Autostory: Area Zero Station 3 (#856)

* checkpoint_98: station 3 navigation routine

* checkpoint_99: enter station 3

* cleanup

* minior changes to station 3 nav routine

Author: jw098

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

@@ -129,7 +129,7 @@ std::vector<std::unique_ptr<AutoStory_Segment>> make_autoStory_segment_list(){
     if (PreloadSettings::instance().DEVELOPER_MODE){
     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_37>());
     // 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>());

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

@@ -28,15 +28,15 @@ namespace PokemonSV{
 
 
 std::string AutoStory_Segment_37::name() const{
-    return "";
+    return "37: Area Zero Station 3";
 }
 
 std::string AutoStory_Segment_37::start_text() const{
-    return "Start: ";
+    return "Start: Inside Area Zero Station 2. Deactivated the locks.";
 }
 
 std::string AutoStory_Segment_37::end_text() const{
-    return "End: ";
+    return "End: Inside Area Zero Station 3. Deactivated the locks.";
 }
 
 void AutoStory_Segment_37::run_segment(
@@ -61,15 +61,15 @@ void AutoStory_Segment_37::run_segment(
 }
 
 std::string AutoStory_Checkpoint_98::name() const{ return "098 - " + AutoStory_Segment_37().name(); }
-std::string AutoStory_Checkpoint_98::start_text() const{ return "";}
-std::string AutoStory_Checkpoint_98::end_text() const{ return "";}
+std::string AutoStory_Checkpoint_98::start_text() const{ return "Inside Area Zero Station 2. Deactivated the locks.";}
+std::string AutoStory_Checkpoint_98::end_text() const{ return "Outside Area Zero Station 3. Defeated Great Tusk/Iron Treads.";}
 void AutoStory_Checkpoint_98::run_checkpoint(SingleSwitchProgramEnvironment& env, ProControllerContext& context, AutoStoryOptions options, AutoStoryStats& stats) const{
     checkpoint_98(env, context, options.notif_status_update, stats);
 }
 
 std::string AutoStory_Checkpoint_99::name() const{ return "099 - " + AutoStory_Segment_37().name(); }
-std::string AutoStory_Checkpoint_99::start_text() const{ return "";}
-std::string AutoStory_Checkpoint_99::end_text() const{ return "";}
+std::string AutoStory_Checkpoint_99::start_text() const{ return AutoStory_Checkpoint_98().end_text();}
+std::string AutoStory_Checkpoint_99::end_text() const{ return "Inside Area Zero Station 3. Deactivated the locks.";}
 void AutoStory_Checkpoint_99::run_checkpoint(SingleSwitchProgramEnvironment& env, ProControllerContext& context, AutoStoryOptions options, AutoStoryStats& stats) const{
     checkpoint_99(env, context, options.notif_status_update, stats);
 }
@@ -78,41 +78,280 @@ void checkpoint_98(SingleSwitchProgramEnvironment& env, ProControllerContext& co
     checkpoint_reattempt_loop(env, context, notif_status_update, stats,
     [&](size_t attempt_number){
 
