Autostory: Area Zero Station 4 (#876)

* checkpoint 100: navigation routine to cutscene inside cave, on way to station 4.

* rename onnx model

* move_player_until_yolo_object_detected: add X movement parameter

* checkpoint_101: nav routine to station 4.

* minor change

* minor changes to station 4 navigation routine

* clean up

Author: jw098

SerialPrograms/Source/PokemonSV/Programs/AutoStory/PokemonSV_AutoStory.cpp

@@ -130,7 +130,7 @@ std::vector<std::unique_ptr<AutoStory_Segment>> make_autoStory_segment_list(){
     segment_list.emplace_back(std::make_unique<AutoStory_Segment_35>());
     segment_list.emplace_back(std::make_unique<AutoStory_Segment_36>());
     segment_list.emplace_back(std::make_unique<AutoStory_Segment_37>());
-    // segment_list.emplace_back(std::make_unique<AutoStory_Segment_38>());
+    segment_list.emplace_back(std::make_unique<AutoStory_Segment_38>());
     // segment_list.emplace_back(std::make_unique<AutoStory_Segment_39>());
     // segment_list.emplace_back(std::make_unique<AutoStory_Segment_40>());
     }
@@ -304,8 +304,8 @@ std::vector<std::unique_ptr<AutoStory_Checkpoint>> make_autoStory_checkpoint_lis
     checkpoint_list.emplace_back(std::make_unique<AutoStory_Checkpoint_97>());
     checkpoint_list.emplace_back(std::make_unique<AutoStory_Checkpoint_98>());
     checkpoint_list.emplace_back(std::make_unique<AutoStory_Checkpoint_99>());
-    // checkpoint_list.emplace_back(std::make_unique<AutoStory_Checkpoint_100>());
-    // checkpoint_list.emplace_back(std::make_unique<AutoStory_Checkpoint_101>());
+    checkpoint_list.emplace_back(std::make_unique<AutoStory_Checkpoint_100>());
+    checkpoint_list.emplace_back(std::make_unique<AutoStory_Checkpoint_101>());
     // checkpoint_list.emplace_back(std::make_unique<AutoStory_Checkpoint_102>());
     // checkpoint_list.emplace_back(std::make_unique<AutoStory_Checkpoint_103>());
     // checkpoint_list.emplace_back(std::make_unique<AutoStory_Checkpoint_104>());
@@ -703,7 +703,7 @@ AutoStory::AutoStory()
         false,
         "<b>YOLO Path:</b>", 
         LockMode::LOCK_WHILE_RUNNING, 
-        "PokemonSV/YOLO/yolo_area0_station1.onnx",
+        "PokemonSV/YOLO/A0-station-2.onnx",
         "<.onnx file>"
     )
     , TARGET_LABEL(
@@ -1032,8 +1032,8 @@ void AutoStory::test_checkpoints(
     checkpoint_list.push_back([&](){checkpoint_97(env, context, notif_status_update, stats);});
     checkpoint_list.push_back([&](){checkpoint_98(env, context, notif_status_update, stats);});
     checkpoint_list.push_back([&](){checkpoint_99(env, context, notif_status_update, stats);});
-    // checkpoint_list.push_back([&](){checkpoint_100(env, context, notif_status_update, stats);});
-    // checkpoint_list.push_back([&](){checkpoint_101(env, context, notif_status_update, stats);});
+    checkpoint_list.push_back([&](){checkpoint_100(env, context, notif_status_update, stats);});
+    checkpoint_list.push_back([&](){checkpoint_101(env, context, notif_status_update, stats);});
     // checkpoint_list.push_back([&](){checkpoint_102(env, context, notif_status_update, stats);});
     // checkpoint_list.push_back([&](){checkpoint_103(env, context, notif_status_update, stats);});
     // checkpoint_list.push_back([&](){checkpoint_104(env, context, notif_status_update, stats);});
@@ -1282,7 +1282,7 @@ void AutoStory::test_code(SingleSwitchProgramEnvironment& env, ProControllerCont
         DirectionDetector direction;
 
 
-        YOLOv5Detector yolo_detector(RESOURCE_PATH() + "PokemonSV/YOLO/yolo_area0_station1.onnx");
+        YOLOv5Detector yolo_detector(RESOURCE_PATH() + "PokemonSV/YOLO/A0-station-2.onnx");
         // move_camera_yolo(env, context, CameraAxis::Y, yolo_detector, "tree-tera", 0.294444);
         // move_camera_yolo(env, context, CameraAxis::X, yolo_detector, "tree-tera", 0.604688);
 

SerialPrograms/Source/PokemonSV/Programs/AutoStory/PokemonSV_AutoStoryTools.cpp

@@ -752,7 +752,7 @@ void do_action_and_monitor_for_battles_early(
     if (ret == 0){  // if see no minimap. stop and see if we detect a battle. if so, throw Battl exception
         do_action_and_monitor_for_battles(info, stream, context,
         [&](const ProgramInfo& info, VideoStream& stream, ProControllerContext& context){
-            pbf_wait(context, Seconds(15));
+            pbf_wait(context, Seconds(30));
         });
 
         // if no battle seen, then throw Exception.
@@ -1557,14 +1557,15 @@ void move_forward_until_yolo_object_above_min_size(
 
 
 
