its copy of the world
uncovers the tiles to avoid and blocks what it finds in the way, as it set
them UNKNOWN and BLOCKED before. Nothing else changes.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine
Merge branch 'bdsp/nav-v4' into bdsp/walk-v4
c3ee13c
@dayfine @claude
BDSP navigation: the walker calls the planner's slide_to_wall()
090783f 
Follows the rename in #127; the walker's own walk_to_wall() is unchanged.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
This was referenced Nov 1, 2026
Open
Draft
dayfine and others added 9 commits November 1, 2026 14:41
@dayfine @claude
Merge bdsp/nav-v4 (b798ef3: CI and code-health fixes) into bdsp/walk-v4
d20ad68 
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine @claude
BDSP navigation: the walker calls the story world's free functions
d5046f2 
Follows #127: standable(), step() and describe() take the world first.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine @claude
BDSP walker: formatting the code-health check asks for
6daf606 
namespace X{ with no space, and if bodies on their own lines. No code
changes.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine @claude
BDSP walker: the story language behind a getter and a setter
91dfd2e 
Code health rejects the non-const extern g_story_language. The program
sets the language once before the story runs, so it now calls
set_story_language(), and readers call story_language().

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine @claude
BDSP walker: walks take a JoystickPosition, and options instead of bools
2bb2fb9 
Code health: walk_until() took 8 parameters, walk_until_dpad() 9 with a
defaulted bool, walk_expecting() 9, and walk_until_impl() 12 with four
bools over 126 lines. Every walk now takes the stick as one
JoystickPosition. walk_until_dpad() takes DpadWalkOptions (arrived, and a
DpadPace for B held) and walk_expecting() a WalkExpectation (the stop,
and arrived). The walk loop is a WalkUntil class in the .cpp, with
what it presses and how battles end it as enums. Behaviour is unchanged.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine @claude
BDSP walker: walk_route() and its helpers move to PlannedRoute
b678b4a 
RouteWalk.cpp was 926 lines, and splitting walk_route() into functions
would take it past the 1000-line limit. walk_route(), walk_waypoints(),
talk_to_npc(), RouteTrainerFight and the route-log helpers they use move
unchanged to PokemonBDSP_AutoStory_PlannedRoute.{h,cpp}. RouteWalk exposes
route_ms_per_tile() and route_stick() for them.

Review with: git diff --color-moved HEAD~1

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine @claude
BDSP walker: walk_route() as a RouteWalker with one function per deci…
6a24b56 
…sion

Code health: walk_route() was 475 lines nested 7 deep with 11
parameters, walk_waypoints() and talk_to_npc() had 10. walk_route() is now
a RouteWalker class: planning, a leg to a wall, an open leg, the banner
check, the trainers after a leg and each replan are their own functions,
with the same steps in the same order. The trainers and their fight go
together in RouteTrainers; where a walk goes is a RouteWalkPlan,
WaypointWalkPlan or NpcTalk.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine @claude
BDSP walker: the transition watchers take only what their callers set
c459094 
Code health: WhiteScreenWatcher and BlackScreenFlashWatcher had 8
parameters. Every caller used the default thresholds and durations, so
WhiteScreenWatcher takes the colour, box, finder type and duration, and
WhiteScreenOverWatcher the colour and box; the values are the old
defaults. BlackScreenFlashWatcher had no callers and is removed.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine @claude
BDSP walker: LegWalk is a plain struct
352c9fc 
Code health asks for public data without methods: the banner checks and
the run options are free functions of a LegWalk.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
This was referenced Nov 1, 2026
Closed
Closed
@dayfine dayfine added autostory AutoStory programs game:bdsp Brilliant Diamond/Shining Pearl navigation Maps, planner, walker labels Nov 1, 2026
dayfine and others added 4 commits November 1, 2026 15:17
@dayfine @claude
Merge bdsp/nav-v4 (#122 at b966c5d) into bdsp/walk-v4
9322b6c 
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine @claude
BDSP walker: credit PokemonAutomation#1717 for the pieces adapted fro…
aeb36c8 
…m it

The transition watchers, the overworld detector and Walk.cpp's
BattleDialogWatcher come from PokemonAutomation#1717 by
Developer-Butters; their headers now say so. The transition watchers get
the repo's header block, include guard and one namespace per line.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine @claude
Merge bdsp/nav-v4 (CRLF Segment 00 tests header) into bdsp/walk-v4
bea9a8a 
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine @claude
BDSP walker: new files in CRLF
ba95847 
#129's new .cpp and .h files were LF; they are CRLF like the rest of
the repo. Line endings only: git diff --ignore-cr-at-eol shows nothing.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine dayfine mentioned this pull request Nov 2, 2026
Draft
@dayfine @claude
BDSP walker: give up after the third dialogue the map does not explain
4cec241 
r14 walked into Barry's Route 201 warning, which no map records, took it
for an unknown trainer, replanned into it again and looped for minutes.
A route now fails on the third such stop instead.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
dayfine and others added 17 commits November 1, 2026 18:26
@dayfine @claude
BDSP walker: no banner read is a warning; only a wrong banner fails
608a99c 
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine @claude
BDSP walker: arriving with no banner read at all is a warning too
31816e5 
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine @claude
BDSP walker: time wall legs at the plan's pace, walk or run
d839fb9 
B held with the D-pad runs once the player has the Running Shoes: r27
ran 35 tiles north in about 5.75 s, and the walking count put the stop
11 tiles short of the wall. Legs that reach their wall log the pace.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine @claude
Merge bdsp/nav-v4 forward
a3b6900 
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine @claude
Merge bdsp/nav-v4 forward
04656c2 
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine @claude
Merge the BDSP chain forward
8d0840b 
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine @claude
BDSP walker: watch for the new map's banner a while after the last leg
1ce3bb1 
Sandgem's banner showed about a second after the walk ended (r35).