-        
-        #if 0
-        // align to rock.  
-        // center before: 
-        // center after: 
-        move_camera_yolo(env, context, CameraAxis::Y, yolo_detector, "rock", 0.000,
+        YOLOv5Detector yolo_detector(RESOURCE_PATH() + "PokemonSV/YOLO/A0-station-3.onnx");
+
+        pbf_move_left_joystick(context, 128, 255, 200, 100);
+        walk_forward_until_dialog(env.program_info(), env.console, context, NavigationMovementMode::DIRECTIONAL_ONLY, 10, 255, 128);
+        clear_dialog(env.console, context, ClearDialogMode::STOP_PROMPT, 60, {CallbackEnum::PROMPT_DIALOG});
+        pbf_press_dpad(context, DPAD_DOWN, 13, 20);
+
+        pbf_mash_button(context, BUTTON_A, 50);
+        wait_for_overworld(env.program_info(), env.console, context, 30);
+
+
+
+        // arrived at research station 1
+
+        pbf_move_left_joystick(context, 0, 255, 500, 100);
+        pbf_wait(context, 3 * TICKS_PER_SECOND);        
+        // wait for overworld after leaving research station
+        wait_for_overworld(env.program_info(), env.console, context, 30);
+
+
+        // left research station 1
+
+
+        // align to rock-3-0.  
+        // center before: center-y: 0.618056   center-x: 0.260156
+        // center after: center-y: 0.248611   center-x: 0.452344
+        move_camera_yolo(env, context, CameraAxis::Y, yolo_detector, "rock-3-0", 0.248611,
+            [&](){
+                run_wild_battle_press_A(env.console, context, BattleStopCondition::STOP_OVERWORLD);
+                move_player_to_realign_via_yolo(env, context, yolo_detector, "rock-3-0", 0.260156);  // x-position of target object prior to camera move
+                pbf_move_left_joystick(context, 128, 0, 10, 50); // move forward to align with camera
+            }        
+        );
+        move_camera_yolo(env, context, CameraAxis::X, yolo_detector, "rock-3-0", 0.452344,
+            [&](){
+                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
+            }        
+        );
+
+        // move forward until rock-3-0 not detected
+        move_forward_until_yolo_object_not_detected(env, context, yolo_detector, "rock-3-0", 
+            2,
+            [&](){
+                run_wild_battle_press_A(env.console, context, BattleStopCondition::STOP_OVERWORLD);
+                move_player_to_realign_via_yolo(env, context, yolo_detector, "rock-3-0", 0.452344);
+                pbf_move_left_joystick(context, 128, 0, 10, 50); // move forward to align with camera
+            }
+        );
+
+
+        pbf_press_button(context, BUTTON_L, 240ms, 100ms);
+
+        move_camera_until_yolo_object_detected(env, context, yolo_detector, "waterfall-3-1", 0, 100);
+
+
+
+        // align to waterfall-3-1.  
+        // center before: y:0.22         x: 0.31
+        // center after: center-y: 0.220833   center-x: 0.754687
+        move_camera_yolo(env, context, CameraAxis::Y, yolo_detector, "waterfall-3-1", 0.220833,
             [&](){
                 run_wild_battle_press_A(env.console, context, BattleStopCondition::STOP_OVERWORLD);
-                move_player_to_realign_via_yolo(env, context, yolo_detector, "rock", 0.000);  // x-position of target object prior to camera move
+                move_player_to_realign_via_yolo(env, context, yolo_detector, "waterfall-3-1", 0.31);  // x-position of target object prior to camera move
                 pbf_move_left_joystick(context, 128, 0, 10, 50); // move forward to align with camera
             }        
         );
-        move_camera_yolo(env, context, CameraAxis::X, yolo_detector, "rock", 0.000,
+        move_camera_yolo(env, context, CameraAxis::X, yolo_detector, "waterfall-3-1", 0.754687,
             [&](){
                 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
             }        
         );
 
-        // move towards rock until box:  
-        move_forward_until_yolo_object_above_min_size(env, context, yolo_detector, "rock",
-            0.000, 0.000,
+        // walk off the cliff
+
+
+        // move forward until we see rock-3-1
+        move_forward_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
+                pbf_press_button(context, BUTTON_L, 240ms, 100ms);
+                move_camera_yolo(env, context, CameraAxis::X, yolo_detector, "waterfall-3-1", 0.754687,
+                    [&](){
+                        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
+                    }        
+                );
+            },
+            30
+        );
+
+
+
+        // align to rock-3-1.  
+        // center before:  center-y: 0.538889   center-x: 0.384375
+        // center after: center-y: 0.295833   center-x: 0.577344
+        move_camera_yolo(env, context, CameraAxis::Y, yolo_detector, "rock-3-1", 0.295833,
+            [&](){
+                run_wild_battle_press_A(env.console, context, BattleStopCondition::STOP_OVERWORLD);
+                move_player_to_realign_via_yolo(env, context, yolo_detector, "rock-3-1", 0.4);  // x-position of target object prior to camera move
+                pbf_move_left_joystick(context, 128, 0, 10, 50); // move forward to align with camera
+            }        
+        );
+        move_camera_yolo(env, context, CameraAxis::X, yolo_detector, "rock-3-1", 0.577344,
+            [&](){
+                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
+            }        
+        );
+
+        // move forward until rock-3-1 not detected
+        move_forward_until_yolo_object_not_detected(env, context, yolo_detector, "rock-3-1", 
+            1,
             [&](){
                 run_wild_battle_press_A(env.console, context, BattleStopCondition::STOP_OVERWORLD);
-                move_player_to_realign_via_yolo(env, context, yolo_detector, "rock", 0.000);  // realign to target X
+                move_player_to_realign_via_yolo(env, context, yolo_detector, "rock-3-1", 0.577344);
                 pbf_move_left_joystick(context, 128, 0, 10, 50); // move forward to align with camera
             }
         );
 