-void move_forward_until_yolo_object_detected(
+void move_player_until_yolo_object_detected(
     SingleSwitchProgramEnvironment& env, 
     ProControllerContext& context, 
     YOLOv5Detector& yolo_detector, 
     const std::string& target_label,   
     std::function<void()>&& recovery_action, 
     uint16_t max_rounds, 
     uint16_t forward_ticks, 
+    uint8_t x, 
     uint8_t y, 
     uint16_t delay_after_forward_move, 
     uint16_t delay_after_lets_go
@@ -1588,7 +1589,7 @@ void move_forward_until_yolo_object_detected(
 
 
 
-                pbf_move_left_joystick(context, 128, y, forward_ticks, 0);
+                pbf_move_left_joystick(context, x, y, forward_ticks, 0);
                 // pbf_press_button(context, BUTTON_R, 20, delay_after_lets_go);
                 // pbf_move_left_joystick(context, 128, y, forward_ticks, delay_after_forward_move);
             });
@@ -1605,7 +1606,7 @@ void move_forward_until_yolo_object_detected(
         if (round_num > max_rounds){
             OperationFailedException::fire(
                 ErrorReport::SEND_ERROR_REPORT,
-                "move_forward_until_yolo_object_detected(): Unable to detect target object.",
+                "move_player_until_yolo_object_detected(): Unable to detect target object.",
                 env.console
             );  
         }
@@ -1739,7 +1740,7 @@ void move_camera_yolo(
                 push_magnitude_scale_factor = 60 / std::sqrt(std::abs(diff));
                 break;
             case CameraAxis::Y:
-                duration_scale_factor = 100 / std::sqrt(std::abs(diff));
+                duration_scale_factor = 50 / std::sqrt(std::abs(diff));
                 if (std::abs(diff) < 0.1){
                     duration_scale_factor *= 0.5;
                 }

SerialPrograms/Source/PokemonSV/Programs/AutoStory/PokemonSV_AutoStoryTools.h

@@ -422,14 +422,15 @@ void move_forward_until_yolo_object_above_min_size(
 // walk until we find the target object.
 // if caught in battle, run recovery_action
 // throw exception if exceed max_rounds.
-void move_forward_until_yolo_object_detected(
+void move_player_until_yolo_object_detected(
     SingleSwitchProgramEnvironment& env, 
     ProControllerContext& context, 
     YOLOv5Detector& yolo_detector, 
     const std::string& target_label,
     std::function<void()>&& recovery_action, 
     uint16_t max_rounds, 
     uint16_t forward_ticks = 100, 
+    uint8_t x = 128, 
     uint8_t y = 0, 
     uint16_t delay_after_forward_move = 50, 
     uint16_t delay_after_lets_go = 105

SerialPrograms/Source/PokemonSV/Programs/AutoStory/PokemonSV_AutoStory_Segment_35.cpp

@@ -217,7 +217,7 @@ void checkpoint_94(SingleSwitchProgramEnvironment& env, ProControllerContext& co
     [&](size_t attempt_number){
 
 
-        YOLOv5Detector yolo_detector(RESOURCE_PATH() + "PokemonSV/YOLO/yolo_area0_station1.onnx");
+        YOLOv5Detector yolo_detector(RESOURCE_PATH() + "PokemonSV/YOLO/A0-station-1.onnx");
 
 
         move_player_forward(env, context, 6,
@@ -227,7 +227,7 @@ void checkpoint_94(SingleSwitchProgramEnvironment& env, ProControllerContext& co
         );
 
         // confirm we can see tree-tera
-        move_forward_until_yolo_object_detected(env, context, yolo_detector, "tree-tera", 
+        move_player_until_yolo_object_detected(env, context, yolo_detector, "tree-tera", 
             [&](){
                 run_wild_battle_press_A(env.console, context, BattleStopCondition::STOP_OVERWORLD);
             },

SerialPrograms/Source/PokemonSV/Programs/AutoStory/PokemonSV_AutoStory_Segment_36.cpp

@@ -220,7 +220,7 @@ void checkpoint_96(SingleSwitchProgramEnvironment& env, ProControllerContext& co
         pbf_press_button(context, BUTTON_L, 240ms, 100ms);
 
         // confirm we can see station-2
-        move_forward_until_yolo_object_detected(env, context, yolo_detector, "station-2", 
+        move_player_until_yolo_object_detected(env, context, yolo_detector, "station-2", 
             [&](){
                 run_wild_battle_press_A(env.console, context, BattleStopCondition::STOP_OVERWORLD);
             },

SerialPrograms/Source/PokemonSV/Programs/AutoStory/PokemonSV_AutoStory_Segment_37.cpp

@@ -156,7 +156,7 @@ void checkpoint_98(SingleSwitchProgramEnvironment& env, ProControllerContext& co
 
 
         // move forward until we see rock-3-1
-        move_forward_until_yolo_object_detected(env, context, yolo_detector, "rock-3-1", 
+        move_player_until_yolo_object_detected(env, context, yolo_detector, "rock-3-1", 
             [&](){
                 run_wild_battle_press_A(env.console, context, BattleStopCondition::STOP_OVERWORLD);
                 pbf_move_left_joystick(context, 128, 0, 10, 50); // move forward to align with camera
@@ -222,7 +222,7 @@ void checkpoint_98(SingleSwitchProgramEnvironment& env, ProControllerContext& co
             0.118, 0.2,
             [&](){
                 run_wild_battle_press_A(env.console, context, BattleStopCondition::STOP_OVERWORLD);
-                move_player_to_realign_via_yolo(env, context, yolo_detector, "tree-3-1", 0.000);  // realign to target X
+                move_player_to_realign_via_yolo(env, context, yolo_detector, "tree-3-1", 0.5);  // realign to target X
                 pbf_move_left_joystick(context, 128, 0, 10, 50); // move forward to align with camera
             }
         );