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine @claude
Merge the BDSP chain forward
7d6180f 
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine @claude
Merge the BDSP chain forward
9712a58 
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine @claude
Merge the BDSP chain forward
d964429 
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine @claude
BDSP AutoStory walk: turn with a 50 ms D-pad tap
ec50ad2 
A 100 ms stick tap stepped about 0.6 tile off the grid (r49: a tile west of
Sandgem's Center door). 40 to 80 ms D-pad taps only turned, on the console.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine @claude
BDSP AutoStory walk: after a trainer on a wall leg, judge the walk on
ac97a4d 
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine @claude
BDSP AutoStory walk: after a trainer on an open leg, plan from the ta…
b6990c8 
…ps and the sight line

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine @claude
BDSP AutoStory walk: turn an open leg with a tap too short to step
eee7d46 
The 160 ms turn tap's step was guessed from the screen and counted a tile it
had not walked (r60: a column off below Jubilife's Center).

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine @claude
BDSP AutoStory walk: a straight stick walk goes on the D-pad
433501b 
The stick stops between tiles (a 100 ms tap moved ~0.6 tile), and walks after
stick holds ran a column off (r57 to r61). Diagonals stay on the stick.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine @claude
BDSP AutoStory walk: put the route walker's console steps behind RouteIO
ac5f55d 
No behaviour change. RouteWalker (walk_route(), talk_to_npc()) now does
everything on the console through a RouteIO: walks to a wall, D-pad tap
walks, presses and waits, the dialogue watch, the at-the-wall holding
check, screen looks and its log and failures. ConsoleRouteIO is today's
code: holding_against_wall() moved unchanged into RouteIO.cpp, and each
call site makes the same controller commands, waits and reads as before.
walk_route() and talk_to_npc() keep their signatures and build a
ConsoleRouteIO; overloads take a RouteIO so tests can script the console.

route_turn() and the walker's taps, A presses and waits are now a
RouteInput (kind, direction, hold, release, count, whether to wait for
them), pressed by press_route_input(); route_turn_tap() is the D-pad tap
route_turn() turns with.

Review with:
git diff --color-moved=dimmed-zebra --color-moved-ws=allow-indentation-change HEAD~1 HEAD

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine @claude
BDSP AutoStory walk: test the route walker on scripted console outcomes
e8a5efc 
ScriptedRouteIO plays a strict script of console calls and outcomes; a
call the script does not expect fails the test. New tests:

- A trainer's line freezes the at-the-wall check (DIALOG), the battle
  runs, and the walk on reaches the wall (BLOCKED): the walker goes on
  (r54: it judged the stale DIALOG and failed).
- Logan (Route 202, (26, 4), looking south) stops an open leg west along
  row 5 after 3 taps: the replan starts from (27, 5) and (26, 5), and its
  legs never walk into him from either (r55).
- A wall leg out of time whose check also runs out of time counts as at
  the wall only when the holding check says so.
- route_turn() turns with one D-pad tap of at most 80 ms (40 to 80 ms
  only turned on the console; a 100 ms stick tap stepped 0.6 tile).

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine dayfine mentioned this pull request Nov 2, 2026
Merged
dayfine and others added 7 commits November 2, 2026 00:26
@dayfine @claude
Merge bdsp/walk-v4-routeio into bdsp/walk-v4
5286265 
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine @claude
BDSP AutoStory walk: a quiet tap followed by a moving one counted as …
8a4342f 
…a step

A tap whose view barely changed (the president walking off as we turned)
was counted as not moving, so "east 2" read "moved 1" while the console
showed both tiles walked (r67). What blocks one tap still blocks the next,
so a quiet tap that a moving tap follows moved too.

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine @claude
Merge origin/bdsp/nav-v4 into bdsp/walk-v4
d4ec93b 
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine
Merge bdsp/nav-v4 into bdsp/walk-v4
9ddc2fb
@dayfine
Merge bdsp/maps-v4 (coord events) into bdsp/walk-v4
2a87f19
@dayfine @claude
Merge bdsp/nav-v4 into bdsp/walk-v4
ace8659 
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01AKYzhrMnPK61XHWEch4a6E
@dayfine
Merge bdsp/nav-v4 (e531694: verify mode from #122) into bdsp/walk-v4
b22e947
@dayfine dayfine mentioned this pull request Nov 5, 2026
Merged
@dayfine
dayfine added this pull request to stack #230 November 5, 2026 18:39
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