-        #endif
+        // align to tree-3-1.  
+        // center before: center-y: 0.189   center-x: 0.21
+        // center after: center-y: 0.318056   center-x: 0.522656
+        move_camera_yolo(env, context, CameraAxis::Y, yolo_detector, "tree-3-1", 0.318056,
+            [&](){
+                run_wild_battle_press_A(env.console, context, BattleStopCondition::STOP_OVERWORLD);
+                move_player_to_realign_via_yolo(env, context, yolo_detector, "tree-3-1", 0.3);  // x-position of target object prior to camera move
+                pbf_move_left_joystick(context, 128, 0, 10, 50); // move forward to align with camera
+            }        
+        );
+        move_camera_yolo(env, context, CameraAxis::X, yolo_detector, "tree-3-1", 0.5,
+            [&](){
+                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
+            }        
+        );
+
+        // move towards tree-3-1 until box:   {0.428125, 0.000000, 0.118750, 0.305556}
+        move_forward_until_yolo_object_above_min_size(env, context, yolo_detector, "tree-3-1",
+            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
+                pbf_move_left_joystick(context, 128, 0, 10, 50); // move forward to align with camera
+            }
+        );
+
+        // align to tree-3-1.  
+        // center before: center-y: 0.150000   center-x: 0.517969
+        // center after: center-y: 0.151389   center-x: 0.358594
+        move_camera_yolo(env, context, CameraAxis::Y, yolo_detector, "tree-3-1", 0.151389,
+            [&](){
+                run_wild_battle_press_A(env.console, context, BattleStopCondition::STOP_OVERWORLD);
+                move_player_to_realign_via_yolo(env, context, yolo_detector, "tree-3-1", 0.5);  // x-position of target object prior to camera move
+                pbf_move_left_joystick(context, 128, 0, 10, 50); // move forward to align with camera
+            }        
+        );
+        move_camera_yolo(env, context, CameraAxis::X, yolo_detector, "tree-3-1", 0.358594,
+            [&](){
+                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
+            }        
+        );
+
+        // move forward until tree-3-1 not detected
+        move_forward_until_yolo_object_not_detected(env, context, yolo_detector, "tree-3-1", 
+            1,
+            [&](){
+                run_wild_battle_press_A(env.console, context, BattleStopCondition::STOP_OVERWORLD);
+                move_player_to_realign_via_yolo(env, context, yolo_detector, "tree-3-1", 0.5);
+                pbf_move_left_joystick(context, 128, 0, 10, 50); // move forward to align with camera
+            }
+        );
+
+
+
+        pbf_move_right_joystick(context, 128, 255, 200, 0);
+        move_camera_until_yolo_object_detected(env, context, yolo_detector, "beyond-cliff-3", 255, 30);
+
+        move_camera_yolo(env, context, CameraAxis::X, yolo_detector, "beyond-cliff-3", 0.5,
+            [&](){
+                run_wild_battle_press_A(env.console, context, BattleStopCondition::STOP_OVERWORLD);
+                pbf_move_right_joystick(context, 128, 255, 200, 0);
+                pbf_move_left_joystick(context, 128, 0, 10, 50); // move forward to align with camera
+            }        
+        );
+
+        // move towards beyond-cliff-3 until it takes up most of screen
+        move_forward_until_yolo_object_above_min_size(env, context, yolo_detector, "beyond-cliff-3",
+            0.5, 0.9,
+            [&](){
+                run_wild_battle_press_A(env.console, context, BattleStopCondition::STOP_OVERWORLD);
+                pbf_move_right_joystick(context, 128, 255, 200, 0);
+                
+                pbf_move_left_joystick(context, 128, 0, 10, 50); // move forward to align with camera
+            }
+        );
+
+        // walked off cliff. now move backwards
+
+        pbf_move_left_joystick(context, 128, 255, 800, 50); // move forward to align with camera
+
+        pbf_press_button(context, BUTTON_L, 240ms, 100ms);
+
+        move_camera_until_yolo_object_detected(env, context, yolo_detector, "station-3", 0, 100);
+
+
+        move_camera_yolo(env, context, CameraAxis::X, yolo_detector, "station-3", 0.5,
+            [&](){
+                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
+            }        
+        );
+
+
+        do_action_until_dialog(env.program_info(), env.console, context,
+            [&](const ProgramInfo& info, VideoStream& stream, ProControllerContext& context){
+                move_player_forward(env, context, 20,
+                    [&](){
+                        run_wild_battle_press_A(env.console, context, BattleStopCondition::STOP_OVERWORLD);
+                        move_camera_yolo(env, context, CameraAxis::X, yolo_detector, "station-3", 0.5,
+                            [&](){
+                                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
+                            } 
+                        );
+                        pbf_move_left_joystick(context, 128, 0, 10, 50); // move forward to align with camera
+                    }
+                );
+            }
+        );
+
+
+        clear_dialog(env.console, context, ClearDialogMode::STOP_BATTLE, 60, {CallbackEnum::BATTLE});
+        run_trainer_double_battle_press_A(env.console, context, BattleStopCondition::STOP_DIALOG);
+        mash_button_till_overworld(env.console, context, BUTTON_A);
 
     });   
 }
 
 void checkpoint_99(SingleSwitchProgramEnvironment& env, ProControllerContext& context, EventNotificationOption& notif_status_update, AutoStoryStats& stats){
+    checkpoint_reattempt_loop(env, context, notif_status_update, stats,
+    [&](size_t attempt_number){
+
+        YOLOv5Detector yolo_detector(RESOURCE_PATH() + "PokemonSV/YOLO/station-door-1.onnx");  // we can reuse the detector for station door 1.
+
+        do_action_until_dialog(env.program_info(), env.console, context,
+            [&](const ProgramInfo& info, VideoStream& stream, ProControllerContext& context){
+                pbf_press_button(context, BUTTON_R, 160ms, 0ms);
+                move_player_forward(env, context, 20,
+                    [&](){
+                        run_wild_battle_press_A(env.console, context, BattleStopCondition::STOP_OVERWORLD);
+                        move_camera_yolo(env, context, CameraAxis::X, yolo_detector, "station-door-1", 0.5,
+                            [&](){
+                                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
+                            } 
+                        );
+                        pbf_move_left_joystick(context, 128, 0, 10, 50); // move forward to align with camera
+                    }
+                );
+            }
+        );
+
+        mash_button_till_overworld(env.console, context, BUTTON_A);  // black dialog
+
+        // disable Lock at Station 3
+        walk_forward_until_dialog(env.program_info(), env.console, context, NavigationMovementMode::DIRECTIONAL_SPAM_A, 20);
+        mash_button_till_overworld(env.console, context, BUTTON_A);  // black dialog, prompt
+
+
+    });     
 }
 
 

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

@@ -43,12 +43,12 @@ class AutoStory_Checkpoint_99 : public AutoStory_Checkpoint{
 };
 
 
-// start: 
-// end: 
+// start: Inside Area Zero Station 2. Deactivated the locks.
+// end: Outside Area Zero Station 3. Defeated Great Tusk/Iron Treads.
 void checkpoint_98(SingleSwitchProgramEnvironment& env, ProControllerContext& context, EventNotificationOption& notif_status_update, AutoStoryStats& stats);
 
-// start: 
-// end: 
+// start: Outside Area Zero Station 3. Defeated Great Tusk/Iron Treads.
+// end: Inside Area Zero Station 3. Deactivated the locks.
 void checkpoint_99(SingleSwitchProgramEnvironment& env, ProControllerContext& context, EventNotificationOption& notif_status_update, AutoStoryStats& stats);